Low-disturbance lunar soil sampler and sampling method based on simple harmonic small-scale circumferential excitation

Abstract

The present invention discloses a low-disturbance lunar soil sampler and a sampling method based on simple harmonic small-scale circumferential excitation; the lunar soil sampler comprises a supporting platform, a clamping mechanism, a swing mechanism and an axial linear drive mechanism; the ascending and descending actions in the lunar soil sampling process are realized by the axial linear drive mechanism; the clamping and releasing of the sampling tube are realized by the clamping mechanism; the unidirectional motion is converted into a periodic simple harmonic rotation by the swing mechanism, the amplitude of the simple harmonic rotation of the rotating shaft can be controlled by a direct-acting member, the frequency of the simple harmonic rotation of the rotating shaft can be changed by changing the speed of a motor, so that the clamping mechanism fixedly connected to the rotating shaft synchronously drives the sampling tube to perform simple harmonic rotation, and the axial load on the sampling tube is greatly reduced compared with the direct-push penetration sampling, thereby reducing the disturbance degree of the texture surface of the lunar soil sample; the present invention has a simple and compact structure and high reliability, generates less disturbance in the sampling tube sampling process, protects the structure of different soil layers of the lunar soil, and improves the accuracy of sampling.

Description

Technical Field

[0001] The present invention belongs to the technical field of soil samplers, and in particular relates to a low-disturbance lunar soil sampler and a sampling method based on simple harmonic small-scale circumferential excitation. Background Art

[0002] The moon is the closest celestial body to the earth. With its unique spatial position and broad prospects for scientific exploration, it has become the first choice for human exploration and utilization of extraterrestrial bodies. It is also the first choice for countries to strategically seize the field of deep space exploration. At present, the analysis of lunar samples is one of the main goals of the current lunar exploration program. Lunar samples not only contain relevant geological information such as the internal structure and evolutionary history of the lunar crust, but also contain important information in the fields of early evolutionary history of the solar system, solar wind properties and radiation characteristics, and meteorite impact records. Interpreting these intertwined information in the samples is a major challenge and breakthrough in the study of the moon, the earth, and even the solar system. Detecting the lunar surface environment, geological structure, resource and energy distribution, and utilization prospects can provide support for the long-term sustainable development of human society. The collection and analysis of lunar soil samples is an important part of the lunar resource exploration mission, and it also provides reliable technical support for humans to establish lunar bases and develop lunar resources in the future. Compared with loose and disordered lunar soil samples, profile samples with bedding information can more fully reflect the geological structure, evolutionary history, and distribution of mineral resources on the lunar surface, and are the preferred targets in the sampling mission. Therefore, it is of great research significance to design and develop a new type of lunar soil sampler to reduce the disturbance to the lunar soil stratification structure during the sampling process. Summary of the invention

[0003] The purpose of the present invention is to provide a lunar soil sampler with a simple structure, which can realize low-disturbance sampling of lunar soil bedding structure under the lunar surface environment, realize simple harmonic small-scale circumferential excitation of the sampling tube by converting unidirectional rotation into small-scale circumferential swing, reduce the disturbance degree of the lunar soil sample texture surface, and reduce the axial load in the direct-push penetration sampling process, realize axial synchronous linear displacement of the sampling tube through an axial linear drive mechanism, and the movement is precise. The sampling tube is clamped by an adjustable three-jaw chuck, so that the clamping of the sampling tube within a certain range of tube diameter variation can be achieved.

[0004] The technical solution adopted by the present invention is as follows:

[0005] The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation of the present invention includes a support platform, a clamping mechanism, a swing mechanism and an axial linear drive mechanism; the axial linear drive mechanism is assembled on the support platform; the actuator of the axial linear drive mechanism is a working platform.

