An automatic docking mechanism for deep space exploration

Abstract

The present invention provides an automatic docking mechanism for deep space exploration, comprising an active connection structure and a sampling structure. The sampling structure is arranged on a part to be installed, and one end of the active connection structure is docked with one end of the sampling structure so that the active connection structure drives the sampling structure to rotate and sample. The active connection structure comprises a tunneling drill, a motor and a reversing transmission component. One output end of the motor is connected to the tunneling drill, and the other output end of the motor is connected to the reversing transmission component. The sampling structure comprises a passive connection structure, a screw structure and a support. One end of the passive connection structure is connected to one end of the screw structure, and the other end of the screw structure is connected to the support. The reversing transmission component is connected to the passive connection structure. This solves the problems of slow docking speed and low efficiency in current small-scale unmanned docking sampling mechanisms, and the problem that the sampling tube cannot be replaced multiple times, which increases the generation of waste metal on the lunar surface.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep space automatic docking structures, and in particular relates to an automatic docking mechanism for deep space exploration. Background Art

[0002] With the development and progress of modern science and technology, human exploration of space has not stopped at the launch of satellites and other near-Earth research in outer space, but has extended its goals to the detection of many terrestrial asteroids, and docking mechanisms have been widely used in various aspects of the aviation field: my country's independently developed space station, deep space exploration, and on-orbit docking modules have become an indispensable part of the field of aerospace exploration. According to research in the field of domestic deep space exploration, most of the current docking mechanisms are used for on-orbit docking, such as space stations and low-Earth orbits such as satellites. Secondly, this large-scale on-orbit docking locking method is cumbersome, and there is little research on the sampling of small docking structures for deep space exploration in the aerospace field.

[0003] Currently, there are several methods for on-orbit docking, including cone-type docking, peripheral docking, and three-finger docking. However, these methods often require that the active and passive docking ends be dimensionally robust and that sufficient space is available for docking. Therefore, they are not suitable for deep space exploration and docking. Lunar exploration samplers are subject to the moon's varying day and night temperatures and complex operating environment. Current small, unmanned docking and sampling mechanisms suffer from slow docking speeds and low efficiency, and are unable to replace sampling tubes multiple times, increasing the generation of waste metal on the lunar surface. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to provide an automatic docking mechanism for deep space exploration, which can solve the problems of slow docking speed and low efficiency of the current small unmanned docking and sampling mechanisms, and the inability to replace the sampling tubes multiple times, which increases the generation of waste metal on the lunar surface.

[0005] In order to solve the above problems, the present invention provides an automatic docking mechanism for deep space exploration, comprising an active connection structure and a sampling structure. The sampling structure is arranged on a component to be mounted, and one end of the active connection structure is docked with one end of the sampling structure so that the active connection structure drives the sampling structure to rotate and sample.

[0006] The active connection structure includes a tunneling drill, a motor and a reversing transmission assembly, wherein one output end of the motor is connected to the tunneling drill, and the other output end of the motor is connected to the reversing transmission assembly;

[0007] The sampling structure includes a passive connection structure, a screw structure and a support. One end of the passive connection structure is connected to one end of the screw structure, and the other end of the screw structure is connected to the support. The reversing transmission assembly is connected to the passive connection structure, and the support is connected to the part to be installed.

[0008] Optionally, the reversing transmission assembly includes a connecting end cover, a reversing shaft, a reversing assembly and a docking assembly. The connecting end cover is installed on the outer surface of the motor away from the tunneling drill. One end of the reversing shaft is rotatably connected to the other output end of the motor. The reversing shaft and the output end of the motor are connected through the reversing assembly. A docking assembly is provided on the end of the reversing shaft away from the motor.

[0009] Optionally, the docking assembly includes multiple reversing shaft splines, connecting grooves and guide cones, the multiple reversing shaft splines are arranged on the outer wall of the end of the reversing shaft away from the motor, and are evenly arranged along the circumference of the reversing shaft, a connecting groove is provided at one end of the right output shaft of the motor, and a guide cone is provided at one end of the right output shaft of the motor and is located in the connecting groove, and the passive connection structure is connected to the guide cone.

