Vibratory burrowing probe for investigating subsurface regions of granular media in IG and low/micro gravity conditions
A compact vibratory burrowing probe, particularly beneficial in low gravity space exploration environments, uses lateral or stirring-like vibrations to fluidize a surrounding regolith, thereby decreasing the penetration resistance, and compensating for the light overhead weight to improve the burrowing action of the probe into the surface of the terrain of explored moons, planets, or asteroids. Included is a novel vibratory mechanism capable of imparting the novel lateral or stirring vibration, as well as a more conventionally oriented longitudinal vibration.
1 . A vibratory burrowing probe device for probing subsurface regions within a granular medium, said device comprising:
a probe having a longitudinal axis; and
included on said probe:
a probe tip that is shaped for penetration thereof through the granular medium in an axial direction denoted by said longitudinal axis of the probe; and
a vibratory mechanism that is operable, in at least one mode of operation, to impart non-longitudinal vibration to the probe tip such that at least a partial component direction of said non-longitudinal vibration has a transversely oriented relationship to said longitudinal axis;
wherein said vibratory mechanism comprises a plurality of actuators distributed discretely of one another around the longitudinal axis of the probe, and said vibratory mechanism is operable, in said at least one mode of operation, to drive at least a first subset of said actuators asynchronously of at least a second subset of said actuators to impart said component direction of transversely oriented relationship to said longitudinal axis.
2 . The device of claim 1 wherein the first and second subsets of the actuators each comprise a respective pair of actuators.
3 . The device of claim 1 wherein the vibratory mechanism is configured to drive the actuators, at least in said one mode of operation, in a controlled manner in which a respective drive cycle of each actuator is offset relative to a neighbouring actuator by a phase angle difference that is equal to angular spacing between said actuators in a circumferential direction around the longitudinal axis.
4 . The device of claim 3 wherein the actuators are arranged in diametrically opposing pairs across the longitudinal axis, and the respective drive cycles of the two actuators in each diametrically opposing pair are offset from one another by a phase angle difference of 180-degrees.
5 . The device of claim 3 wherein the plurality of actuators consists of four actuators circumferentially spaced from one another by 90-degrees around the longitudinal axis, whereby the phase angle difference between each actuator and the neighbouring actuator is also 90-degrees.
6 . A vibratory burrowing probe device for probing subsurface regions within a granular medium, said probe comprising:
a probe having a longitudinal axis; and
included on said probe:
a probe tip that is shaped for penetration thereof through the granular medium in an axial direction denoted by said longitudinal axis of the probe; and
a vibratory mechanism that is operable to impart vibration to the probe tip;
wherein said vibratory mechanism comprises a plurality of actuators distributed discretely of one another around the longitudinal axis of the probe, and said vibratory mechanism is operable, in at least one mode of operation, to drive at least a first subset of said actuators asynchronously of at least a second subset of said actuators to impart at least a partial component direction of the vibration that is of transversely oriented relationship to said longitudinal axis.
7 . The device of claim 6 wherein said plurality of actuators are installed on the probe tip.
8 . The device of claim 6 wherein said plurality of actuators are piezoelectric actuators.
9 . The device of claim 6 wherein said first and second subsets of the actuators reside on opposing sides of a longitudinal midplane containing said longitudinal axis, of which the first and second subsets, at least in said one mode of operation, are driven in a controlled manner according to respective first and second drive cycles, between which there is a phase angle difference of 180-degrees.
10 . The device of claim 6 wherein the first and second subsets of the actuators each comprise a respective pair of actuators.
11 . The device of claim 6 wherein the vibratory mechanism is configured to drive the actuators, at least in said one mode of operation, in a controlled manner in which a respective drive cycle of each actuator is offset relative to a neighbouring actuator by a phase angle difference that is equal to angular spacing between said actuators in a circumferential direction around the longitudinal axis.
12 . The device of claim 11 wherein the actuators are arranged in diametrically opposing pairs across the longitudinal axis, and the respective drive cycles of the two actuators in each diametrically opposing pair are offset from one another by a phase angle difference of 180-degrees.
13 . The device of claim 11 wherein the plurality of actuators consists of four actuators circumferentially spaced from one another by 90-degrees around the longitudinal axis, whereby the phase angle difference between each actuator and the neighbouring actuator is also 90-degrees.
14 . The device of claim 6 wherein said actuators are installed on a base of said probe tip.
15 . The device of claim 6 wherein the plurality of actuators are configured to act in the axial direction, and on the probe is included a back mass that bears axially upon the actuators in direction toward a penetrative terminal end of the probe tip.
16 . The device of claim 15 wherein said back mass is held against said actuators in a pre-loaded state exerting compressive force thereon.
17 . The device of claim 16 wherein said back mass has a bore passing axially therethrough, though which a longitudinal shaft extends from the probe tip to a threaded segment of the longitudinal shaft that resides distally of the probe tip, and on which a threaded nut is engaged in a tightened state to hold the back mass in said pre-loaded state exerting said compressive force on the actuators.
18 . The device of claim 17 wherein at least one of either said longitudinal shaft or said threaded nut doubles as a coupling component for operable connection of the probe to a mechanical drive source that is operable to apply longitudinal drive force to the probe.
19 . The device of claim 6 wherein said plurality of actuators are piezoelectric actuators.
20 . The device of claim 6 wherein said first and second subsets of the actuators reside on opposing sides of a longitudinal midplane containing said longitudinal axis, of which the first and second subsets, at least in said one mode of operation, are driven in a controlled manner according to respective first and second drive cycles, between which there is a phase angle difference of 180-degrees.