[0006] The swing mechanism comprises a base, a rotating shaft, a U-shaped connecting piece 1, a U-shaped connecting piece 2, an arc-shaped slide groove, a motor 1, a direct-acting piece 1, a bearing seat, an adjusting ring, a transmission shaft, an adjusting connecting rod 1, an adjusting connecting rod 2 and a limit piece; the base is fixed on the working platform of the axial linear drive mechanism; the motor 1 is fixed on the working platform of the axial linear drive mechanism through a motor fixing seat; the bearing seat is fixed on the base; the transmission shaft and the bearing seat constitute a rotating pair; one end of the transmission shaft is fixedly connected to the output shaft of the motor 1 through a coupling, and the other end is fixedly connected to the outer wall of the arc-shaped slide groove; the U-shaped connecting piece 2 and the arc-shaped slideway of the arc-shaped slide groove constitute a sliding pair, and are connected to the U-shaped The first connector constitutes a rotating pair; the U-shaped connector is hinged to the top of the rotating shaft; the rotation centerline of the hinged position of the U-shaped connector and the rotating shaft is perpendicular to the rotation centerline between the second U-shaped connector and the first U-shaped connector; the rotating shaft and the base constitute a rotating pair; two direct-acting members are fixed on both sides of the bearing seat; a limiter is fixed to the front end of the push rod of each direct-acting member; the adjustment ring and the transmission shaft constitute a sliding pair; the two limiters are embedded in the annular groove of the adjustment ring; one end of the adjustment link is hinged to the adjustment ring, and the other end is hinged to one end of the adjustment link; the other end of the adjustment link is hinged to the U-shaped connector; the clamping mechanism is fixed to the bottom of the rotating shaft.

[0007] Preferably, the support platform includes a sliding rod, a fixed ring, a base platform, a support rod, a limit ring and a connecting rod; the base platform is hinged to the top ends of the three support rods, and the three support rods are evenly distributed along the circumference of the base platform; the limit ring is hinged to one end of the three connecting rods, and the three connecting rods are evenly distributed along the circumference of the limit ring; the other end of each connecting rod is hinged to a support rod aligned in the circumference near the bottom end; the cylinder body of the direct-acting member 2 is fixed to the bottom of the base platform, and the push rod of the direct-acting member 2 is fixed to the limit ring; the three sliding rods are evenly fixed on the top of the base platform along the circumference; the fixed ring is fixedly connected to the three sliding rods; the fixed ring is arranged in parallel with the base platform; the working platform of the axial linear drive mechanism and the three sliding rods constitute a sliding pair.

[0008] More preferably, the bottom ends of the three support rods are hinged with support feet.

[0009] More preferably, the second direct-acting member is a pneumatic cylinder or an electric cylinder.

[0010] Preferably, the axial linear drive mechanism includes a lead screw, a working platform, a lead screw nut and a second motor; the second motor is fixed on the supporting platform; the output shaft of the second motor is connected to the lead screw through a coupling; the working platform and the supporting platform constitute a sliding pair; the lead screw and the supporting platform constitute a rotating pair and pass through a through hole opened on the working platform; a lead screw nut is fixed on the working platform; the lead screw nut and the lead screw constitute a spiral pair.

[0011] Preferably, the clamping mechanism comprises a pressure sensor and a chuck; the chuck is fixedly connected to the bottom of the rotating shaft in the swing mechanism through the pressure sensor; the opening size of the clamping jaws on the chuck is adjusted by a knob on the chuck.

[0012] More preferably, the knob in the clamping mechanism is driven to rotate by motor three.

[0013] Preferably, the two fixing pins fixed on the second U-shaped connecting member and the arc-shaped sliding groove form a sliding pair.

[0014] Preferably, the direct-acting member is a pneumatic cylinder or an electric cylinder.