[0010] Optionally, the docking assembly further includes a plurality of ball screws, the reversing shaft spline is connected to the reversing shaft via the ball screws, and the ball screws correspond to the reversing shaft spline one to one.

[0011] Optionally, the passive connection structure includes a patrol flange, an end cover, a sampling tube connector, a left claw, a vortex, a right claw, a sampling cone, and a joint;

[0012] One end of the end cover is connected to the screw structure, and the other end of the end cover is connected to the patrol device flange. The sampling tube connector is arranged in the patrol device flange and the inner cavity of the end cover, and is connected to the end cover. The left side wall of the sampling tube connector is provided with a sampling cone, and the joint is provided in the inner cavity of the sampling cone. The joint is connected to the reversing transmission assembly. The outer wall of the sampling tube connector on the side away from the sampling cone is connected to the scroll. A first spiral groove is provided on a side wall of the scroll close to the sampling cone, and a plurality of left-side claws are movably provided in the first spiral groove. A second spiral groove is provided on a side wall of the scroll away from the sampling cone, and a plurality of right-side claws are movably provided in the second spiral groove, wherein the rotation directions of the first spiral groove and the second spiral groove are opposite.

[0013] Optionally, the passive connection structure further includes a plurality of flat keys and arc-shaped grooves, the inner cavity side wall of the sampling cone is evenly provided with a plurality of flat keys in the circumferential direction, and the arc-shaped groove is provided on the inner side wall of the sampling cone.

[0014] Optionally, the screw structure includes a screw, a sampling tube, a propulsion nut and an absorption sheet;

[0015] One end of the sampling tube is connected to the sampling tube connector, the screw is located inside the sampling tube, the end of the screw close to the passive connection structure is connected to the joint, the push nut is threadedly connected to the screw, the absorption plate is connected to the push nut, and the absorption plate is connected to the inner wall of the sampling tube through a guide structure.

[0016] Optionally, the reversing assembly includes a sampling ratchet structure and a sample delivery ratchet structure, the sampling ratchet structure includes a sampling pawl, a sampling ratchet, a sampling pin and a sampling spring, and the sample delivery ratchet structure includes a sample delivery pawl, a sample delivery ratchet, a sample delivery pin and a sample delivery spring;

[0017] The sampling ratchet is arranged on the outer surface of the motor output shaft, and the inner side wall of the reversing shaft is provided with a plurality of first mounting grooves, in which the sampling pin and the sampling spring are installed, and the sampling pawl is rotatably installed on the sampling pin, and the sampling pawl is engaged with the sampling ratchet;

[0018] A plurality of second mounting grooves are provided on the outer surface of the reversing shaft, and the sample feeding pin and the sample feeding spring are connected inside the second mounting groove. The sample feeding pawl is rotatably provided on the sample feeding pin, and the sample feeding ratchet is installed on the inner side wall of the connecting end cover, and the sample feeding pawl is engaged with the sample feeding ratchet.

[0019] Beneficial effects

[0020] An automatic docking mechanism for deep space exploration provided in an embodiment of the present invention can effectively solve the problems of slow docking speed and low efficiency of current small-scale unmanned docking and sampling mechanisms, and the inability to replace sampling tubes multiple times. It realizes three working modes by controlling the forward and reverse rotation of a motor, and the active and passive docking structures are simple and reliable. While meeting aerospace quality requirements, it greatly simplifies and shortens the docking locking time, and can repeatedly replace sampling tubes and recycle empty tubes, greatly reducing the generation of waste metal on the lunar surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic front view of the active connection structure according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the front view of the sampling structure of an embodiment of the present invention;

[0023] Figure 3 This is a front view structural diagram of a reversing transmission assembly according to an embodiment of the present invention;

[0024] Figure 4 AA is a cross-sectional structural diagram of a reversing transmission assembly according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of a reversing transmission assembly according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the front view of the passive connection structure of an embodiment of the present invention;

[0027] Figure 7 This is a schematic cross-sectional view of the passive connection structure BB according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the three-dimensional structure of the passive connection structure according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of the sampling ratchet structure of an embodiment of the present invention;

[0030] Figure 10 Schematic diagram of the sample feeding ratchet structure of an embodiment of the present invention.

