Speed-controllable and passively-driven self-adaptive plant-root-sheath-imitating anchoring device

Abstract

The invention discloses a speed-controllable and passively-driven self-adaptive plant-root-sheath-imitating anchoring device, and relates to the technical field of planetary detection, and the device comprises a detector main body, a buffer landing leg is installed on the circumference of the middle part of the detector main body, a foot pad is installed at one end, away from the detector main body, of the buffer landing leg, and a main root drill bit is arranged in the middle of the foot pad; the speed-controllable and passively-driven self-adaptive plant-root-sheath-imitating anchoring device further comprises a dynamic regulation and control mechanical structure and a multifunctional stretching control mechanism. The dynamic regulation and control mechanical structure is arranged in the main root drill bit and is used for fixing and adjusting the foot pad; the device adopts a plant root sheath imitating design, adapts to weak-gravity loose surfaces such as asteroid gravel piles and the like, is high in anchoring force, light in weight and good in controllability, can ensure that a detector stably executes in-situ detection and sampling tasks, and provides a reliable anchoring scheme for planetary detection.

Description

Technical Field

[0001] This invention relates to the field of planetary exploration technology, specifically to an adaptive plant-like root sheath anchoring device with controllable speed and passive drive. Background Technology

[0002] As primordial remnants of the early solar system, asteroids preserve a wealth of information about the material composition and structure of the early solar system, making them invaluable for studying planetary evolution and the origins of life on Earth. In recent years, many countries have implemented asteroid exploration programs, aiming to obtain crucial data through in-situ exploration and sample return. However, alongside the scientific value of asteroids lies their unique physical environment: due to their small size and light weight, asteroid surfaces are in a microgravity state, making it difficult for probes to achieve stable attachment using their own gravity. Further complicating matters, many asteroid surfaces are not solid rock formations but rather rubble piles composed of loose particles, gravel, and debris, further increasing the difficulty of landing and sampling missions. Achieving reliable anchoring on such soft, flowing granular surfaces has become a key technical challenge for probes performing in-situ measurements and sampling missions. Therefore, developing efficient anchoring mechanisms suitable for granular surfaces in weak-gravity environments is of great significance for advancing asteroid exploration.

[0003] Meanwhile, as a crucial part of plant rooting and growth, the root sheath structure provides sufficient anchoring force, ensuring the plant's resilience in harsh environments. Several fields have already begun researching products mimicking plant root sheath structures. Similarly, for a probe to stably land on the debris field of a weakly gravitational asteroid, it can also fully utilize the anchoring structure inspired by plant root sheaths.

[0004] Existing asteroid probes are mostly designed for large, monolithic rocks, such as harpoon and claw-shaped probes, which have high structural rigidity but are not suitable for rubble piles. Due to the extremely high significance of asteroid exploration and the growing demand both domestically and internationally for probes with higher anchoring strength and lighter weight, a drive system combining traction ropes and springs is more convenient and easier to control, provided there is sufficient power.

[0005] In view of this, this design proposes an adaptive plant root sheath anchoring device with controllable speed and passive drive based on the biomimicry of plant root sheaths to solve the above problems. Summary of the Invention

[0006] In view of this, the technical problem to be solved by the present invention is to propose an adaptive plant root sheath anchoring device with controllable speed and passive drive, so as to solve the problem of insufficient anchoring force on the surface of weakly gravitational asteroids in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a speed-controllable and passively driven adaptive plant root sheath anchoring device, comprising a detector body, a buffer landing leg installed circumferentially in the middle of the detector body, a foot pad installed at the end of the buffer landing leg away from the detector body, and a main root drill bit provided in the middle of the foot pad; the speed-controllable and passively driven adaptive plant root sheath anchoring device further includes a dynamic adjustment mechanical structure and a multi-functional extension control mechanism. The dynamic adjustment mechanical structure is installed in the main root drill bit, and the dynamic adjustment mechanical structure is used for fixing and adjusting the foot pad; The multi-functional extension control mechanism is located below the dynamic adjustment mechanical structure, and is used for auxiliary adjustment of the dynamic adjustment mechanical structure.

[0008] Preferably, the dynamic control mechanical structure includes a power telescopic sleeve, an auxiliary groove is provided in the middle of the foot pad, the power telescopic sleeve is disposed in the auxiliary groove of the foot pad, one end of the power telescopic sleeve is fixedly installed in the auxiliary groove, and the other end of the power telescopic sleeve is fixedly installed on the main root drill bit.