[0015] The sampling method of the low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation of the present invention is as follows:

[0016] The controller controls motor three to start, and after adjusting the opening of the clamping jaws on the chuck to a preset size, motor three stops; the actuator takes the sampling tube out of the box and places it on the clamping jaws; motor three starts again to control the clamping jaws to tighten and clamp the sampling tube; then, motor two starts to drive the working platform to move downward at a uniform speed along the lead screw, thereby driving the sampling tube to move vertically downward; when the distance between the end face of the sampling tube and the lunar soil reaches a preset distance, the controller controls the direct-acting member one to extend the push rod, and the push rod drives the limit member to move, thereby driving the adjusting ring to slide forward on the transmission shaft; as the adjusting ring slides forward, the axial angle between the U-shaped connecting member one and the rotating shaft increases; then, motor one starts to drive the transmission shaft to rotate, and then drives the arc-shaped slide groove to rotate, so that the U-shaped connecting member two rotates together with the arc-shaped slide groove, and slides back and forth in the arc-shaped slideway of the arc-shaped slide groove; the U-shaped connecting member one connected to the U-shaped connecting member two also swings back and forth, so that the rotating shaft can be moved at a simple The reciprocating rotation is realized in the form of harmonic motion; the reciprocating rotation of the rotating shaft helps the sampling tube to drill into the lunar soil for sampling; as the sampling depth of the sampling tube increases, the pressure on the sampling tube gradually increases. When the pressure sensor detects that the pressure on the sampling tube exceeds the preset pressure value one, the controller controls the push rod length of the direct-acting member one to increase according to the preset rule, thereby increasing the amplitude of the simple harmonic rotation of the rotating shaft, so that the sampling tube can successfully complete the sampling; at the same time, the pressure sensor also monitors in real time whether the pressure on the sampling tube exceeds the preset pressure value two. When the current pressure on the sampling tube exceeds the preset pressure value two, the controller controls the motor two to stop to prevent the sampling tube from being damaged due to excessive pressure; after the sampling is completed, the motor two starts to drive the sampling tube to rise to the preset height, the actuator starts to clamp the sampling tube at the clamping claw, and the motor three starts to control the clamping claw to release the sampling tube; finally, the actuator puts the sampling tube that has completed the sampling back into the box, completing the sampling and storage of the lunar soil.

[0017] The present invention has the following beneficial effects:

[0018] The present invention realizes the rising and falling actions in the process of lunar soil sampling through an axial linear driving mechanism; realizes the clamping and loosening of the sampling tube through a clamping mechanism; converts the unidirectional motion of the motor one into a periodic simple harmonic rotation through a swing mechanism, and can control the amplitude of the simple harmonic rotation of the rotating shaft through a direct-acting member one, and changes the frequency of the simple harmonic rotation of the rotating shaft by changing the speed of the motor one, so that the clamping mechanism fixedly connected to the rotating shaft synchronously drives the sampling tube to perform simple harmonic rotation, which is convenient for the sampling tube to enter the lunar soil layer. The axial load on the sampling tube is greatly reduced compared with the direct push penetration sampling, thereby reducing the disturbance of the texture surface of the lunar soil sample. The degree of movement is reduced, and the sampling tube is not easily damaged; a pressure sensor is also installed between the clamping mechanism and the rotating shaft. The pressure sensor can detect the pressure exerted on the sampling tube in real time during the downward penetration process, which is convenient for subsequent research on the relationship between the penetration force exerted on the sampling tube and the penetration depth during the sampling process; the structure of the present invention is simple and compact, and the reliability is high. During the sampling process of the sampling tube, the amplitude of the simple harmonic rotation of the rotating shaft is increased as the downward penetration depth increases, so that the disturbance can be minimized when the downward penetration depth is small, and sufficient downward penetration force can be achieved when the downward penetration depth is large, thereby protecting the structure of different soil layers of the lunar soil and improving the accuracy of sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the assembly relationship between the axial linear drive mechanism and the support platform in the present invention;

[0021] Figure 3 It is a structural stereogram of the swing mechanism in the present invention;

[0022] Figure 4 It is a structural stereogram of the clamping mechanism in the present invention;

[0023] Figure 5 It is a structural stereogram of the support platform in the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] The present invention is based on a low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation, such as Figure 1 As shown, it includes a supporting platform 4, a clamping mechanism 3, a swinging mechanism 2 and an axial linear driving mechanism 1; the axial linear driving mechanism 1 is assembled on the supporting platform 4; the actuator of the axial linear driving mechanism 1 is a working platform 1-2.

