A portable drill sampler for extraterrestrial weathering layer and a sampling method thereof

Abstract

The present application relates to a deep space exploration sampler, in particular to an extraterrestrial body weathering layer portable drilling sampler and a sampling method thereof. The sampler comprises an operating handle, a sealed shell, a direct current power supply, a power transmission mechanism, an impact mechanism and a drilling mechanism. The operating handle is installed on the outer top end of the sealed shell. The direct current power supply and the power transmission mechanism are arranged inside the sealed shell. The direct current power supply is used to power the power transmission mechanism. The impact mechanism is arranged on the outer side of the bottom of the sealed shell and connected with the power transmission mechanism at one end. The other end of the impact mechanism is connected with the drilling mechanism. The power transmission mechanism drives the impact mechanism and the drilling mechanism to rotate. The impact module is used to hammer the drilling mechanism. The extraterrestrial body weathering layer drilling sampling is realized through the cooperation of the impact mechanism and the drilling mechanism. The present application has the advantages of compact structure, small volume, convenient carrying, automatic and continuous drilling under the assistance of astronaut operation and assembly, and realization of the extraterrestrial body weathering layer drilling and sampling functions.

Description

TECHNICAL FIELD

[0001] The present application relates to a deep space exploration sampler, in particular to an extraterrestrial body weathering layer portable drilling sampler and a sampling method thereof. BACKGROUND

[0002] As typical extraterrestrial bodies, the moon, Mars, small celestial bodies (such as asteroids and comets) are the main objects of deep space exploration missions of various countries, which are of great significance. They play a key role in searching for extraterrestrial life and space-based resources, and promote our understanding of the solar system environment and celestial body formation. Weathering layer sampling is one of the main goals of extraterrestrial body exploration activities, and has been a hot spot in deep space exploration in recent years. However, due to the extreme working environment, including low gravity (microgravity), large diurnal temperature difference, vacuum condition, geological uncertainty, it is extremely difficult to carry out sampling activities. In addition, due to the long distance between the earth and the extraterrestrial body, data communication usually produces delay, and the sampling equipment cannot be controlled in time, which means that a highly autonomous or manually assisted sampler is needed. Therefore, the design of the sampling mechanism should be fully clarified, which attracts researchers to find ways to overcome technical problems in extremely harsh space environment. As a relatively effective and convenient sampling technology, the drilling sampler has been applied to different extraterrestrial body exploration missions, but the current drilling sampler has the problems of large power consumption, inconvenient carrying, and inability to automatically and continuously drill and sample. SUMMARY

[0003] In view of the above problems, the purpose of the present application is to provide an extraterrestrial body weathering layer portable drilling sampler and a sampling method thereof, to solve the problems of large power consumption, inconvenient carrying and inability to automatically and continuously drill and sample of the existing drilling sampler.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] An embodiment of the present application provides an extraterrestrial body weathering layer portable drilling sampler, comprising an operating handle, a sealed shell, a direct current power supply, a power transmission mechanism, an impact mechanism and a drilling mechanism, wherein the operating handle is installed on the outer upper end of the sealed shell, the direct current power supply and the power transmission mechanism are arranged in the sealed shell, the direct current power supply is used to power the power transmission mechanism, the impact mechanism is arranged on the outer side of the bottom of the sealed shell, and one end of the impact mechanism is connected with the power transmission mechanism, and the other end of the impact mechanism is connected with the drilling mechanism; the power transmission mechanism drives the impact mechanism and the drilling mechanism to rotate, the impact mechanism is used to impact the drilling mechanism, and the extraterrestrial body weathering layer drilling sampling is realized by cooperation of the impact mechanism and the drilling mechanism.

[0006] The drilling mechanism comprises at least one drilling unit;

[0007] The drilling unit comprises a coring tube, a hollow drill rod, a drill bit, a drill sleeve and a drilling mechanism adapter assembly, wherein the coring tube is installed inside the hollow drill rod, the drill bit is installed at the lower part of the hollow drill rod, the drill sleeve is installed outside the hollow drill rod, the upper part of the drill sleeve and the hollow drill rod are connected with the impact mechanism through the drilling mechanism adapter assembly, and the hollow drill rod rotates with the impact mechanism.