[0031] The reference numerals indicate:

[0032] 1. Active connection structure; 10. Drilling drill; 11. Motor; 12. Reversing transmission assembly; 120. Reversing shaft; 121. Reversing shaft spline; 122. Guide taper; 123. Ball screw; 124. Sampling ratchet structure; 1240. Sampling pawl; 1241. Sampling ratchet; 1242. Sampling pin; 1243. Sampling spring; 125. Sample delivery ratchet structure; 1250. Sample delivery pawl; 1251. Sample delivery ratchet; 1252. Sample delivery pin; 1253. Sample delivery Spring; 126, connecting end cover; 2, sampling structure; 20, passive connection structure; 200, patrol flange; 201, end cover; 202, sampling tube connector; 203, left claw; 204, vortex; 205, right claw; 206, sampling cone; 207, connector; 208, flat key; 209, arc groove; 21, screw structure; 210, screw; 211, sampling tube; 212, push nut; 213, absorption sheet; 22, support; 3, locking nut. DETAILED DESCRIPTION

[0033] See also Figures 1 to 10 As shown, according to an embodiment of the present invention, a deep space exploration automatic docking mechanism is provided, which is intended to achieve long-term sampling work and provide a deep space exploration mechanism driven by a single motor and capable of drilling, sampling, and sending. The mechanism is simple to dock. When multiple absorption sheets in the sampling tube are consumed, it can not only effectively recover the empty sampling tube but also reduce the vibration caused by the acceleration during rocket launch or landing, resulting in structural deformation or failure. At the same time, the reliability of the docking is improved. It can separate drilling, sampling, and sending, and then transmit the power of the motor 11 to the sampling structure 2. Please refer to Figure 1 and Figure 2The automatic docking mechanism for deep space exploration includes an active connection structure 1 and a sampling structure 2. The sampling structure 2 is arranged on the part to be installed. One end of the active connection structure 1 and one end of the sampling structure 2 are docked with each other, so that the active connection structure 1 drives the sampling structure 2 to rotate and sample; the active connection structure 1 includes a tunneling drill 10, a motor 11 and a reversing transmission assembly 12. One end of the output end of the motor 11 is connected to the tunneling drill 10, and the other end of the output end of the motor 11 is connected to the reversing transmission assembly 12; the sampling structure 2 includes a passive connection structure 20, a screw structure 21 and a support 22. One end of the passive connection structure 20 is connected to one end of the screw structure 21, and the other end of the screw structure 21 is connected to the support 22. The reversing transmission assembly 12 is connected to the passive connection structure 20, and the support 22 is connected to the part to be installed. The support member 22 is connected to the mounting member, that is, mounted on the rover compartment wall. The motor 11 is then driven by the robotic arm to move, and the reversing drive assembly 12 and the passive connection structure 20 are docked with each other, thereby simplifying docking. This can simultaneously drive the screw structure 21 for sampling and sample delivery, and also drive the tunneling drill 10 for drilling. This solves the problems of slow docking speed and low efficiency of current small-scale unmanned docking sampling mechanisms. Furthermore, the sampling tube can be replaced multiple times, which increases the generation of waste metal on the lunar surface.

[0034] Furthermore, the left output end of the motor 11 is located inside the tunneling drill 10, and threaded holes distributed 180° are drilled on the left output shaft of the motor 11 and the right side of the tunneling drill 10. The threaded hole on the right side of the tunneling drill 10 and the threaded hole on the left output shaft of the motor 11 located inside the tunneling drill 10 are fixedly connected with a top screw, so that the output power of the left output shaft of the motor 11 is transmitted to the tunneling drill 10.