[0026] like Figure 3As shown, the swing mechanism 2 includes a base 2-1, a rotating shaft 2-2, a U-shaped connecting piece 1 2-3, a U-shaped connecting piece 2-4, an arc-shaped slide 2-5, a motor 1 2-6, a direct-acting piece 1 2-9, a bearing seat 2-10, an adjustment ring 2-11, a transmission shaft 2-13, an adjustment connecting rod 1 2-12, an adjustment connecting rod 2-14 and a limiter 2-16; the base 2-1 is fixed on the working platform 1-2 of the axial linear drive mechanism 1; the motor 1 2-6 is fixed to the motor fixing seat 2-7 is fixed on the working platform 1-2 of the axial linear drive mechanism 1; the bearing seat 2-10 is fixed on the base 2-1; the transmission shaft 2-13 and the bearing seat 2-10 form a rotating pair; one end of the transmission shaft 2-13 is fixedly connected to the output shaft of the motor 1 2-6 through the coupling 2-8, and the other end is fixedly connected to the outer wall of the arc-shaped slide 2-5; the U-shaped connecting piece 2-4 and the arc-shaped slideway of the arc-shaped slide 2-5 form a sliding pair, and form a U-shaped connecting piece 1 2-3 The U-shaped connecting piece 2-3 is hinged to the top of the rotating shaft 2-2; the rotation center line of the hinged position of the U-shaped connecting piece 2-3 and the rotating shaft 2-2 is perpendicular to the rotation center line between the U-shaped connecting piece 2-4 and the U-shaped connecting piece 2-3; the rotating shaft 2-2 and the base 2-1 form a rotating pair; two direct-acting pieces 2-9 are fixed on both sides of the bearing seat 2-10; a limit piece 2-16 is fixed to the front end of the push rod of each direct-acting piece 2-9; the adjusting ring 2-11 and The transmission shaft 2-13 constitutes a sliding pair (specifically, a keyway is provided on the transmission shaft 2-13, and the adjustment ring 2-11 is connected to the keyway by a sliding key); the two limit members 2-16 are both embedded in the annular groove of the adjustment ring 2-11; one end of the adjustment link 2-12 is hinged to the adjustment ring 2-11, and the other end is hinged to one end of the adjustment link 2-14; the other end of the adjustment link 2-14 is hinged to the U-shaped connecting member 2-4; the clamping mechanism 3 is fixed to the bottom of the rotating shaft 2-2.

[0027] As a preferred embodiment, Figure 5 As shown, the support platform 4 includes a sliding rod 4-1, a fixing ring 4-2, a base platform 4-3, a support rod 4-4, a limiting ring 4-6 and a connecting rod 4-7; the base platform 4-3 is hinged to the top ends of the three support rods 4-4, and the three support rods 4-4 are evenly distributed along the circumference of the base platform 4-3; the limiting ring 4-6 is hinged to one end of the three connecting rods 4-7, and the three connecting rods 4-7 are evenly distributed along the circumference of the limiting ring 4-6; the other end of each connecting rod 4-7 is aligned with a The support rods 4-4 are hinged near the bottom end; the cylinder body of the direct-acting member 4-8 is fixed to the bottom of the base platform 4-3, and the push rod of the direct-acting member 4-8 is fixed to the limit ring 4-6; the three sliding rods 4-1 are evenly distributed and fixed on the top of the base platform 4-3 along the circumferential direction; the fixed ring 4-2 is fixedly connected to the three sliding rods 4-1; the fixed ring 4-2 is arranged parallel to the base platform 4-3; the working platform 1-2 of the axial linear drive mechanism 1 and the three sliding rods 4-1 constitute a sliding pair.

[0028] As a more preferred embodiment, the bottom ends of the three support rods 4-4 are hinged with support feet 4-5; the support feet 4-5 can improve stability.