[0008] The impact mechanism comprises an impact spindle, an impact outer frame, a locking mechanism, an impact module and an impact mechanism adapter assembly, wherein the impact module is installed on the impact spindle, the upper end of the impact spindle is connected with the rotary drive mechanism, the impact outer frame is arranged outside the impact module, the lower end of the impact spindle and the impact outer frame is connected with the drilling mechanism adapter assembly through the impact mechanism adapter assembly; the locking mechanism is arranged on the impact outer frame and used for locking the impact module.

[0009] The impact module comprises a cam, a roller and a disc spring, wherein the disc spring and the cam are arranged outside the impact spindle from top to bottom, the cam is a hollow cylinder with a cam structure on the lower end surface, the cam is in slidable cooperation with the impact outer frame in the axial direction, and the disc spring provides driving force for downward sliding of the cam; the roller is arranged on the impact spindle and in contact with the cam structure of the cam.

[0010] The locking mechanism comprises a connecting seat and a locking bolt, wherein the connecting seat is connected with the impact outer frame, the locking bolt is threadedly connected with the connecting seat, and the locking bolt is used for clamping the cam.

[0011] The impact mechanism adapter assembly comprises a drill rod mounting head and a drill sleeve mounting head, wherein one end of the drill rod mounting head is connected with the lower end of the impact spindle, the drill sleeve mounting head is arranged outside the drill rod mounting head, and one end of the drill sleeve mounting head is connected with the impact outer frame.

[0012] The drilling mechanism adapter assembly comprises a drill rod adapter head and a drill sleeve adapter head, wherein one end of the drill rod adapter head is connected with the hollow drill rod and abuts against the coring tube, the other end of the drill rod adapter head is connected with the other end of the drill rod mounting head; one end of the drill sleeve adapter head is connected with the drill sleeve, and the other end of the drill sleeve adapter head is connected with the other end of the drill sleeve mounting head.

[0013] A sensing mechanism is arranged between the rotary drive mechanism and the impact mechanism.

[0014] The sensing mechanism comprises a torque sensor, a pressure sensor I, an encoder, a sensor holder, a pressure sensor II and a sensing spindle, wherein the torque sensor, the pressure sensor I and the pressure sensor II are sequentially installed on the sensing spindle from top to bottom, the encoder is installed outside the pressure sensor I, and the sensor holder is installed outside the encoder; the upper end of the sensing spindle is connected with the rotary driving mechanism, and the lower end is connected with the impact mechanism; the torque sensor and the encoder are respectively used for detecting the torque and the rotating speed of the sensing spindle, and the pressure sensor I and the pressure sensor II are used for detecting the drilling pressure of the drilling mechanism.

[0015] The power transmission mechanism comprises an upper mounting disc, a movable base, a lower mounting disc, a guide column, a linear driving mechanism and a rotary driving mechanism, wherein the upper mounting disc and the lower mounting disc are arranged in the sealing shell in a top-down manner, the guide column is connected between the upper mounting disc and the lower mounting disc, the movable base is slidably connected with the guide column, the linear driving mechanism is arranged between the upper mounting disc and the lower mounting disc and connected with the movable base, and the linear driving mechanism is used for driving the movable base to ascend and descend along the guide column; the rotary driving mechanism is arranged on the movable base and the output end thereof is connected with the impact mechanism.

[0016] The linear driving mechanism comprises a speed reducer, a transmission assembly and a transmission worm, wherein the transmission worm is rotatably connected between the upper mounting disc and the lower mounting disc and parallel to the guide column; the speed reducer and the transmission assembly are arranged on the upper mounting disc, the speed reducer is connected with the transmission worm through the transmission assembly, and the transmission worm is threadedly connected with the movable base.