[0035] Furthermore, a pair of first rolling bearings are arranged on the right side wall of the tunneling drill 10, and the bearing seat is installed on the upper surface of the left side of the motor 11 by screws. The first rolling bearing is positioned with the shaft shoulder located on the left side inside the bearing seat, so that the tunneling drill 10 located inside the bearing seat and the left output shaft of the motor 11 rotate together.

[0036] Furthermore, the left side outer wall of the motor 11 is equipped with a left end cover, and the left outer edge of the bearing seat, the left outer edge of the left end cover, and the left outer edge of the motor 11 are drilled with The threaded holes are fixed together by screws, so that the excavation drill 10 rotates relative to the bearing seat, the left end cover and the motor 11.

[0037] Furthermore, the right side of the motor 11 is connected to the reversing transmission assembly 12 , that is, the motor 11 has dual output ends, and the right output end of the motor 11 drives the reversing transmission assembly 12 to rotate.

[0038] Furthermore, the passive connection structure 20 and the reversing transmission assembly 12 are connected to each other, that is, the reversing transmission assembly 12 drives the screw structure 21 to rotate, thereby realizing sampling and sample delivery.

[0039] Please refer to Figure 4 and Figure 5 The reversing transmission assembly 12 includes a connecting end cover 126, a reversing shaft 120, a reversing assembly and a docking assembly. The connecting end cover 126 is installed on the outer surface of the motor 11 away from the tunneling drill 10. One end of the reversing shaft 120 is rotatably connected to the other end of the output end of the motor 11. The reversing shaft 120 is connected to the output end of the motor 11 through the reversing assembly. A docking assembly is set at the end of the reversing shaft 120 away from the motor 11.

[0040] Furthermore, the right output shaft on the right side of the motor 11 is located inside the reversing shaft 120 , and a pair of first sliding bearings are provided on the right output shaft of the motor 11 , that is, the right output shaft is connected to the reversing shaft 120 through the first sliding bearings.

[0041] Furthermore, a second rolling bearing is provided on the reversing shaft 120 and is positioned by a locking nut provided on the left side of the reversing shaft 120. Specifically, the locking nut positions the left side of the second rolling bearing to prevent it from axial movement. The locking nut is fixed to the reversing shaft 120 via threads on the left side of the reversing shaft 120, thereby axially securing the second rolling bearing.

[0042] Please refer to Figure 9 and Figure 10 The reversing assembly includes a sampling ratchet structure 124 and a sample delivery ratchet structure 125. The sampling ratchet structure 124 includes a sampling pawl 1240, a sampling ratchet 1241, a sampling pin 1242 and a sampling spring 1243. The sample delivery ratchet structure 125 includes a sample delivery pawl 1250, a sample delivery ratchet 1251, a sample delivery pin 1252 and a sample delivery spring 1253.

[0043] The outer surface of the output shaft of the motor 11 and the right side of the first sliding bearing are provided with a sampling ratchet 1241, and the sampling ratchet 1241 and the right output shaft of the motor 11 are drilled with The sampling ratchet 1241 and the right output shaft of the motor 11 are fixedly connected with each other through the threaded hole of the sampling ratchet 1241 and the right output shaft of the motor 11 with a top screw so that the sampling ratchet 1241 and the right output shaft of the motor 11 rotate together.

[0044] Furthermore, a plurality of first mounting grooves are provided on the inner side wall of the reversing shaft 120 , in which a sampling pin 1242 and a sampling spring 1243 are installed. A sampling pawl 1240 is rotatably installed on the sampling pin 1242 , and the sampling pawl 1240 is engaged with the sampling ratchet 1241 .

[0045] Furthermore, only one sampling pin 1242 and one sampling spring 1243 are installed in the first mounting groove. At the same time, one side wall of the sampling spring 1243 is in contact with the side wall of the first mounting groove, and the other side wall of the sampling spring 1243 is in contact with the side wall of the sampling pawl 1240, thereby realizing the force provided by the sampling spring 1243.

[0046] Furthermore, the first mounting groove is provided with a size of The pin hole is used to install the sampling pin shaft 1242.

