Mars frozen soil deep drilling coring vehicle and coring method

Abstract

The invention relates to a Mars frozen soil deep drilling coring vehicle and a coring method, the coring vehicle comprises a supercritical carbon dioxide preparation system, a high-pressure anchoring system, a drilling coring system and a transportation and storage system, and the coring process is divided into a preparation stage, an anchoring stage, a drilling coring stage, a barrel loading and recycling stage and a separation stage. The characteristics of high rock fracturing performance and high penetrability of supercritical carbon dioxide jet flow are utilized, deep drilling coring is assisted, and a plurality of conical anchoring pistons distributed in the circumferential direction are hydraulically pushed to be inserted into a soil body at the same time to achieve anchoring. A complete rock core transportation and storage mechanism is designed, the drilling coring system obtains the rock core, cuts off the rock core and places the rock core in a core storage bag, and under the synergistic effect of different types of guide rails and clamping jaws in the transportation and storage system, the rock core is stored in a core storage barrel and recycled in a centralized mode, and multi-point multi-time sampling can be achieved. According to the Mars frozen soil deep drilling coring vehicle and the coring method, stable anchoring and deep drilling of a Mars frozen soil stratum can be achieved, and the coring efficiency and quality can be remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of drilling in permafrost on extraterrestrial bodies, and more specifically to a deep drilling coring vehicle and coring method for Martian permafrost. Background Technology

[0002] Among the eight planets in our solar system, Mars is the most likely planet besides Earth to harbor life and be suitable for human habitation. Research on Mars requires sampling and analysis of its surface materials (including soil and rocks). However, due to current technological limitations, drilling and sampling in Mars exploration missions are mostly concentrated in low- and mid-latitude regions, with insufficient research on the permafrost widely distributed in mid- and high-latitude regions. Martian permafrost has significant in-situ utilization value: on the one hand, the water ice it contains can be converted into drinking water, oxygen, and fuel, thereby reducing dependence on Earth for supplies; on the other hand, analyzing the composition of permafrost is a key technical means to analyze the evolutionary history of Mars and search for traces of life. However, the unique physical properties of permafrost present significant technical challenges to drilling and sampling: (1) the ultra-low temperature environment easily leads to brittle fracture of conventional drilling materials, solidification of coolant, and instability of the power system performance; (2) the extreme environment of Martian microgravity and strong wind disturbance makes it difficult to anchor sampling equipment and results in insufficient system stability; (3) the large topographic relief on Mars requires the device to have effective obstacle-crossing capabilities and multi-point, multiple-sampling functions. Current methods and equipment for drilling and extracting Martian permafrost have the following limitations: a lack of specific description of the anchoring mechanism; no clear plan for reliable extraction and storage of core samples; at the system level, a lack of design for the coordinated layout of various sub-devices and the overall operational logic; and existing equipment is difficult to achieve effective obstacle-crossing movement and multi-point, multiple-operation.

[0003] This invention designs a deep drilling coring vehicle and method for Martian permafrost, enabling in-situ utilization of the abundant carbon dioxide resources in the Martian atmosphere. By forming a supercritical carbon dioxide jet to assist the drill bit in drilling, the permafrost strength can be effectively reduced, and the drill bit load can be decreased. A complete supercritical carbon dioxide preparation system is designed. Part of the generated supercritical carbon dioxide is used to form a jet to assist the drill bit in downward drilling, and the other part is converted into liquid carbon dioxide to drive the piston to laterally anchor the strata. A highly reliable high-pressure anchoring system is designed, with multiple conical anchoring pistons added circumferentially. Under hydraulic drive, they simultaneously insert / extract from the soil to achieve strata anchoring / unanchoring. A complete core transportation and storage mechanism is designed. After the drilling and coring system obtains the core, it is cut and placed in a core storage bag. Under the synergistic action of different types of guide rails and grippers in the transportation and storage system, the core is stored in the core storage cylinder and centrally retrieved, enabling multi-point and multiple sampling. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing Martian permafrost drilling and coring technologies, and to design a deep drilling and coring vehicle and method for Martian permafrost.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a deep drilling and coring vehicle for Martian permafrost, comprising a supercritical carbon dioxide preparation system, a high-pressure anchoring system, a drilling and coring system, and a transport and storage system; the coring process is divided into a preparation stage, an anchoring stage, a drilling and coring stage, a loading and recovery stage, and a detachment stage.

[0006] Preferably, the supercritical carbon dioxide preparation system is used to provide carbon dioxide to the high-pressure anchoring system, the high-pressure anchoring system is used to fix the coring rover to the Martian strata, the drilling and coring system is used to drill and temporarily store rock cores, and the transport and storage system is used to transport and recover the drilled rock cores.