[0017] The rotary driving mechanism comprises a transmission motor and a transmission spindle, wherein the transmission motor is arranged on the movable base, the transmission spindle is arranged parallel to the guide column, one end of the transmission spindle is connected with the output end of the transmission motor, and the other end of the transmission spindle is connected with the impact mechanism.

[0018] Another embodiment of the present application provides a sampling method of the portable drilling sampler using the weathering layer of the extraterrestrial object, which comprises the following steps:

[0019] I. selecting a sampling site, and operating the operation handle to make the drill bit of the drilling mechanism approach the surface of the weathering layer of the extraterrestrial object;

[0020] II. the power transmission mechanism drives the transmission spindle to rotate through the transmission motor, so as to drive the drill bit and the hollow drill rod to drill into the weathering layer; at this time, the impact mechanism starts to work and hammers the drill rod adapter at the upper end of the hollow drill rod through the impact module at a designed frequency and hammering force, so that the hollow drill rod and the drill sleeve penetrate the weathering layer;

[0021] III. when the first-stage hollow drill rod reaches the designed depth, the transmission motor will stop working;

[0022] IV. In turn, remove the drill sleeve adapter and the drill rod adapter, and leave the coring tube, the hollow drill rod and the drill sleeve in the weathered layer in the first stage drilling unit;

[0023] V. Install the second stage drilling unit, and the second stage drilling unit is connected with the coring tube, the hollow drill rod and the drill sleeve in the first stage drilling unit one by one;

[0024] VI. In turn, install the drill rod adapter and the drill sleeve adapter again;

[0025] VII. After the first and second stage drilling units are assembled as a whole, the power transmission mechanism and the impact mechanism start to work, and the hollow drill rod continues to drill under the action of rotation and hammering.

[0026] The advantages and beneficial effects of the present application are that the extraterrestrial weathered layer portable drilling sampler provided by the present application has compact structure, small power consumption, is convenient to carry, and is simple to operate, and automatic continuous drilling sampling is realized through the cooperation of the impact mechanism and the drilling mechanism.

[0027] The extraterrestrial weathered layer portable drilling sampler and the sampling method thereof provided by the present application can realize drilling and sampling of the extraterrestrial weathered layer, and the sampler can automatically and continuously drill under the auxiliary operation and assembly of astronauts through the innovative design of the modular impact drilling mechanism, so as to realize the functions of drilling and sampling of the extraterrestrial weathered layer. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is an isometric view of the extraterrestrial weathered layer portable drilling sampler of the present application;

[0029] Figure 2 It is a sectional view of the extraterrestrial weathered layer portable drilling sampler of the present application;

[0030] Figure 3 It is a structural schematic view of the power transmission mechanism in the present application;

[0031] Figure 4 It is a structural schematic view of the sensing mechanism in the present application;

[0032] Figure 5 It is a structural schematic view of the impact mechanism in the present application;

[0033] Figure 6 It is a structural schematic view of the impact module in the present application;

[0034] Figure 7 It is a structural schematic view of the drilling mechanism in the present application;

[0035] Figure 8 (a)-(g) are sampling sequence schematic views of the extraterrestrial weathered layer portable drilling sampler of the present application;