[0047] Furthermore, the sample delivery ratchet 1251 is installed on the inner wall of the connecting end cover 126, and a plurality of second mounting grooves are provided on the outer surface of the reversing shaft 120. The sample delivery pin 1252 and the sample delivery spring 1253 are connected inside the second mounting groove, and the sample delivery pawl 1250 is rotatably provided on the sample delivery pin 1252.

[0048] Furthermore, the second mounting slot also contains only one sample delivery pin 1252 and one sample delivery spring 1253. One sidewall of the sample delivery spring 1253 contacts the sidewall of the second mounting slot, while the other sidewall of the sample delivery spring 1253 contacts the sidewall of the sample delivery pawl 1250, thereby realizing the force provided by the sample delivery spring 1253.

[0049] Furthermore, a space of size The pin hole is used to install the sample delivery pin shaft 1252.

[0050] Furthermore, the connecting end cap 126 is screwed to the right side wall of the motor 11. The reversing shaft 120 is located in the inner cavity of the connecting end cap 126. The reversing shaft 120, the motor 11 and the connecting end cap 126 are connected by a reversing assembly, so that the motor 11 drives the reversing shaft 120 to rotate forward and reverse.

[0051] Furthermore, the docking assembly is provided on the reversing shaft 120 and is connected to the passive connection structure 20 via the docking assembly.

[0052] The docking assembly includes multiple reversing shaft splines 121, connecting grooves, multiple ball screws 123 and guide cones 122. The multiple reversing shaft splines 121 are arranged on the outer wall of the end of the reversing shaft 120 away from the motor 11, and are evenly arranged along the circumference of the reversing shaft 120. A guide cone 122 is provided at one end of the right output shaft of the motor 11, and the guide cone 122 is located on the right side surface of the right output shaft of the motor 11. The passive connection structure 20 is connected to the guide cone 122.

[0053] Furthermore, the reversing shaft 120 is provided with six reversing shaft splines 121, and the reversing shaft splines 121 are drilled with The ball screw 123 is arranged inside the threaded hole.

[0054] Furthermore, the reversing shaft 120 is hollow, that is, the right output shaft of the motor 11 and the reversing shaft 120 are concentrically arranged, that is, a guide cone 122 is provided on the right end side wall of the right output shaft of the motor 11, and the guide cone 122 is used to dock with the joint 207 on the passive connection structure 20.

[0055] Please refer to Figure 6-Figure 8 The passive connection structure 20 includes a patrol flange 200, an end cover 201, a sampling tube connector 202, a left claw 203, a vortex 204, a right claw 205, a sampling cone 206, a joint 207, a plurality of flat keys 208 and an arc groove 209; one end of the end cover 201 is connected to the screw structure 21, and the other end of the end cover 201 is connected to the patrol flange 200. The sampling tube connector 202 is arranged in the inner cavity of the patrol flange 200 and the end cover 201 and is connected to the end cover 201. The left wall of the sampling tube connector 202 is provided with a sampling The conical mouth 206 and the joint 207 are arranged in the inner cavity of the sampling conical mouth 206, and the joint 207 is connected to the reversing transmission assembly 12. The outer wall of the sampling tube connector 202 on the side away from the sampling conical mouth 206 is connected to the scroll 204. A first spiral groove is provided on the side wall of the scroll 204 close to the sampling conical mouth 206, and a plurality of left-side claws 203 are movably provided in the first spiral groove. A second spiral groove is provided on the side wall of the scroll 204 away from the sampling conical mouth 206, and a plurality of right-side claws 205 are movably provided in the second spiral groove, wherein the rotation directions of the first spiral groove and the second spiral groove are opposite.

[0056] Furthermore, the outer edge of the left side of the patrol flange 200 and the outer edge of the end cover 201 are drilled with The threaded holes are used to fix the patrol flange 200 and the end cover 201 by screws.