[0007] Preferably, the high-pressure anchoring system (13) includes an infusion pipe connector (13-1), an infusion set (13-2), an inner tube (13-3), a hydraulic cylinder (13-4), a conical anchoring piston (13-5), an anchoring drill bit (13-6), a nozzle (13-7), an inner sleeve (13-8), an outer sleeve (13-9), an electromagnetic directional valve (13-10), a motor (13-11), a carbon dioxide storage tank (13-12), a hydraulic pump (13-13), an outer tube (13-14), cutting teeth (13-15), a high-pressure infusion pipe (13-16), and a high-pressure heat exchanger (13-17); the infusion pipe connector (13-1) is connected to the infusion set (13-2) below, and the high-pressure infusion pipe (13-16) is connected to the infusion set (13-2) below. The upper end of the 3-16 connector is connected to the bottom of the infusion set (13-2), and the lower end is connected to the nozzle (13-7). The position of the high-pressure infusion tube (13-16) is constrained by the inner sleeve (13-8). The infusion tube connector (13-1) is connected to a carbon dioxide storage tank (13-12) on both the left and right sides. A high-pressure heat exchanger (13-17) is installed on the outside of the carbon dioxide storage tank (13-12). A motor (13-11) and a hydraulic pump (13-13) are installed below the carbon dioxide storage tank (13-12). The electromagnetic directional valve (13-10) is located below the motor (13-11) and the hydraulic pump (13-13), distributed on the left and right sides of the infusion set (13-2). There are two connectors above and below the electromagnetic directional valve (13-10). The electromagnetic directional valve (13-10) has an electromagnetic control assembly on the outside and a cavity and valve core inside. The hydraulic pump (13-13) is powered by a motor (13-11) connected via a flange. The upper inlet of the hydraulic pump (13-13) is connected to a carbon dioxide storage tank (13-12), and the lower outlet is connected to one of the ports on the electromagnetic directional valve (13-10). The carbon dioxide storage tank (13-12) is connected to the other port on the electromagnetic directional valve (13-10). The two ports below the electromagnetic directional valve (13-10) are connected to the inner pipe (13-3) and the outer pipe (13-14), respectively. The valve core inside the electromagnetic directional valve (13-10) is in close contact with the cavity and moves left and right within the cavity under electromagnetic control. It has two sets of pipelines: parallel pipeline and X-type staggered pipeline. When the valve core moves to the position where the X-type staggered pipeline connects to the upper and lower interfaces of the electromagnetic directional valve (13-10), the inner pipe (13-3) connects to the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the outer pipe (13-14) connects to the carbon dioxide storage tank (13-12). When the valve core moves to the position where the parallel pipeline connects to the upper and lower interfaces of the electromagnetic directional valve (13-10), the outer pipe (13-14) connects to the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the inner pipe (13-3) connects to the carbon dioxide storage tank (13-12). Eight conical anchoring pistons (13-5) are circumferentially distributed in the main body of the high-pressure anchoring system (13).A conical anchoring piston (13-5) is connected to a hydraulic cylinder (13-4) to form a hydraulic piston device. The inner tube (13-3) is connected to the inner end of the hydraulic cylinder (13-4), and the outer tube (13-14) is connected to the outer end of the hydraulic cylinder (13-4). Both the inner tube (13-3) and the outer tube (13-14) are internally connected to the hydraulic cylinder (13-4). The anchoring drill bit (13-6) is threadedly connected to the inner sleeve (13-8) and the outer sleeve (13-9).

[0008] Preferably, the drilling and coring system (16) includes a top drive drill rod (16-1), a middle drill rod (16-2), a traction mechanism (16-3), a piston (16-4), a drill bit (16-5), a core storage bag (16-6), and a one-way snap ring (16-7); the top drive drill rod (16-1) and the middle drill rod (16-2) are connected by threads, and the middle drill rod (16-2) is rigidly connected to the drill bit (16-5); the core storage bag (16-6) is located inside the drill bit (16-5); the lower end of the piston (16-4) is fixedly connected to the top end of the core storage bag (16-6), and the upper end is rigidly connected to the traction mechanism (16-3); the initial position of the piston (16-4) is maintained by a locking pin; the traction mechanism (16-3) is electrically controlled and can control the piston (16-4) to move up and down, which is used to assist the subsequent core recovery process.

[0009] Preferably, the supercritical carbon dioxide preparation system includes an air intake device (8), a filter device (9), a vacuum pump (10), a pressure controller (11), and a heating and pressurizing device (12); the air intake device (8), the filter device (9), the vacuum pump (10), the pressure controller (11), and the heating and pressurizing device (12) are connected in sequence through dedicated pipelines; the heating and pressurizing device (12) is connected to the infusion tube connector (13-1) and the infusion set (13-2) through pipelines.

[0010] Preferably, the transport and storage system includes a low guide rail (19), a lifting device (20), a guide rail gripper (22), a rotating device (23), a hydraulic telescopic gripper (24), a lifting mechanism (25), a middle guide rail (26), a high guide rail (27), a lifting platform (28), and a core storage cylinder (29); each of the high, middle, and low guide rails has a bidirectional sliding guide rail gripper (22); the guide rails all adopt a double-rail groove design, and the guide rails are composed of two parallel guide rails with a constant relative distance between them. The guide rail gripper (22) is fixedly connected to the slider on the guide rail, and the guide rail gripper (22) can be controlled to slide by driving the slider; the width of the lifting platform (28) is slightly narrower than the relative distance between the two guide rails, and the movement range of the lifting platform (28) is from point A on the lower right of the high guide rail (27), through the two parallel guide rails of the middle guide rail (26) and the low guide rail (19). The space between the guide rails reaches point B on the lower right of the low guide rail (19); a platform is laid above the low guide rail (19) and the middle guide rail (26) to store the core storage cylinder; the space below the middle guide rail (26) is used to store and transport empty core storage cylinders, the space below the high guide rail (27) is used to transport core storage cylinders filled with rock cores obtained from the drilling core system (16), and the space below the low guide rail (19) is used to store core storage cylinders filled with rock cores; two hydraulic telescopic grippers (24) are provided. The lower hydraulic telescopic gripper (24) can grip and release the empty core storage cylinder (29) transported by the middle guide rail (26), and the upper hydraulic telescopic gripper (24) rotates to the left under the action of the rotating device (23) to place the empty core storage cylinder (29) under the core bag (16-6) to collect the rock core, and rotates to the right to send the core storage cylinder filled with rock cores under the high guide rail (27) to complete the subsequent recovery process.