[0036] In the figure: 1 is an operating handle, 2 is a sealed shell, 3 is a DC power supply, 4 is a power transmission mechanism, 401 is a reducer, 402 is a gear pair, 403 is a transmission motor, 404 is an upper mounting plate, 405 is a movable base, 406 is a transmission main shaft, 407 is a transmission worm, 408 is a lower mounting plate, 409 is a guide column, 5 is a sensing mechanism, 501 is a torque sensor, 502 is a pressure sensor I, 503 is an encoder, 504 is a sensor holder, 505 is pressure sensor II, 506 is sensing spindle, 6 is impact mechanism, 601 is impact spindle, 602 is impact outer frame, 603 is locking mechanism, 604 is impact module, 6041 is cam, 6042 is roller, 6043 is disc spring, 605 is drill pipe mounting head, 606 is drill sleeve mounting head, 7 is drilling mechanism, 701 is core tube, 702 is hollow drill pipe, 703 is drill bit, 704 is drill sleeve, 705 is drill pipe adapter, 706 is drill sleeve adapter. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1 As shown, one embodiment of the present invention provides a portable drilling and sampling device for extraterrestrial regolith, comprising an operating handle 1, a sealed housing 2, a DC power supply 3, a power transmission mechanism 4, an impact mechanism 6, and a drilling mechanism 7. The operating handle 1 is mounted on the upper exterior of the sealed housing 2 for easy astronaut-assisted operation. The DC power supply 3 and the power transmission mechanism 4 are disposed within the sealed housing 2, with the DC power supply 3 supplying power to the power transmission mechanism 4. The impact mechanism 6 is disposed on the outer bottom of the sealed housing 2, with one end connected to the power transmission mechanism 4 and the other end connected to the drilling mechanism 7. The power transmission mechanism 4 drives the impact mechanism 6 and the drilling mechanism 7 to rotate. The impact mechanism 6 impacts the drilling mechanism 7 at different frequencies to assist the drilling mechanism 7 in continuous drilling. The impact mechanism 6 and the drilling mechanism 7 cooperate to achieve drilling and sampling of extraterrestrial regolith. This sampler utilizes an innovative modular impact drilling mechanism, enabling automatic and continuous drilling with astronaut-assisted assembly, thus achieving both drilling and sampling functions for extraterrestrial regolith.

[0039] like Figure 2As shown in the embodiment of the present application, the power transmission mechanism 4 comprises an upper mounting disc 404, a movable base 405, a lower mounting disc 408, guide columns 409, a linear driving mechanism and a rotary driving mechanism, wherein the upper mounting disc 404 and the lower mounting disc 408 are arranged in the upper and lower of the sealed shell 2, the guide columns 409 are connected between the upper mounting disc 404 and the lower mounting disc 408, the movable base 405 is slidably connected with the guide columns 409, the linear driving mechanism is arranged between the upper mounting disc 404 and the lower mounting disc 408 and connected with the movable base 405, and the linear driving mechanism is used to drive the movable base 405 to ascend and descend along the guide columns 409; the rotary driving mechanism is arranged on the movable base 405 and the output end thereof is connected with the impact mechanism 6.

[0040] As shown in the embodiment of the present application, the linear driving mechanism comprises a motor, a speed reducer 401, a transmission assembly and a transmission worm 407, wherein the transmission worm 407 is rotatably connected between the upper mounting disc 404 and the lower mounting disc 408 and parallel to the guide columns 409; the speed reducer 401 and the transmission assembly are arranged on the upper mounting disc 404, the input end of the speed reducer 401 is connected with the motor, the output end of the speed reducer 401 is connected with the transmission worm 407 through the transmission assembly, and the transmission worm 407 is threadedly connected with the movable base 405. The speed reducer 401 drives the transmission worm 407 to rotate through the transmission assembly, thereby driving the movable base 405 to ascend and descend along the guide columns 409. Figure 3

[0041] Preferably, two transmission worms 407 and two guide columns 409 are symmetrically arranged between the upper mounting disc 404 and the lower mounting disc 408, the transmission assembly adopts a gear pair 402, and the speed reducer 401 is drivingly connected with the two transmission worms 407 through the two gear pairs 402.

[0042] In the embodiment, the linear driving mechanism can drive the movable base 405 to move up and down along the guide columns 409 through the motor, the speed reducer 401 and the transmission worm 407, thereby realizing the movement of the rotary driving mechanism and the drilling mechanism 7 in the up and down direction, so as to operate the drilling tool to get rid of the adverse factors when the drilling tool is blocked, fails or encounters weathered materials which are difficult to drill, and then protect the sampler.