[0057] Furthermore, the sampling tube connector 202 is connected to the end cover 201, and the sampling cone 206 is arranged on the left side of the sampling tube connector 202. Six flat keys 208 and arc grooves 209 are arranged on the inner circular wall of the sampling cone 206 along the circumferential direction, wherein the ball screw 123 is locked in the arc groove 209, and six connecting keys are arranged on the circumference of the outer wall of the right side of the sampling tube connector 202 to cooperate with the connecting keys evenly distributed on the inner hole wall of the scroll 204, so that the sampling tube connector 202 and the scroll 204 rotate together.

[0058] The screw structure 21 includes a screw 210 , a sampling tube 211 , a propulsion nut 212 and an absorption sheet 213 .

[0059] Furthermore, M2 threaded holes are drilled on the connector 207 and the screw rod 210 , and the connector 207 and the screw rod 210 are fixedly connected with a jackscrew so that the connector 207 and the screw rod 210 rotate together.

[0060] Furthermore, a pair of third rolling bearings are provided on the shoulder of connector 207. The right locking nut positions the third rolling bearings. The right side of the connector shoulder 207 is connected to the inner ring of the third rolling bearing. The right locking nut 3 positions the inner ring of the third rolling bearing. The outer ring of the third rolling bearing is connected to the left inner wall of the sampling tube 211. The outer ring rotates. Connector 207, screw 210, third rolling bearing, push nut 212, and absorbing sheet 213 are all arranged inside the sampling tube connector 202 and on the same axis. The inner diameter of the third rolling bearing is set on connector 207, and the outer diameter is located on the left side of the sampling tube 211. The outer diameter of the third rolling bearing is connected to the sampling tube 211, and connector 207 drives the screw 210 and the third rolling bearing to rotate together.

[0061] Furthermore, threaded holes are drilled on the right circumference of the sampling tube connector 202 and the left circumference of the sampling tube 211. These holes are connected by jackscrews, allowing the sampling tube connector 202 and the sampling tube 211 to rotate together. The scroll 204, left claw 203, and right claw 205 are all located inside the patrol flange 200 and the end cover 201.

[0062] Furthermore, the absorbing sheet 213 is connected to the inner wall of the sampling tube 211 via a guide structure. Sampling tube 211 is provided with sampling tube guide grooves arranged horizontally 180 degrees. The inner ring of the push nut 212 is threaded and connected to the screw 210. The guide of the push nut 212, the guide key on the absorbing sheet 213, and the guide groove on the sampling tube 211 cooperate. The inner ring of the absorbing sheet 213 and the screw 210 have a clearance fit, allowing the push nut 212 to smoothly push the absorbing sheet 213 out.

[0063] A sealing column is provided on the screw 210, and a threaded hole of a certain depth is drilled on the right end face of the screw 210. The thread on the sealing column is opposite to the spiral line of the screw 210. The sealing column is installed in the threaded hole on the right side of the screw 210 through a threaded connection, and the maximum diameter of the sealing column is the same as the inner hole of the absorbing sheet 213. It mainly cooperates with the spring on the absorbing sheet 213 to prevent the absorbing sheet 213 from falling when the right side port of the sampling tube 211 is downward. The spring has a certain elasticity, and the absorbing sheet 213 is pushed to the right side of the sampling tube 211 by the push nut 212. At the same time, the spring can prevent the external lunar soil from entering the sampling tube during sampling at the end absorbing sheet, and contaminating the unsampled absorbing sheet in the tube.

[0064] like Figure 7As shown, during docking, the active end is first moved as a whole to the sampling cone 206, and the reversing shaft 120 makes the six flat keys 208 evenly distributed on the inner wall of the sampling tube connector 202 fall within the opening range of the six reversing shaft splines 121 evenly distributed on the reversing shaft 120 through the rolling angle in the axial direction. After the position and posture error adjustment is completed, the ball screw 123 is used to lock it with the arc groove 209 on the inner wall of the sampling tube connector 202, and the guide cone 122 on the right output shaft of the motor 11 is matched with the joint 207 to complete the docking.