[0011] Preferably, a method for deep drilling and coring of Martian permafrost, based on a Martian permafrost deep drilling and coring vehicle, includes the following steps:

[0012] S1 preparation stage: The remotely controlled Mars permafrost deep drilling and coring vehicle reaches the designated location through the tracked walking mechanism (2), lowers the hydraulic support device (4) to stabilize the vehicle body, and the supercritical carbon dioxide preparation system inhales the Martian atmosphere to prepare supercritical carbon dioxide.

[0013] S2 Anchoring Stage: The high-pressure anchoring system (13) uses a portion of the supercritical carbon dioxide prepared in step S1 to form a jet to assist downward drilling, weaken the mechanical strength of the frozen soil and blow away the drill cuttings in time; the other portion is converted into liquid carbon dioxide, which hydraulically pushes multiple conical anchoring pistons (13-5) distributed in the circumferential direction to be laterally inserted into the soil to achieve anchoring.

[0014] S3 Drilling and Core Sampling Stage: The drilling and core sampling system (16) goes down, and the rock cuttings enter the core storage bag (16-6) through the one-way circlip (16-7). After drilling to the predetermined depth, the piston (16-4) moves down, and the one-way circlip (16-7) retracts to cut off the rock core.

[0015] S4 Core Loading and Recovery Stage: The traction mechanism (16-3) lifts the core storage bag (16-6) and separates it from the middle drill rod (16-2). The hydraulic telescopic jaws (24) rotate the empty core storage cylinder (29) to directly below the core storage bag (16-6) through the rotary device (23). The rock core falls into the empty core storage cylinder (29) under the push of the piston (16-4). The rotary device (23) drives the hydraulic telescopic jaws (24) to rotate the core storage cylinder filled with rock core to the right and send it below the high guide rail (27). Then, it is recovered uniformly under the action of different guide rails and jaws.

[0016] S5 detachment stage: The conical anchoring piston (13-5) is retracted from the soil, the high-pressure anchoring system (13) is retracted into the core sampling vehicle, and the core sampling vehicle moves to the next sampling point.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This invention utilizes the strong rock-cracking and penetrating properties of supercritical carbon dioxide to significantly reduce the strength of frozen soil and improve the drilling efficiency in frozen soil.

[0019] 2. The high-pressure anchoring system designed in this invention makes full use of the carbon dioxide resources in the Martian atmosphere. By hydraulically pushing multiple conical anchoring pistons to be inserted laterally into the soil at the same time, the anchoring effect is significantly enhanced. It can effectively adapt to the microgravity environment of Mars and resist its large surface wind speed.

[0020] 3. The present invention adopts a tracked walking mechanism, which has excellent obstacle crossing ability and can ensure that the core sampling vehicle moves stably on the soft and rugged Martian surface.

[0021] 4. This invention designs a complete core transport and storage mechanism that enables multi-point, multiple sampling. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the Martian permafrost deep drilling and coring vehicle.

[0023] Figure 2 This is a cross-sectional view of the high-pressure anchoring system.

[0024] Figure 3 This is a cross-sectional view of the drilling and coring system.

[0025] Figure 4 This is a cross-sectional view of the hydraulic telescopic gripper.

[0026] Figure 1In the middle section: 1 is the remote control room, 2 is the tracked walking mechanism, 3 is the double-sided gate, 4 is the hydraulic support device, 5 is the double-sided folding gate, 6 is the double-sided column guide rail, 7 is the retractable solar power generation device, 8 is the air intake device, 9 is the filter device, 10 is the air pump, 11 is the pressure controller, 12 is the heating and pressurizing device, 13 is the high-pressure anchoring system, 14 is the single-sided column guide rail, 15 is the position identification sensor, 16 is the drilling and coring system, 17 is the battery, 18 is the single-sided gate, 19 is the low guide rail, 20 is the lifting device, 21 is the rotating fixed gripper, 22 is the guide rail gripper, 23 is the rotating device, 24 is the hydraulic telescopic gripper, 25 is the lifting mechanism, 26 is the middle guide rail, 27 is the high guide rail, 28 is the lifting platform plate, and 29 is the core storage cylinder.

[0027] Figure 2 In the diagram: 13-1 is the infusion tube connector, 13-2 is the infusion set, 13-3 is the inner tube, 13-4 is the hydraulic cylinder, 13-5 is the conical anchoring piston, 13-6 is the anchoring drill bit, 13-7 is the nozzle, 13-8 is the inner sleeve, 13-9 is the outer sleeve, 13-10 is the electromagnetic directional valve, 13-11 is the motor, 13-12 is the carbon dioxide storage tank, 13-13 is the hydraulic pump, 13-14 is the outer tube, 13-15 is the cutting teeth, 13-16 is the high-pressure infusion tube, and 13-17 is the high-pressure heat exchanger.