[0009] Preferably, an adjustment chamber is fixedly installed in the main root drill bit, a transmission device is fixedly installed in the middle of the adjustment chamber, and a drive gear is fixedly installed on the transmission device. The tooth surface of the drive gear meshes with a meshing gear, and the meshing gear is circumferentially rotatably installed in the adjustment chamber. A winch is fixedly installed on the lower surface of the middle part of the meshing gear, and a traction rope is wound in the middle of the winch.

[0010] Preferably, a circular hole is provided in the middle of the lower surface of the regulating chamber, a limit ring is slidably installed on the outer periphery of the circular hole of the regulating chamber, a return spring is sleeved in the middle of the limit ring, one end of the return spring is fixedly installed on the limit ring, and the other end of the return spring is fixedly installed on the regulating chamber.

[0011] Preferably, a fan-shaped guide cover is fitted on the outer surface of the end of the traction rope near the circular hole of the adjustment chamber, and the fan-shaped guide cover is circumferentially fixed on the adjustment chamber.

[0012] Preferably, the multi-functional extension control mechanism further includes a flow guide shroud, one end of which is fixedly mounted on a fan-shaped guide shroud, and the other end of which is fixedly mounted on the main root drill bit, with the flow guide shroud circumferentially disposed in the main root drill bit.

[0013] Preferably, a secondary root is slidably installed in the flow guide, and the end of the traction rope away from the winch is fixedly installed in the secondary root. A compression spring is provided in the middle of the secondary root, and the compression spring is sleeved on the outer surface of the traction rope.

[0014] Preferably, one end of the compression spring is fixedly installed on the secondary root, and the other end of the compression spring is fixedly installed on the flow guide. Pressure springs are evenly installed on the secondary root, and the pressure springs will spring open to form a barbed structure when subjected to pressure. The secondary root is a flexible hose structure.

[0015] Compared with existing technologies, the adaptive plant root sheath anchoring device with controllable speed and passive drive provided by the present invention has the following beneficial effects: (1) Adaptability: Breaking through the bottleneck of anchoring in the "rubble pile" environment; In existing technologies, harpoon-type anchoring mechanisms rely on piercing solid rock to achieve fixation, which is prone to "slipping" on the surface of gravel piles. Claw-type mechanisms, due to their rigid structure, are prone to getting stuck between particles. This invention, through a biomimetic design of "main root spiral drilling + flexible secondary root adaptive extension," can achieve effective anchoring depth in loose gravel piles. The multi-point engagement of the secondary root barbs with the particles increases the anchoring force to over 500N, making it suitable for over 90% of the surface environment of asteroids and solving the limitation of existing mechanisms that "can only anchor solid rock."

[0016] (2) Lightweight and controllable: to meet the requirements of deep space exploration payloads; Deep space exploration places stringent requirements on the weight of the probe. Existing hydraulically driven anchoring mechanisms generally weigh over 8 kg and require complex piping systems. This invention employs a passive drive method of "traction rope + compression spring," and the overall weight of the dynamically adjustable mechanical structure and multi-functional extension control mechanism is significantly lighter, reducing weight by 50% compared to existing technologies. Furthermore, the power telescopic sleeve allows for precise control of the drilling speed via a motor, and the winch's cable deployment and retraction accuracy reaches ±1 mm, avoiding the problem of "uncontrollable speed leading to flying debris" found in existing mechanisms.

[0017] (3) Safety: Avoid the risk of damage from rigid hedging; The surface of an asteroid rubble pile contains numerous sharp pebbles. Existing rigid anchoring mechanisms, such as metal claws, are prone to deformation upon contact due to rigid impact. This invention employs a flexible hose structure for the secondary root, allowing it to autonomously bend and avoid contact with pebbles at angles up to 45°. Simultaneously, the hydraulic cushioning design of the landing legs reduces the landing impact acceleration to below 5 m / s², preventing hard collisions between the probe body and the rubble. This reduces the structural damage rate to below 0.5%, significantly improving mission safety.

[0018] (4) Scalability: Supports multi-scenario task requirements; Existing anchoring mechanisms are mostly "single-function designs," capable only of fixing and unable to adapt to complex tasks such as sampling and detection. In this invention, the main root drill bit can integrate a temperature sensor, and the secondary roots can carry soil moisture detectors, enabling simultaneous environmental data collection during the anchoring process. Furthermore, by adjusting the number of secondary roots (3-12 sets) and selecting a main root diameter of 10-20cm, it can accommodate detectors of different sizes, offering far superior scalability compared to existing technologies. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an auxiliary schematic diagram of the three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the dynamic control mechanical structure connection relationship of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 This is an exploded view of the connection relationship of the dynamically adjustable mechanical structure of the present invention; Figure 6 This is a schematic diagram of the structural connection relationship of the multifunctional extension control mechanism of the present invention; Figure 7 This is a schematic diagram showing the extension state relationship of the multifunctional extension control mechanism structure of the present invention.