[0029] As a more preferred embodiment, the direct-acting member 4-8 is a pneumatic cylinder or an electric cylinder.

[0030] As a preferred embodiment, Figure 2 As shown, the axial linear drive mechanism 1 includes a lead screw 1-1, a working platform 1-2, a lead screw nut 1-3 and a motor 2 1-5; the motor 2 1-5 is fixed on the support platform 4 (specifically, it can be fixed on the bottom of the base platform 4-3 of the support platform 4); the output shaft of the motor 2 1-5 is connected to the lead screw 1-1 through a coupling; the working platform 1-2 and the support platform 4 form a sliding pair (specifically, it can form a sliding pair with the three sliding rods 4-1 in the support platform 4); the lead screw 1-1 and the support platform 4 form a rotating pair (specifically, the two ends of the lead screw 1-1 are supported on the base platform 4-3 and the fixing ring 4-2 of the support platform 4 through bearings 1-4, respectively), and pass through the through hole opened on the working platform 1-2; the lead screw nut 1-3 is fixed on the working platform 1-2; the lead screw nut 1-3 and the lead screw 1-1 form a spiral pair. Preferably, the assembly consisting of the lead screw 1-1, the lead screw nut 1-3 and the motor 2 1-5 can be provided with two evenly distributed along the circumferential direction.

[0031] As a preferred embodiment, Figure 4 As shown, the clamping mechanism 3 includes a pressure sensor 3-1 and a chuck 3-2; the chuck 3-2 is fixedly connected to the bottom of the rotating shaft 2-2 in the swing mechanism 2 through the pressure sensor 3-1; the chuck 3-2 adopts existing mature technology, such as a three-jaw chuck; the opening size of the clamping jaws 3-4 on the chuck 3-2 is adjusted by the knob 3-3 on the chuck 3-2.

[0032] As a more preferred embodiment, the knob 3 - 3 in the clamping mechanism 3 is driven to rotate by a motor 3 (not shown in the figure).

[0033] As a preferred embodiment, the two fixing pins 2-15 fixed on the U-shaped connecting member 2-4 and the arc-shaped sliding groove 2-5 form a sliding pair.

[0034] As a preferred embodiment, the direct-acting member 2-9 is a pneumatic cylinder or an electric cylinder.

[0035] Motor 1 2-6, motor 2 1-5, motor 3, direct-acting member 1 2-9, direct-acting member 2 4-8 and pressure sensor 3-1 are all connected to the controller; motor 1 2-6, motor 3, direct-acting member 1 2-9, direct-acting member 2 4-8 and motor 2 1-5 are all controlled by the controller.

[0036] In the case where all the above embodiments are present, the sampling method of the low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation of the present invention is as follows:

[0037] The direct-acting member 2 4-8 drives the limit ring 4-6 to descend, and the limit ring 4-6 drives each connecting rod 4-7 to expand each supporting rod 4-4; then the low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation is placed at the sampling site through an actuator (such as an intelligent robotic arm, etc.); the controller controls the motor 3 to start, and after the opening of the clamping jaw 3-4 on the chuck 3-2 is adjusted to a preset size, the motor 3 stops; the actuator takes the sampling tube out of the box and places it at the clamping jaw 3-4; the motor 3 starts again, controls the clamping jaw 3-4 to tighten and clamp the sampling tube; then, the motor 2 1-5 starts to drive the working platform 1-2 moves downward at a uniform speed along the lead screw 1-1, thereby driving the sampling tube to move vertically downward; when the distance between the end face of the sampling tube and the lunar soil reaches a preset distance, the controller controls the direct-acting member 2-9 to extend the push rod, and the push rod drives the limit member 2-16 to move, thereby driving the adjustment ring 2-11 to slide forward on the transmission shaft 2-13; as the adjustment ring 2-11 slides forward, the axial angle between the U-shaped connecting member 2-3 and the rotating shaft 2-2 increases; then, the motor 2-6 is started, driving the transmission shaft 2-13 to rotate, and then driving the arc-shaped slide groove 2-5 to rotate, so that the U-shaped connecting member 2-4 slides forward along the arc The groove 2-5 rotates together and slides back and forth in the arc slideway of the arc slide groove 2-5; the U-shaped connecting piece 2-3 connected to the U-shaped connecting piece 2-4 also swings back and forth, so that the rotating shaft 2-2 can realize reciprocating rotation in the form of simple harmonic motion; the reciprocating rotation of the rotating shaft 2-2 helps the sampling tube to drill into the lunar soil for sampling; as the sampling depth of the sampling tube increases, the pressure on the sampling tube gradually increases. When the pressure sensor 3-1 detects that the pressure on the sampling tube exceeds the preset pressure value one, the controller controls the push rod length of the direct-acting piece 2-9 to increase according to the preset rule, thereby improving the simple harmonic motion of the rotating shaft 2-2. The amplitude of rotation enables the sampling tube to complete sampling smoothly; at the same time, the pressure sensor 3-1 also monitors in real time whether the pressure on the sampling tube exceeds the preset pressure value 2. When the current pressure on the sampling tube exceeds the preset pressure value 2, the controller controls the motor 2 1-5 to stop to prevent the sampling tube from being damaged due to excessive pressure; after the sampling is completed, the motor 2 1-5 starts, driving the sampling tube to rise to the preset height, the actuator starts to clamp the sampling tube at the clamp 3-4, and the motor three starts to control the clamp 3-4 to release the sampling tube; finally, the actuator puts the sampling tube that has completed sampling back into the box, completing the sampling and storage of lunar soil.

Claims

1. A low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation, comprising a support platform, a clamping mechanism and an axial linear drive mechanism, characterized in that: It also includes a swing mechanism; the axial linear drive mechanism is assembled on the support platform; the actuator of the axial linear drive mechanism is a working platform; The swing mechanism comprises a base, a rotating shaft, a U-shaped connecting piece 1, a U-shaped connecting piece 2, an arc-shaped slide groove, a motor 1, a direct-acting piece 1, a bearing seat, an adjusting ring, a transmission shaft, an adjusting connecting rod 1, an adjusting connecting rod 2 and a limit piece; the base is fixed on the working platform of the axial linear drive mechanism; the motor 1 is fixed on the working platform of the axial linear drive mechanism through a motor fixing seat; the bearing seat is fixed on the base; the transmission shaft and the bearing seat constitute a rotating pair; one end of the transmission shaft is fixedly connected to the output shaft of the motor 1 through a coupling, and the other end is fixedly connected to the outer wall of the arc-shaped slide groove; the U-shaped connecting piece 2 and the arc-shaped slideway of the arc-shaped slide groove constitute a sliding pair, and are connected to the U-shaped The first connector constitutes a rotating pair; the U-shaped connector is hinged to the top of the rotating shaft; the rotation centerline of the hinged position of the U-shaped connector and the rotating shaft is perpendicular to the rotation centerline between the second U-shaped connector and the first U-shaped connector; the rotating shaft and the base constitute a rotating pair; two direct-acting members are fixed on both sides of the bearing seat; a limiter is fixed to the front end of the push rod of each direct-acting member; the adjustment ring and the transmission shaft constitute a sliding pair; the two limiters are embedded in the annular groove of the adjustment ring; one end of the adjustment link is hinged to the adjustment ring, and the other end is hinged to one end of the adjustment link; the other end of the adjustment link is hinged to the U-shaped connector; the clamping mechanism is fixed to the bottom of the rotating shaft.

2. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 1 is characterized in that: The support platform includes a sliding rod, a fixed ring, a base platform, a support rod, a limit ring and a connecting rod; the base platform is hinged to the top ends of the three support rods, and the three support rods are evenly distributed along the circumference of the base platform; the limit ring is hinged to one end of the three connecting rods, and the three connecting rods are evenly distributed along the circumference of the limit ring; the other end of each connecting rod is hinged to a support rod aligned in the circumference near the bottom end; the cylinder body of the direct-acting member 2 is fixed to the bottom of the base platform, and the push rod of the direct-acting member 2 is fixed to the limit ring; the three sliding rods are evenly fixed on the top of the base platform along the circumference; the fixed ring is fixedly connected to the three sliding rods; the fixed ring is arranged in parallel with the base platform; the working platform of the axial linear drive mechanism and the three sliding rods constitute a sliding pair.

3. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 2 is characterized in that: The bottom ends of the three support rods are all hinged with support feet.

4. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 2 is characterized in that: The second direct-acting member is a cylinder or an electric cylinder.

5. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 1 is characterized in that: The axial linear drive mechanism includes a lead screw, a working platform, a lead screw nut and a second motor; the second motor is fixed on the supporting platform; the output shaft of the second motor is connected to the lead screw through a coupling; the working platform and the supporting platform constitute a sliding pair; the lead screw and the supporting platform constitute a rotating pair and pass through a through hole opened on the working platform; a lead screw nut is fixed on the working platform; the lead screw nut and the lead screw constitute a spiral pair.

6. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 5 is characterized in that: The clamping mechanism comprises a pressure sensor and a chuck; the chuck is fixedly connected to the bottom of the rotating shaft in the swing mechanism through the pressure sensor; the opening size of the clamping claws on the chuck is adjusted by a knob on the chuck.

7. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 6 is characterized in that: The knob in the clamping mechanism is driven to rotate by motor three.

8. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 1 is characterized in that: The two fixing pins fixed on the second U-shaped connecting member and the arc-shaped sliding groove form a sliding pair.

9. The low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 1 is characterized in that: The direct-acting member 1 is a cylinder or an electric cylinder.

10. The sampling method of the low-disturbance lunar soil sampler based on simple harmonic small-scale circumferential excitation according to claim 7 is characterized in that: The details are as follows: The controller controls motor three to start, and after adjusting the opening of the clamping jaws on the chuck to a preset size, motor three stops; the actuator takes the sampling tube out of the box and places it on the clamping jaws; motor three starts again to control the clamping jaws to tighten and clamp the sampling tube; then, motor two starts to drive the working platform to move downward at a uniform speed along the lead screw, thereby driving the sampling tube to move vertically downward; when the distance between the end face of the sampling tube and the lunar soil reaches a preset distance, the controller controls the direct-acting part to extend the push rod, and the push rod drives the limit part to move, thereby driving the adjustment ring to slide forward on the transmission shaft; as the adjustment ring slides forward, the axial angle between the U-shaped connecting piece 1 and the rotating shaft increases; then, motor one starts to drive the transmission shaft to rotate, and then drives the arc-shaped slide groove to rotate, so that the U-shaped connecting piece 2 rotates together with the arc-shaped slide groove, and slides back and forth in the arc-shaped slideway of the arc-shaped slide groove; The U-shaped connector 1 connected to the U-shaped connector 2 also swings back and forth, so that the rotating shaft can realize reciprocating rotation in the form of simple harmonic motion; as the sampling depth of the sampling tube increases, when the pressure sensor detects that the pressure on the sampling tube exceeds the preset pressure value 1, the controller controls the push rod length of the direct-acting member to increase according to the preset rule, thereby increasing the amplitude of the simple harmonic rotation of the rotating shaft, so that the sampling tube can successfully complete the sampling; at the same time, the pressure sensor also monitors in real time whether the pressure on the sampling tube exceeds the preset pressure value 2. When the current pressure on the sampling tube exceeds the preset pressure value 2, the controller controls the motor 2 to stop; after the sampling is completed, the motor 2 starts, driving the sampling tube to rise to the preset height, the actuator starts to clamp the sampling tube at the clamp, and the motor 3 starts to control the clamp to release the sampling tube; finally, the actuator starts to put the sampling tube that has completed sampling back into the box.

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