[0028] Figure 3 In the middle section: 16-1 is the top drive drill pipe, 16-2 is the middle drill pipe, 16-3 is the traction mechanism, 16-4 is the piston, 16-5 is the drill bit, 16-6 is the core storage bag, and 16-7 is the one-way snap ring.

[0029] Figure 4 In the middle section: 24-1 is the cylinder gripper, 24-2 is the secondary telescopic device, 24-3 is the hydraulic device, 24-4 is the primary telescopic device, and 24-5 is the supporting shell. Detailed Implementation

[0030] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] See Figure 1-4 A deep drilling and coring rover for Martian permafrost includes a supercritical carbon dioxide preparation system, a high-pressure anchoring system, a drilling and coring system, and a transport and storage system.

[0032] The supercritical carbon dioxide preparation system includes an air intake device (8), a filter device (9), a vacuum pump (10), a pressure controller (11), and a heating and pressurizing device (12). Part of the generated supercritical carbon dioxide is delivered downward to the nozzle (13-7) through the infusion device (13-2) and the high-pressure infusion pipe (13-16), forming a jet that assists the cutting teeth (13-15) of the anchoring drill bit (13-6) in efficient drilling. The other part enters the carbon dioxide storage tank (13-12) through the infusion pipe connector (13-1), and is converted into liquid carbon dioxide through the high-pressure heat exchange device (13-17) to push the conical anchoring piston (13-5) to laterally anchor the stratum.

[0033] The high-pressure anchoring system (13) includes an infusion pipe connector (13-1), an infusion device (13-2), an inner pipe (13-3), a hydraulic cylinder (13-4), a conical anchoring piston (13-5), an anchoring drill bit (13-6), a nozzle (13-7), an inner sleeve (13-8), an outer sleeve (13-9), an electromagnetic steering valve (13-10), a motor (13-11), a carbon dioxide storage tank (13-12), a hydraulic pump (13-13), an outer pipe (13-14), cutting teeth (13-15), a high-pressure infusion pipe (13-16), and a high-pressure heat exchange device (13-17); multiple conical anchoring pistons (13-5) are simultaneously inserted into the soil to anchor the stratum by hydraulically propelling them with carbon dioxide.

[0034] The drilling and coring system (16) includes a top drive drill rod (16-1), a middle drill rod (16-2), a traction mechanism (16-3), a piston (16-4), a drill bit (16-5), a core storage bag (16-6), and a one-way snap ring (16-7). The top drive drill rod (16-1) and the middle drill rod (16-2) are connected by threads, and the middle drill rod (16-2) is rigidly connected to the drill bit (16-5). The core is inserted into the core storage bag (16-6) through the one-way snap ring (16-7) and then clamped and cut off. It is lifted by the traction mechanism (16-3) and then falls into the empty core storage cylinder (29), and is transported by the hydraulic telescopic jaws (24).

[0035] The transport and storage system includes a low guide rail (19), a lifting device (20), a guide rail gripper (22), a rotating device (23), a hydraulic telescopic gripper (24), a lifting mechanism (25), a middle guide rail (26), a high guide rail (27), a lifting platform (28), and a core storage cylinder (29). All guide rails adopt a double-rail groove design, consisting of two parallel guide rails with a constant relative distance between them, forming a hollow area. Platforms are laid above the low guide rail (19) and the middle guide rail (26) to store the core storage cylinder (29). The space below the middle guide rail (26) is used for storing and transporting empty core storage cylinders, the space below the high guide rail (27) is used for transporting core storage cylinders filled with rock cores obtained from the drilling and coring system (16), and the space below the low guide rail (19) is used for storing core storage cylinders filled with rock cores. Each of the three guide rails has a bidirectional sliding guide rail gripper (22). It is equipped with two hydraulic telescopic grippers (24). The lower hydraulic telescopic gripper (24) can grip and release the empty core storage cylinder (29) conveyed by the middle guide rail (26). The upper hydraulic telescopic gripper (24) rotates to the left under the action of the rotating device (23) to place the empty core storage cylinder under the core collection bag (16-6) to collect the rock core. Then it rotates to the right to send the core storage cylinder filled with rock core into the platform below the high guide rail (27) to complete the subsequent recovery process.

[0036] A method for deep drilling and coring of Martian permafrost, based on a Martian permafrost deep drilling and coring vehicle, includes the following steps:

[0037] S1 Preparation Phase: The Mars permafrost deep drilling core rover is transported to the Martian surface by a spacecraft. First, the retractable solar power generation device (7) is deployed to convert solar energy into electrical energy, which is then stored by the matching battery (17), forming an energy system in which the solar power generation unit and the energy storage system work together to provide power. The remote control room (1) can realize intelligent control of the core rover. During the movement phase, the core rover relies on the tracked walking mechanism (2) with good ground adhesion and strong passability to accurately drive to the predetermined sampling point. After positioning, the double gates (3) on both sides of the vehicle body are opened, and the hydraulic support device (4) is lowered to provide sufficient parking stability and ensure the reliable progress of subsequent drilling operations. Subsequently, the air pump (10) starts to pump air. The gas is drawn in from the air intake device (8), passes through the filter device (9) to remove gas impurities, and passes through the pressure controller (11) to obtain gaseous carbon dioxide at a stable pressure. Then, it is prepared into supercritical carbon dioxide through the heating and pressurization device (12).