[0043] In the embodiment of the present application, the rotary driving mechanism comprises a transmission motor 403 and a transmission main shaft 406, wherein the transmission motor 403 is arranged on the movable base 405, the transmission main shaft 406 is arranged parallel to the guide columns 409, one end of the transmission main shaft 406 is connected with the output end of the transmission motor 403, and the other end of the transmission main shaft 406 is connected with the impact mechanism 6. The transmission motor 403 drives the impact mechanism 6 and the drilling mechanism 7 to rotate through the transmission main shaft 406.

[0044] As shown in the embodiment of the present application, the linear driving mechanism comprises a motor, a speed reducer 401, a transmission assembly and a transmission worm 407, wherein the transmission worm 407 is rotatably connected between the upper mounting disc 404 and the lower mounting disc 408 and parallel to the guide columns 409; the speed reducer 401 and the transmission assembly are arranged on the upper mounting disc 404, the input end of the speed reducer 401 is connected with the motor, the output end of the speed reducer 401 is connected with the transmission worm 407 through the transmission assembly, and the transmission worm 407 is threadedly connected with the movable base 405. The speed reducer 401 drives the transmission worm 407 to rotate through the transmission assembly, thereby driving the movable base 405 to ascend and descend along the guide columns 409. Figure 5 ​As shown, in an embodiment of the present invention, the impact mechanism 6 includes an impact spindle 601, an impact outer frame 602, an impact module 604 and an impact mechanism adapter assembly, wherein the impact module 604 is installed on the impact spindle 601, the upper end of the impact spindle 601 is connected to the transmission spindle 406 of the rotary drive mechanism, the impact outer frame 602 is arranged on the outside of the impact module 604, and the lower ends of the impact spindle 601 and the impact outer frame 602 are connected to the drilling mechanism 7 through the impact mechanism adapter assembly.

[0045] like Figure 6 As shown, in an embodiment of the present invention, the impact module 604 includes a cam 6041, a roller 6042, and a disc spring 6043. The disc spring 6043 and cam 6041 are sleeved from top to bottom on the outer side of the impact spindle 601. The cam 6041 is a hollow cylinder with a cam structure on its lower end surface. The cam 6041 and the impact outer frame 602 can slide axially, and the disc spring 6043 provides a driving force for the downward sliding of the cam 6041. The roller 6042 is mounted on the impact spindle 601 and contacts the cam structure of the cam 6041. The roller 6042 rotates with the impact spindle 601, thereby pushing the cam 6041 up and down. The cam 6041 hammers the drilling mechanism 7 through its up and down movement. In this embodiment, the impact mechanism 6 continuously hammers the drilling mechanism 7 through a reciprocating impact action, assisting the drilling mechanism 7 in drilling into the weathered layer, thereby achieving the purpose of sampling deep weathered layers.

[0046] Furthermore, the impact mechanism 6 also includes a locking mechanism 603, which comprises a connecting base and a locking bolt. The connecting base is connected to the impact outer frame 602, and the locking bolt is threadedly connected to the connecting base. The locking bolt is used to tighten against the cam 6041, thereby locking the cam 6041. In this embodiment, the locking mechanism 603 locks or unlocks the movement of the cam 6041 via the locking screw, thereby locking or unlocking the impact mechanism 6. Specifically, in different working scenarios, the impact mechanism 6 can be activated or deactivated by the astronaut depending on the actual situation.

[0047] In an embodiment of the present invention, the impact mechanism adapter assembly includes a drill rod mounting head 605 and a drill sleeve mounting head 606, wherein one end of the drill rod mounting head 605 is connected to the lower end of the impact spindle 601, and the drill sleeve mounting head 606 is sleeved on the outside of the drill rod mounting head 605, and one end is connected to the impact outer frame 602.

[0048] like Figure 7As shown, in the embodiment of the present application, the drilling mechanism 7 comprises at least one set of drilling units; the drilling unit comprises a coring tube 701, a hollow drill rod 702, a drill bit 703, a drill sleeve 704 and a drilling mechanism adapter assembly, wherein the coring tube 701 is installed inside the hollow drill rod 702, the drill bit 703 is installed at the lower part of the hollow drill rod 702, the drill sleeve 704 is installed outside the hollow drill rod 702, the drill sleeve 704 and the upper part of the hollow drill rod 702 are connected with the impact mechanism adapter assembly of the impact mechanism 6 through the drilling mechanism adapter assembly, and the hollow drill rod 702 rotates with the impact mechanism 6.