[0020] In the picture: 1. Main body of the probe; 11. Buffer landing legs; 12. Footpads; 13. Main root drill bit; 2. Dynamically adjustable mechanical structure; 21. Power telescopic sleeve; 22. Adjustment chamber; 23. Drive gear plate; 24. Meshing gear plate; 25. Winch; 26. Traction rope; 27. Limiting slip ring; 28. Return spring; 29. ​​Fan-shaped guide cover; 3. Multifunctional extension control mechanism; 31. Flow guide; 32. Compression spring; 33. Secondary root. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0023] Example 1, please refer to Figures 1 to 7 As shown: To address the problems mentioned in the technical solutions, this application provides a speed-controllable and passively driven adaptive plant root sheath anchoring device, including a detector body 1, a buffer landing leg 11 installed around the middle of the detector body 1, a foot pad 12 installed at the end of the buffer landing leg 11 away from the detector body 1, and a main root drill bit 13 disposed in the middle of the foot pad 12. The speed-controllable and passively driven adaptive plant root sheath anchoring device also includes a dynamic adjustment mechanical structure 2 and a multi-functional extension control mechanism 3. The dynamic adjustment mechanism 2 is installed in the main root drill bit 13 and is used for fixing and adjusting the foot pad 12. The multi-functional extension control mechanism 3 is located below the dynamic adjustment mechanical structure 2. The multi-functional extension control mechanism 3 is used for auxiliary adjustment of the dynamic adjustment mechanical structure 2. The main root drill bit 13 has a large contact area and is equipped with a ring of claws to initially fix the detector, which facilitates the operation of the subsequent multi-functional extension control mechanism 3.

[0024] Specifically, such as Figure 3 and Figure 4 As shown, the dynamic control mechanical structure 2 includes a power telescopic sleeve 21, which is a motor-driven telescopic rod device. An auxiliary groove is provided in the middle of the foot pad 12, and the power telescopic sleeve 21 is disposed in the auxiliary groove of the foot pad 12. One end of the power telescopic sleeve 21 is fixedly installed in the auxiliary groove, and the other end is fixedly installed on the main root drill bit 13. Figure 6 As shown, when the foot pad 12 is initially attached to the surface of the crushed stone pile by the auxiliary claw, the motor drives the power telescopic sleeve 21 to make the main root drill bit 13 descend as a whole and drill into the surface of the crushed stone pile. An adjusting chamber 22 is fixedly installed in the main root drill bit 13. A transmission device is fixedly installed in the middle of the adjusting chamber 22, and a drive gear 23 is fixedly installed on the transmission device. The teeth of the drive gear 23 mesh with a meshing gear 24. The meshing gear 24 is circumferentially rotatable in the adjusting chamber 22. A winch 25 is fixedly installed on the lower surface of the middle part of the meshing gear 24, and a traction rope 26 is wound in the middle of the winch 25. The internal structure of the main root drill bit 13 is as follows: Figure 5As shown; the winch 25 is used to wind up and unwind the traction rope 26. The compression spring 32 and the traction rope 26 are both connected to the bottom of the drill pipe secondary root 33. The traction rope 26 passes through the inside of the spring. The compression spring 32 is always in a compressed state. It cooperates with the traction rope 26 to extend the secondary root 33. The secondary root 33 is a flexible hose structure. When subjected to pressure, it will spring open to form a barbed structure. A circular hole is provided in the middle of the lower surface of the regulating chamber 22. A limiting slip ring 27 is slidably installed on the outer circumference of the circular hole of the regulating chamber 22. A return spring 28 is sleeved in the middle of the limiting slip ring 27. One end of the return spring 28 is fixedly installed on the limiting slip ring 27, and the other end of the return spring 28 is fixedly installed on the regulating chamber 22. A fan-shaped guide cover 29 is sleeved on the outer surface of the end of the traction rope 26 near the circular hole of the regulating chamber 22. The fan-shaped guide cover 29 is circumferentially fixedly installed on the regulating chamber 22. One end of the flow guide cover 31 is fixedly installed on the fan-shaped guide cover 29, and the other end of the flow guide cover 31 is fixedly installed on the main root drill bit 13. The flow guide cover 31 is circumferentially set in the main root drill bit 13. A secondary root 33 is slidably installed in the flow guide cover 31. The end of the traction rope 26 that is fixed away from the winch 25 is fixedly installed in the secondary root 33. A compression spring 32 is provided in the middle of the secondary root 33. The compression spring 32 is sleeved on the outer surface of the traction rope 26. The design of the dynamic control mechanical structure 2 and the multi-functional extension control mechanism 3 extends from the foot end, which is simpler and meets the requirements of lightweight design. The numerous roots provide sufficient anchoring force even on the surface of gravel. Since the surface of the gravel pile is relatively hard, the secondary root 33 proposed in this invention is a flexible structure mimicking plant root sheaths, avoiding rigid impact damage to the detector structure while allowing for adaptive growth and providing sufficient anchoring force. The foot end has a triple system to provide sufficient anchoring force, and the edge of the foot pad 12 has a ring of claw-like structures, allowing the detector to be initially fixed to the surface of the gravel pile. The main root drill bit 13 adopts a conical auger structure, capable of drilling into areas of particle accumulation such as rubble and gravel piles. The drill bit contains a secondary root 33 mimicking plant root sheath structures, which can extend freely after the main root drill bit 13 enters the rock layer. The surface of the secondary root 33 is equipped with spring-loaded barbs that unfold as it extends, increasing the anchoring force. The drill rod surface is equipped with spring-loaded barbs that unfold as it extends, increasing the anchoring force.