[0038] S2 Anchoring Stage: Supercritical carbon dioxide generated by the supercritical carbon dioxide preparation system enters the high-pressure anchoring system (13) through a pipeline. Part of it is used to form a jet to assist drilling, and part of it enters the carbon dioxide storage tank (13-12) and is converted into liquid carbon dioxide by the high-pressure heat exchanger (13-17) to provide hydraulic propulsion. The double-sided folding gate (5) is opened, and the high-pressure anchoring system (13) slowly descends under the drive of the double-sided column guide rails (6). When it contacts the Martian surface, the infusion device (13-2) delivers supercritical carbon dioxide downward to the nozzle (13-7) through the high-pressure infusion pipe (13-16), forming a high-speed jet that sprays downward. Its unique physical properties assist the cutting teeth (13-15) of the anchoring drill bit (13-6) in efficient drilling. After the high-pressure anchoring system (13) continues to drill down to the predetermined depth, the infusion pipe connector (13-1) and the infusion device (13-2) stop working and no longer output supercritical carbon dioxide downwards. The anchoring drill bit (13-6) then stops drilling downwards. Subsequently, the supercritical carbon dioxide generated by the supercritical carbon dioxide preparation system enters the carbon dioxide storage tank (13-12) through the infusion pipe connector (13-1) and is converted into liquid carbon dioxide by the high-pressure heat exchange device (13-17). Driven by a motor (13-11), the hydraulic pump (13-13) pumps out liquid carbon dioxide from the carbon dioxide storage tank (13-12). The valve core of the electromagnetic directional valve (13-10) moves to the position where the X-shaped staggered pipeline connects to the upper and lower interfaces of the electromagnetic directional valve (13-10). At this time, the inner pipe (13-3) is connected to the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the outer pipe (13-14) is connected to the carbon dioxide storage tank (13-12). Liquid carbon dioxide enters the hydraulic cylinder (13-4) through the inner pipe (13-3), pushing the eight conical anchoring pistons (13-5) to extend outwards and insert into the soil to achieve anchoring. During this process, the carbon dioxide in the hydraulic cylinder from the hydraulic action surface to the forward direction of the conical anchoring piston (13-5) and the carbon dioxide in the outer pipe (13-14) rise back to the carbon dioxide storage tank (13-12) through the outer pipe (13-14) due to pressure.

[0039] S3 Drilling and Core Sampling Stage: After the anchoring work is completed, the system is basically stable. The single-sided gate (18) is opened, and the drilling and core sampling system (16) slowly descends under the action of the single-sided column guide rail (14). When the drill bit (16-5) drills down and breaks the rock, the rock core gradually moves upward along the inner hole of the drill bit under the action of axial thrust. At this time, the one-way clasp (16-7) is forced open due to the continuous compression of the rock core, and the rock core enters the core storage bag (16-6). When the rock core in the core storage bag (16-6) reaches the preset capacity, the drilling and core sampling system (16) stops drilling, and the one-way clasp (16-7) returns to its original position, initially locking the bottom of the rock core. The traction mechanism (16-3) starts and drives the piston (16-4) to move downward to generate mechanical thrust, forcing the one-way clasp (16-7) to further contract and break the rock core from the root. With the assistance of the position recognition sensor (15), the single-sided column guide rail (14) lifts the drilling and coring system (16) to the designated height inside the coring vehicle, and the single-sided gate (18) closes, completing the drilling and coring stage.

[0040] S4 Loading and Recycling Stage: The traction mechanism (16-3) lifts the core storage bag (16-6) to the height of the top drive drill rod (16-1). The rotary fixed jaw (21) rotates to the left and clamps the middle drill rod (16-2) and drill bit (16-5). Then, the single-sided column guide rail (14) drives the top drive drill rod (16-1) and the internal core storage bag (16-6) to rise one core storage cylinder height. The guide rail jaw (22) located at the right end of the middle guide rail (26) clamps the empty core storage cylinder (29) and moves it to the left end of the guide rail, and then releases and falls. The hydraulic telescopic jaw (24) located below extends with the cooperation of the first-stage telescopic device (24-4), the second-stage telescopic device (24-2), and the hydraulic device (24-3), opens the cylinder jaw (24-1) to clamp the empty core storage cylinder (29) on the right side, and retracts to directly above the lifting device (20). The cylinder gripper (24-1) releases, and the empty core cylinder (29) falls to the initial height of the lifting device (20). The hydraulic telescopic gripper (24) retracts to its initial position. The lifting device (20) lifts the empty core cylinder (29) to the right side of the upper hydraulic telescopic gripper (24). Similarly, the upper hydraulic telescopic gripper (24) extends the cylinder gripper (24-1) to grasp the empty core cylinder (29). Under the action of the rotating device (23), the empty core cylinder (29) is rotated to be directly below the top drive drill rod (16-1) and the core storage bag (16-6). The rock core falls into the empty core cylinder (29) under the push of the piston (16-4). Piston (16-4) and traction mechanism (16-3) return to their original positions. Rotation device (23) drives the upper hydraulic telescopic gripper (24) to rotate the core-filled storage cylinder to the right. Then, the hydraulic telescopic gripper (24) extends and places the core-filled cylinder (29) on the left side of the platform below the high guide rail (27). The cylinder gripper (24-1) is released and returns to its original position. The guide rail gripper (22) on the high guide rail (27) grips the core-filled storage cylinder (29) and moves it to the rightmost point A of the high guide rail (27). The gripper is released, and the core-filled cylinder (29) is released onto the lifting platform plate (28). The lifting platform plate (28) is smaller than the gap between the two guide rails, and its movement path is to pass vertically through the gap between the two guide rails of the high, medium, and low guide rails. The lifting mechanism (25) controls the lifting platform (28) to descend to point B. At this time, the guide rail gripper (22) of the low guide rail (19) picks up the core storage cylinder (29), moves it to the left end, and releases it, thereby realizing the recovery of the core storage cylinder. At this point, the single-cycle core storage recovery operation is completed. The single-sided column guide rail (14) drives the top drive drill rod (16-1) to descend and reconnects it with the middle drill rod (16-2) and drill bit (16-5) through threads, and all devices are reset. By replacing the core storage cylinder and repeating the above operation, multiple samplings can be achieved at a fixed point.