[0049] In the embodiment of the present application, the drilling mechanism adapter assembly comprises a drill rod adapter 705 and a drill sleeve adapter 706, wherein one end of the drill rod adapter 705 is connected with the hollow drill rod 702 and abuts against the coring tube 701, and the other end of the drill rod adapter 705 is connected with the other end of the drill rod mounting head 605; the drill sleeve adapter 706 is arranged outside the drill rod adapter 705, one end of the drill sleeve adapter 706 is connected with the drill sleeve 704, and the other end of the drill sleeve adapter 706 is connected with the other end of the drill sleeve mounting head 606. In the embodiment, the drilling mechanism 7 can be disassembled and assembled by modules, which is convenient for astronauts to operate and assemble on site, and the drilling depth (shallow weathered layer or deep weathered layer) can be selected according to the site conditions.

[0050] In the embodiment, the rotary drive mechanism can provide power for the impact mechanism 6 and the drilling mechanism 7 through the transmission motor 403 and the transmission main shaft 406. On the one hand, the reciprocating impact action of the impact mechanism 6 is realized to hammer the drilling mechanism 7 to penetrate into the weathered layer; on the other hand, the rotary action of the hollow drill rod 702 of the drilling mechanism 7 is realized to discharge the drill cuttings along the spiral track of the hollow drill rod 702, so as to avoid the drill from being blocked.

[0051] On the basis of the above-mentioned embodiment, further, a sensing mechanism 5 is arranged between the rotary drive mechanism and the impact mechanism 6, the sensing mechanism 5 is sealed at the bottom of the sealed shell 2, and the sensing mechanism 5 is used for detecting the rotation speed, the drilling torque and the drilling pressure of the drilling mechanism 7, such as Figure 2 As shown.

[0052] As Figure 4As shown, in the embodiment of the present application, the sensing mechanism 5 comprises a torque sensor 501, a pressure sensor I 502, an encoder 503, a sensor holder 504, a pressure sensor II 505 and a sensing spindle 506, wherein the torque sensor 501, the pressure sensor I 502 and the pressure sensor II 505 are sequentially installed on the sensing spindle 506 from top to bottom, the encoder 503 is installed outside the pressure sensor I 502, and the sensor holder 504 is installed outside the encoder 503; the upper end of the sensing spindle 506 is connected with the rotary driving mechanism, and the lower end is connected with the impact mechanism 6; the torque sensor 501 and the encoder 503 are respectively used for detecting the torque and the rotating speed of the sensing spindle 506; the pressure sensor I 502 is in contact with the hollow drill rod 702, and the pressure sensor II 505 is in contact with the drill sleeve 704, and the pressure sensor I 502 and the pressure sensor II 505 are respectively used for detecting the drilling pressure of the hollow drill rod 702 and the drill sleeve 704.

[0053] In the embodiment, the transmission spindle 406, the sensing spindle 506, the impact spindle 601 and the hollow drill rod 702 are coaxially connected in sequence to form a main spindle; the hollow drill rod 702 is connected with the drill rod mounting head 605 through the drill rod adapter 705; in addition, the sampler is operated through the operating handle 1, the power transmission mechanism 4 is powered through the direct current power supply 3, the sampler feedback control is performed through the sensing mechanism 5, and the weathered layer drilling action is realized through the cooperation of the impact mechanism 6 and the drilling mechanism 7, and then the drilling sampling is realized. In the sampling process, the rotating speed of the main spindle is detected through the encoder 503, the torque of the main spindle is detected through the torque sensor 501, the drilling pressure of the hollow drill rod 702 is detected through the pressure sensor I 502, the drilling pressure of the drill sleeve 704 is detected through the pressure sensor II 505, and the working state of the sampler is monitored through different sensors, so as to be fed back to the main controller for adaptive control; in addition, the sensors are redundantly configured, so that self-diagnosis and self-recovery can be performed when the sampler encounters a fault.