[0025] Example 2: The mission of this invention plans to conduct in-situ sampling on a near-Earth asteroid. 90% of the asteroid's surface is composed of loose debris, and its gravity is only 1 / 2000th that of Earth. After landing on this surface, the probe needs to collect soil samples from at least three different areas. The anchoring mechanism must be stably fixed within the debris pile, with a maximum anchoring force of no less than 500N, to prevent the probe from shifting or overturning during sampling.

[0026] The specific operation of this invention is as follows: During the landing buffering and initial fixation phase, after the probe enters the asteroid's gravitational field, it decelerates to landing speed using its propulsion system. At this point, the six sets of buffer landing legs 11, distributed circumferentially in the middle of the probe's main body 1, automatically deploy, using their hydraulic buffer structure to absorb the landing impact and prevent debris from damaging the probe. When the foot pads 12 contact the surface of the debris pile, the claw-like structures on the edges of the foot pads 12 immediately embed themselves into the loose particles, achieving initial positioning; simultaneously, the main root drill bit 13 in the middle of the foot pads 12, with its conical spiral structure and a diameter of 15 cm, aligns with the gaps in the debris, preparing for the next stage.

[0027] During the main root drilling and dynamic control phase, ground commands trigger the dynamic control mechanical structure 2, causing the motor-driven telescopic sleeve 21 to extend and propel the main root drill bit 13 into the rock pile. During drilling, the transmission device within the regulating chamber 22 drives the drive gear disc 23 to rotate, which in turn links the winch 25 via the meshing gear disc 24. At this time, the winch 25 is in a "laying out" state, reserving the length of the traction rope 26 for the subsequent extension of the secondary root 33. When the main root drill bit 13 reaches a drilling depth of 30cm, as monitored by the displacement sensor built into the detector, the telescopic sleeve 21 stops extending. The spiral structure of the main root drill bit 13 forms a preliminary mechanical engagement with the surrounding rock, providing a stable foundation for the extension of the secondary root 33.

[0028] After the main root is fixed during the adaptive extension and reinforced anchoring stage of the secondary root 33, the multi-functional extension control mechanism 3 is activated: the winch 25 stops releasing the line, compresses the spring 32 to a pre-compression amount of 50%, releases elastic potential energy, and pushes the secondary root 33, a flexible hose structure with a diameter of 8mm, in four circumferentially distributed groups, to extend into the gravel pile along the guide shroud 31. Due to the flexible design of the secondary root 33, it can adaptively bypass gravel with a diameter >5cm. When the secondary root 33 extends, it adjusts adaptively according to the gravel density. The pressure springs on its surface contact the surrounding particles and are squeezed, automatically opening to form a barbed structure. The barbs unfold at a 30° angle and are 5-10mm long, forming multi-point engagement with the gravel. Simultaneously, the limiting slip ring 27, under the action of the return spring 28, tightly adheres to the adjusting chamber 22, preventing the traction rope 26 from swaying and causing the secondary root 33 to shift. Ultimately, a triple anchoring of "main root + secondary root 33 + foot pad 12 claw spikes" is achieved, with the anchoring force measured at 620N, meeting the sampling requirements.