[0041] S5 Disengagement Stage: If you wish to proceed to another location for drilling and sampling, the valve core of the electromagnetic directional valve (13-10) in the high-pressure anchoring system (13) is moved to the position where the parallel pipeline connects to the upper and lower interfaces of the electromagnetic directional valve (13-10). At this time, the outer pipe (13-14) is connected to the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the inner pipe (13-3) is connected to the carbon dioxide storage tank (13-12). The hydraulic pump (13-13) pumps the carbon dioxide from the carbon dioxide storage tank (13-12) through the outer pipe. The carbon dioxide that was originally pumped into the hydraulic cylinder (13-4) and entered the hydraulic cylinder (13-4) through the inner pipe (13-3) and the carbon dioxide in the inner pipe (13-3) rose back to the carbon dioxide storage tank (13-12) through the inner pipe (13-3) due to the pressure. This pushed the conical anchoring piston (13-5) back into the cylinder. The high-pressure anchoring system (13) was driven by the double-sided column guide rail (6) to rise and return to the core sampling vehicle. The double-sided folding gate (5) closed, and the Mars permafrost deep drilling core sampling vehicle went to the next sampling point.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the technical scope of the present invention should be included within the scope of protection of the present invention.

Claims

1. A Mars permafrost deep coring vehicle comprising a supercritical carbon dioxide preparation system, a high-pressure anchoring system, a drilling and coring system, and a transport and storage system, characterized in that: the supercritical carbon dioxide preparation system is used to provide carbon dioxide for the high-pressure anchoring system, the high-pressure anchoring system is used to fix the coring vehicle to the Martian stratum, the drilling and coring system is used to drill and temporarily store the core, and the transport and storage system is used to transport and recover the drilled core; The high-pressure anchoring system (13) comprises a liquid pipe connector (13-1), a liquid feeder (13-2), an inner pipe (13-3), a hydraulic cylinder (13-4), a conical anchoring piston (13-5), an anchoring drill bit (13-6), a nozzle (13-7), an inner sleeve (13-8), an outer sleeve (13-9), an electromagnetic directional valve (13-10), a motor (13-11), a carbon dioxide storage tank (13-12), a hydraulic pump (13-13), an outer pipe (13-14), a cutting tooth (13-15), a high-pressure liquid feeder pipe (13-16), and a high-pressure heat exchange device (13-17); the liquid pipe connector (13-1) is connected with the liquid feeder (13-2) below, the upper end of the high-pressure liquid feeder pipe (13-16) is connected with the bottom of the liquid feeder (13-2), the lower end is connected with the nozzle (13-7), and the position of the high-pressure liquid feeder pipe (13-16) is restricted by the inner sleeve (13-8); the left and right sides of the liquid pipe connector (13-1) are respectively connected with one carbon dioxide storage tank (13-12), the high-pressure heat exchange device (13-17) is arranged outside the carbon dioxide storage tank (13-12), and the motor (13-11) and the hydraulic pump (13-13) are arranged below the carbon dioxide storage tank (13-12); the electromagnetic directional valve (13-10) is located below the motor (13-11) and the hydraulic pump (13-13) and is distributed on the left and right sides of the liquid feeder (13-2), the electromagnetic directional valve (13-10) has two interfaces above and below, the electromagnetic control assembly is arranged outside the electromagnetic directional valve (13-10), and the cavity and the valve core are arranged inside the electromagnetic directional valve (13-10); the power part of the hydraulic pump (13-13) is connected with the motor (13-11) through a flange, the upper end of the hydraulic pump (13-13) is connected with the carbon dioxide storage tank (13-12) through a liquid inlet, the lower end of the hydraulic pump (13-13) is connected with one of the interfaces above the electromagnetic directional valve (13-10) through a liquid outlet, the carbon dioxide storage tank (13-12) is connected with the other interface above the electromagnetic directional valve (13-10), the two interfaces below the electromagnetic directional valve (13-10) are respectively connected with the inner pipe (13-3) and the outer pipe (13-14), the valve core in the electromagnetic directional valve (13-10) is in close contact with the cavity, the valve core moves leftward and rightward in the cavity under electromagnetic control, the valve core has two groups of pipelines, namely parallel pipelines and X-shaped staggered pipelines, when the valve core moves to a position where the X-shaped staggered pipelines are connected with the upper and lower interfaces of the electromagnetic directional valve (13-10), the inner pipe (13-3) is connected with the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the outer pipe (13-14) is connected with the carbon dioxide storage tank (13-12); when the valve core moves to a position where the parallel pipelines are connected with the upper and lower interfaces of the electromagnetic directional valve (13-10), the outer pipe (13-14) is connected with the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), and the inner pipe (13-3) is connected with the carbon dioxide storage tank (13-12); and eight conical anchoring pistons (13-5) are distributed in the circumferential direction of the main body of the high-pressure anchoring system (13).The conical anchoring piston (13-5) is