[0065] like Figure 7 and Figure 8 The figure shows the initial state of the scroll 204, the left claw 203, and the right claw 205. The spiral groove on the scroll 204 is double-sided and rotates in opposite directions. The left claw 203 and the right claw 205 have three small claws that cooperate with the spiral groove of the scroll 204 to rotate clockwise or counterclockwise. The right claw 205 moves from the inner edge to the outer edge of the second spiral groove of the scroll 204, while the left claw 203 moves from the outer edge to the inner edge of the first spiral groove of the scroll 204.

[0066] Furthermore, after the docking is completed, the motor 11 is started, and the power of the right output shaft of the motor 11 is transmitted to the reversing shaft 120 through the teeth on the sampling ratchet 1241 and the stop of the sampling pawl 1240, so that the reversing shaft spline 121 on the reversing shaft 120 and the flat key 208 on the inner wall of the sampling tube connector 202 cooperate with each other, driving the sampling tube connector 202 to rotate forward together. At this time, the left clamping claw 203 moves toward the inner edge of the vortex 204, and the right clamping claw 205 moves toward the outer edge of the vortex 204. When the left clamping claw 203 and the right clamping claw 205 move to the bottom end and are flush, the docked sampling tube 211 is raised. At this time, the entire mechanism starts to work, the motor 11 rotates forward, and the power is transmitted to the tunneling drill 10 by the left output shaft of the motor 11 for drilling, and then the absorption piece 213 in the sampling tube 211 is used for sampling. After the absorption piece 213 is consumed, the empty sampling tube 211 is put back into the interior of the patrol flange 200 and the end cover 201. The motor 11 continues to repeat the above steps to move the left clamping claw 203 toward the inner edge of the vortex 204 and the right clamping claw 205 toward the outer edge of the vortex 204, until the left clamping claw 203 contacts the outer circumferential surface of the sampling tube connector 202, and the left clamping claw 203 and the right clamping claw 205 complete the locking of the empty sampling tube 211.

[0067] like Figure 9 and Figure 10As shown, when motor 11 rotates in reverse to deliver a sample, the boring drill 10, the right output shaft of motor 11, and screw 210 rotate synchronously. The sampling pawl 1240 slides on the teeth of sampling ratchet 1241, while the sample delivery pawl 1250 remains immobilized in the teeth of sample delivery ratchet 1251. Power from the right output shaft of motor 11 is transmitted to connector 207, which rotates together with screw 210 secured with a jackscrew, while sampling tube 211 remains stationary. The push nut 212 rotates radially along screw 210 and moves toward the right end of sampling tube 211 to deliver the sample.

[0068] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

Claims

1. An automatic docking mechanism for deep space exploration, characterized in that: The invention comprises an active connection structure (1) and a sampling structure (2), wherein the sampling structure (2) is arranged on a part to be mounted, and one end of the active connection structure (1) and one end of the sampling structure (2) are butted against each other, so that the active connection structure (1) drives the sampling structure (2) to rotate and sample; The active connection structure (1) includes a tunneling drill (10), a motor (11), and a reversing transmission assembly (12), wherein one output end of the motor (11) is connected to the tunneling drill (10), and the other output end of the motor (11) is connected to the reversing transmission assembly (12); The sampling structure (2) includes a passive connection structure (20), a screw structure (21) and a support member (22), one end of the passive connection structure (20) is connected to one end of the screw structure (21), and the other end of the screw structure (21) is connected to the support member (22), the reversing transmission assembly (12) is connected to the passive connection structure (20), and the support member (22) is connected to the component to be installed; The reversing transmission assembly (12) includes a connecting end cover (126), a reversing shaft (120), a reversing assembly and a docking assembly. The connecting end cover (126) is mounted on the outer surface of the motor (11) away from the boring drill (10). One end of the reversing shaft (120) is rotatably connected to the output end of the other end of the motor (11). The reversing shaft (120) is connected to the output end of the motor (11) via the reversing assembly. The docking assembly is provided at the end of the reversing shaft (120) away from the motor (11). The passive connection structure (20) includes a patrol flange (200), an end cover (201), a sampling tube connector (202), a left-side clamping claw (203), a vortex disk (204), a right-side clamping claw (205), a sampling cone (206), and a connector (207); One end of the end cover (201) is connected to the screw structure (21), and the other end of the end cover (201) is connected to the patrol flange (200). The sampling tube connector (202) is arranged in the inner cavity of the patrol flange (200) and the end cover (201) and is connected to the end cover (201). The left wall of the sampling tube connector (202) is provided with a sampling cone (206). The connector (207) is arranged in the inner cavity of the sampling cone (206). The connector (207) is connected to the reversing transmission component (12). The outer wall of the sampling tube connector (202) away from the sampling cone (206) is connected to the vortex (204), a first spiral groove is provided on a side wall of the vortex (204) close to the sampling cone (206), a plurality of left-side clamping claws (203) are movably provided in the first spiral groove, a second spiral groove is provided on a side wall of the vortex (204) away from the sampling cone (206), a plurality of right-side clamping claws (205) are movably provided in the second spiral groove, wherein the first spiral groove and the second spiral groove have opposite rotation directions; The screw structure (21) includes a screw (210), a sampling tube (211), a propulsion nut (212) and an absorption sheet (213); One end of the sampling tube (211) is connected to the sampling tube connector (202), the screw (210) is located inside the sampling tube (211), one end of the screw (210) close to the passive connection structure (20) is connected to the connector (207), the propulsion nut (212) is threadedly connected to the screw (210), the absorption sheet (213) is connected to the propulsion nut (212), and the absorption sheet (213) is connected to the inner wall of the sampling tube (211) via a guide structure; The reversing assembly includes a sampling ratchet structure (124) and a sample delivery ratchet structure (125).