[0029] After the sampling robotic arm completes sample collection during the sampling and anchoring release phase, the ground command controls the winch 25 to "reel in" the line, and the traction rope 26 pulls the secondary root 33 to retract. The barbs retract under the traction force, and the compression spring 32 recompresses and stores energy. Subsequently, the power telescopic sleeve 21 shortens, driving the main root drill bit 13 out of the pile of gravel. Finally, the buffer landing leg 11 adjusts its height, and the probe moves to the next sampling point, repeating the above anchoring process.

[0030] Please refer to the above work process. Figures 1 to 7 .

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A speed-controllable and passively driven adaptive plant root sheath anchoring device, comprising a detector body (1), wherein a buffer landing leg (11) is installed circumferentially in the middle of the detector body (1), and a foot pad (12) is installed at the end of the buffer landing leg (11) away from the detector body (1), and a main root drill bit (13) is provided in the middle of the foot pad (12), characterized in that, The adaptive plant root sheath anchoring device with speed controllability and passive drive also includes a dynamic adjustment mechanical structure (2) and a multi-functional extension control mechanism (3). The dynamic adjustment mechanical structure (2) is installed in the main root drill bit (13), and the dynamic adjustment mechanical structure (2) is used for the fixing and adjustment of the foot pad (12); The multi-functional extension control mechanism (3) is located below the dynamic control mechanical structure (2), and the multi-functional extension control mechanism (3) is used for auxiliary adjustment of the dynamic control mechanical structure (2).

2. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 1, characterized in that: The dynamic control mechanical structure (2) includes a power telescopic sleeve (21). An auxiliary groove is provided in the middle of the foot pad (12). The power telescopic sleeve (21) is set in the auxiliary groove of the foot pad (12). A motor drive device is installed on the power telescopic sleeve (21). One end of the power telescopic sleeve (21) is fixedly installed in the auxiliary groove, and the other end of the power telescopic sleeve (21) is fixedly installed on the main root drill bit (13).

3. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 2, characterized in that: An adjustment chamber (22) is fixedly installed in the main root drill bit (13). A transmission device is fixedly installed in the middle of the adjustment chamber (22), and a drive gear plate (23) is fixedly installed on the transmission device. The tooth surface of the drive gear plate (23) meshes with a meshing gear plate (24). The meshing gear plate (24) is circumferentially installed in the adjustment chamber (22). A winch (25) is fixedly installed on the lower surface of the middle part of the meshing gear plate (24), and a traction rope (26) is wound in the middle of the winch (25).

4. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 3, characterized in that: A circular hole is provided in the middle of the lower surface of the regulating chamber (22). A limiting slip ring (27) is slidably installed on the outer periphery of the circular hole of the regulating chamber (22). A reset spring (28) is sleeved in the middle of the limiting slip ring (27). One end of the reset spring (28) is fixedly installed on the limiting slip ring (27), and the other end of the reset spring (28) is fixedly installed on the regulating chamber (22).

5. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 4, characterized in that: The outer surface of the traction rope (26) near the circular hole of the regulating chamber (22) is fitted with a fan-shaped guide cover (29), which is circumferentially fixed on the regulating chamber (22).

6. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 5, characterized in that: The multi-functional extension control mechanism (3) also includes a flow guide (31), one end of which is fixedly installed on the fan-shaped guide cover (29), and the other end of which is fixedly installed on the main root drill bit (13). The flow guide (31) is circumferentially arranged in the main root drill bit (13).

7. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 6, characterized in that: A secondary root (33) is slidably installed in the flow guide (31). The end of the traction rope (26) away from the winch (25) is fixedly installed in the secondary root (33). A compression spring (32) is provided in the middle of the secondary root (33). The compression spring (32) is sleeved on the outer surface of the traction rope (26).

8. The adaptive plant root sheath anchoring device with controllable speed and passive drive according to claim 7, characterized in that: One end of the compression spring (32) is fixedly installed on the secondary root (33), and the other end of the compression spring (32) is fixedly installed on the flow guide (31). Pressure springs are evenly installed on the secondary root (33), and the pressure springs will spring open to form a barbed structure after being subjected to pressure. The secondary root (33) is a flexible hose structure.

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