connected with the hydraulic cylinder (13-4) to form a hydraulic piston device, the inner side pipe (13-3) is connected with the inner end of the hydraulic cylinder (13-4), the outer side pipe (13-14) is connected with the outer end of the hydraulic cylinder (13-4), and the inner side pipe (13-3) and the outer side pipe (13-14) are both in communication with the inside of the hydraulic cylinder (13-4); the anchoring drill bit (13-6) is threadedly connected with the inner side sleeve pipe (13-8) and the outer side sleeve pipe (13-9); the high-pressure anchoring system (13) assisted down drilling process comprises: the high-pressure anchoring system (13) is driven to descend by the double-sided column guide rail (6), the supercritical carbon dioxide generated by the supercritical carbon dioxide preparation system is transported downward to the nozzle (13-7) through the infusion device (13-2) and the high-pressure infusion pipe (13-16), a jet flow is formed and sprayed downward, and the cutting teeth (13-15) of the anchoring drill bit (13-6) carry out efficient drilling; after drilling to the predetermined depth, the infusion pipe connector (13-1) and the infusion device (13-2) stop transporting the supercritical carbon dioxide, and the anchoring drill bit (13-6) stops the drilling operation. The high-pressure anchoring system (13) assists the piston anchoring stratum process, which includes that the supercritical carbon dioxide generated by the supercritical carbon dioxide preparation system enters the carbon dioxide storage tank (13-12) through the infusion tube connector (13-1), and is converted into liquid carbon dioxide by the high-pressure heat exchange device (13-17); the hydraulic pump (13-13) is driven by the motor (13-11) to pump out the liquid carbon dioxide in the carbon dioxide storage tank (13-12); the valve core of the electromagnetic directional valve (13-10) moves to the position where the X-shaped staggered pipeline is in communication with the upper and lower interfaces of the electromagnetic directional valve (13-10), at this time, the inner tube (13-3) is in communication with the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), the outer tube (13-14) is in communication with the carbon dioxide storage tank (13-12), the liquid carbon dioxide enters the hydraulic cylinder (13-4) through the inner tube (13-3), pushes the eight conical anchoring pistons (13-5) to extend outward and insert into the soil to realize anchoring, in this process, the carbon dioxide in the hydraulic cylinder from the hydraulic action surface to the advancing direction of the conical anchoring piston (13-5) and the carbon dioxide in the outer tube (13-14) rise to the carbon dioxide storage tank (13-12) through the outer tube (13-14) due to the pressure effect; in the anchoring releasing process, the valve core of the electromagnetic directional valve (13-10) moves to the position where the parallel pipeline is in communication with the upper and lower interfaces of the electromagnetic directional valve (13-10), at this time, the outer tube (13-14) is in communication with the hydraulic pump (13-13) and the carbon dioxide storage tank (13-12), the inner tube (13-3) is in communication with the carbon dioxide storage tank (13-12), the hydraulic pump (13-13) pumps the carbon dioxide in the carbon dioxide storage tank (13-12) into the hydraulic cylinder (13-4) through the outer tube, the carbon dioxide originally entering the hydraulic cylinder from the inner tube (13-3) and the carbon dioxide in the inner tube (13-3) rise to the carbon dioxide storage tank (13-12) through the inner tube (13-3) due to the pressure effect, thereby pushing the conical anchoring piston (13-5) to retract into the cylinder.

2. The Mars permafrost deep drilling coring vehicle according to claim 1, characterized in that: The drilling and coring system (16) comprises a top drive drill pipe (16-1), a middle drill pipe (16-2), a traction mechanism (16-3), a piston (16-4), a drill bit (16-5), a core storage bag (16-6), and a one-way clamp spring (16-7); the top drive drill pipe (16-1) is connected with the middle drill pipe (16-2) through threads, and the middle drill pipe (16-2) is rigidly connected with the drill bit (16-5); the core storage bag (16-6) is located inside the drill bit (16-5); the lower end of the piston (16-4) is fixedly connected with the top end of the core storage bag (16-6), and the upper end is rigidly connected with the traction mechanism (16-3); the initial position of the piston (16-4) is maintained by a locking pin; the traction mechanism (16-3) is electrically controlled, and can control the upward and downward movement of the piston (16-4), and is used for assisting the subsequent core breaking and recovering process. The drilling and coring process includes: the drilling and coring system (16) is driven to descend by the single-side column guide rail (14), the drill bit (16-5) is drilled, the core is gradually moved upward along the inner hole of the drill bit under the axial pushing force, the one-way snap spring (16-7) is forced to be expanded under the continuous extrusion of the core, and the core enters the core storage bag (16-6); when the core in the core storage bag (16-6) reaches the preset capacity, the drilling is stopped, the one-way snap spring (16-7) is reset, and the core bottom is preliminarily clamped; the traction mechanism (16-3) is started and drives the piston (16-4) to descend to generate a mechanical pushing force, so that the one-way snap spring (16-7) is further contracted, the core is clamped and broken from the root, and then the drilling and coring system (16) is wholly withdrawn into the coring vehicle.