2. The deep space exploration automatic docking mechanism according to claim 1, characterized in that: The docking assembly comprises a plurality of reversing shaft splines (121), a connecting groove and a guide cone (122), wherein the plurality of reversing shaft splines (121) are arranged on the outer side wall of the end of the reversing shaft (120) away from the motor (11) and are evenly arranged along the circumference of the reversing shaft (120), a connecting groove is provided at one end of the right output shaft of the motor (11), and a guide cone (122) is provided at one end of the right output shaft of the motor (11) and is located in the connecting groove, and the passive connection structure (20) is connected to the guide cone (122).

3. The deep space exploration automatic docking mechanism according to claim 2, characterized in that: The docking assembly further includes a plurality of ball screws (123), the reversing shaft spline (121) and the reversing shaft (120) are connected via the ball screws (123), and the ball screws (123) correspond one to one to the reversing shaft spline (121).

4. The deep space exploration automatic docking mechanism according to claim 1, characterized in that: The passive connection structure (20) further comprises a plurality of flat keys (208) and arcuate grooves (209), wherein the plurality of flat keys (208) are evenly arranged in the circumferential direction of the inner cavity side wall of the sampling cone opening (206), and the arcuate grooves (209) are arranged on the inner side wall of the sampling cone opening (206).

5. The deep space exploration automatic docking mechanism according to claim 1, characterized in that: The sampling ratchet structure (124) includes a sampling pawl (1240), a sampling ratchet (1241), a sampling pin (1242) and a sampling spring (1243); the sample delivery ratchet structure (125) includes a sample delivery pawl (1250), a sample delivery ratchet (1251), a sample delivery pin (1252) and a sample delivery spring (1253); The sampling ratchet (1241) is arranged on the outer surface of the output shaft of the motor (11); the inner side wall of the reversing shaft (120) is provided with a plurality of first mounting grooves; the sampling pin (1242) and the sampling spring (1243) are mounted in the first mounting grooves; the sampling pawl (1240) is rotatably mounted on the sampling pin (1242); and the sampling pawl (1240) is engaged with the sampling ratchet (1241); A plurality of second mounting grooves are provided on the outer surface of the reversing shaft (120), wherein the sample delivery pin (1252) and the sample delivery spring (1253) are connected inside the second mounting grooves, the sample delivery pawl (1250) is rotatably provided on the sample delivery pin (1252), the sample delivery ratchet (1251) is installed on the inner side wall of the connecting end cover (126), and the sample delivery pawl (1250) is engaged with the sample delivery ratchet (1251).

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