3. The Mars permafrost deep drilling coring vehicle according to claim 1, characterized in that: The supercritical carbon dioxide preparation system comprises an air inlet device (8), a filter device (9), a gas suction pump (10), a pressure controller (11) and a temperature and pressure increasing device (12); the air inlet device (8), the filter device (9), the gas suction pump (10), the pressure controller (11) and the temperature and pressure increasing device (12) are sequentially connected through special pipelines; the temperature and pressure increasing device (12) is connected with a liquid delivery pipe connector (13-1) and a liquid delivery device (13-2) through a pipeline; The supercritical carbon dioxide preparation process comprises: the gas suction pump (10) starts to suck gas, the gas is sucked from the air inlet device (8), the gas impurities are removed through the filter device (9), the gaseous carbon dioxide with stable pressure is obtained through the pressure controller (11), and the supercritical carbon dioxide is prepared through the temperature and pressure increasing device (12); the generated supercritical carbon dioxide enters the high-pressure anchoring system (13) through a pipeline, part of the supercritical carbon dioxide is delivered to the nozzle (13-7) through the high-pressure liquid delivery pipe (13-16) to form a jet flow to assist the drill bit (13-6) to drill downward, and the other part enters the carbon dioxide storage tank (13-12) through the liquid delivery pipe connector (13-1) and is converted into liquid carbon dioxide through the high-pressure heat exchange device (13-17) to drive the conical anchoring piston (13-5) to laterally anchor the stratum.

4. The Mars permafrost deep drilling coring vehicle according to claim 1, characterized in that: The transport storage system comprises low guide rails (19), lifting devices (20), guide rail clamps (22), rotating devices (23), hydraulic telescopic clamps (24), lifting mechanisms (25), middle guide rails (26), high guide rails (27), lifting platform plates (28) and storage barrels (29); each of the high, middle and low guide rails is provided with a guide rail clamp (22) capable of sliding in two directions; the guide rails are designed in a double-track groove, the guide rails are composed of two parallel guide tracks, the relative distance of the two guide tracks is constant, the guide rail clamp (22) is fixedly connected with a sliding block on the guide track, and the sliding block is driven to control the sliding of the guide rail clamp (22); the width of the lifting platform plate (28) is slightly smaller than the relative distance of the two guide tracks, and the movement range of the lifting platform plate (28) is from position A at the lower right of the high guide rail (27), through the space between the two parallel guide tracks of the middle guide rail (26) and the low guide rail (19), to position B at the lower right of the low guide rail (19); the low guide rail (19) and the middle guide rail (26) are provided with platforms laid above the guide rails, and the platforms can store the storage barrels; the space below the middle guide rail (26) is used for storing and transporting empty storage barrels, the space below the high guide rail (27) is used for transporting the storage barrels filled with cores obtained from the drilling and coring system (16), and the space below the low guide rail (19) is used for storing the storage barrels filled with cores; two hydraulic telescopic clamps (24) are arranged, the lower hydraulic telescopic clamp (24) can clamp and release the empty storage barrels transported by the middle guide rail, and the upper hydraulic telescopic clamp (24) rotates to the left under the action of the rotating device (23) to place the empty storage barrels below the coring bag (16-6) to collect cores, and rotates to the right to send the storage barrels filled with cores into the space below the high guide rail (27), and completes the subsequent recovery process.

5. A method for deep drilling and coring of Martian permafrost based on the vehicle for deep drilling and coring of Martian permafrost according to claims 1-4, characterized by, The method comprises the following steps: S1 preparation stage: the remote-controlled Mars permafrost deep drilling and coring vehicle reaches the specified position through the tracked walking mechanism (2), lowers the hydraulic support device (4) to stabilize the vehicle body, and the supercritical carbon dioxide preparation system inhales the Mars atmosphere to prepare supercritical carbon dioxide; S2 anchoring stage: the high-pressure anchoring system (13) forms a jet flow assisted downward drilling with part of the supercritical carbon dioxide prepared in step S1, weakens the mechanical strength of the permafrost and timely blows away the drill cuttings; the other part is converted into liquid carbon dioxide, and the hydraulic pressure pushes multiple conical anchoring pistons (13-5) distributed in the circumference to laterally insert into the soil to achieve anchoring; S3 drilling and coring stage: the drilling and coring system (16) drills downward, the drill cuttings enter the coring bag (16-6) through the one-way clamp spring (16-7), the piston (16-4) descends after drilling to the predetermined depth, the one-way clamp spring (16-7) retracts, and the rock core is cut off; S4: The core barrel recovery stage: the traction mechanism (16-3) lifts the core storage bag (16-6) and separates it from the middle drill pipe (16-2). The hydraulic telescopic clamp (24) is turned to the position directly below the core storage bag (16-6) by the rotating device (23). The core falls into the empty core barrel (29) under the push of the piston (16-4). The rotating device (23) drives the hydraulic telescopic clamp (24) to rotate rightward and send the core-filled core barrel into the position below the high guide rail (27). Then, the core barrel is uniformly recovered under the action of different guide rails and clamps. S5: The disengagement stage: the conical anchoring piston (13-5) is withdrawn from the soil, and the high-pressure anchoring system (13) is withdrawn into the coring vehicle. The coring vehicle goes to the next sampling point.

Images