[0054] The extraterrestrial body weathering layer portable drilling sampler provided by the application has the working principle that the sampler is powered by a direct current power supply 3 to drive a transmission motor 403, the transmission motor 403 drives a transmission main shaft 406 to rotate, and then drives a sensing main shaft 506 and an impact main shaft 601 connected thereto to rotate, a torque sensor 501, a pressure sensor I 502 and a pressure sensor II 505 are fed back to a controller of the transmission motor 403 by monitoring the state of the sensing main shaft 506, and adaptive control is realized. The impact main shaft 601 drives the impact module 604 to hammer the drill rod adapter 705, realizes the freedom degree of the hollow drill rod 702 in the downward penetration direction, and also drives the hollow drill rod 702 to rotate, realizing the freedom degree of the drilling direction. In addition, the transmission worm 407 is driven to rotate by the reducer 401, and then the freedom degree of the upward and downward movement of the movable base 405 is realized, and the transmission main shaft 406 is driven to move upward and downward, and then the transmission drill rod 702 is driven to move upward and downward, which facilitates the chip removal of the transmission drill rod 702 in the locked-rotor state.

[0055] The extraterrestrial body weathering layer portable drilling sampler provided by the application has the working principle that the sampler is powered by a direct current power supply 3 to drive a transmission motor 403, the transmission motor 403 drives a transmission main shaft 406 to rotate, and then drives a sensing main shaft 506 and an impact main shaft 601 connected thereto to rotate, a torque sensor 501, a pressure sensor I 502 and a pressure sensor II 505 are fed back to a controller of the transmission motor 403 by monitoring the state of the sensing main shaft 506, and adaptive control is realized. The impact main shaft 601 drives the impact module 604 to hammer the drill rod adapter 705, realizes the freedom degree of the hollow drill rod 702 in the downward penetration direction, and also drives the hollow drill rod 702 to rotate, realizing the freedom degree of the drilling direction. In addition, the transmission worm 407 is driven to rotate by the reducer 401, and then the freedom degree of the upward and downward movement of the movable base 405 is realized, and the transmission main shaft 406 is driven to move upward and downward, and then the transmission drill rod 702 is driven to move upward and downward, which facilitates the chip removal of the transmission drill rod 702 in the locked-rotor state.

[0056] I. The astronaut carries the sampler and the support module assembly to the preselected sampling site;

[0057] II. The astronaut assembles the sampler according to its initial state near the sampling site;

[0058] III. The astronaut adjusts the attitude of the sampler to the sampling state, opens the sampling switch button to sample; after the initial sampling stage is completed, the sampling drill is installed in the subsequent stage until the sampling task index is completed;

[0059] IV. The astronaut takes out the sampling drill and the sample, manually transfers and saves the sample to the sample saving cabin, and takes it back to the earth; after the sampling activity is completed, according to the exploration task planning, the sampler can be permanently left on the surface of the extraterrestrial body.

[0060] The extraterrestrial body weathering layer portable drilling sampler provided by the application has the working principle that the sampler is powered by a direct current power supply 3 to drive a transmission motor 403, the transmission motor 403 drives a transmission main shaft 406 to rotate, and then drives a sensing main shaft 506 and an impact main shaft 601 connected thereto to rotate, a torque sensor 501, a pressure sensor I 502 and a pressure sensor II 505 are fed back to a controller of the transmission motor 403 by monitoring the state of the sensing main shaft 506, and adaptive control is realized. The impact main shaft 601 drives the impact module 604 to hammer the drill rod adapter 705, realizes the freedom degree of the hollow drill rod 702 in the downward penetration direction, and also drives the hollow drill rod 702 to rotate, realizing the freedom degree of the drilling direction. In addition, the transmission worm 407 is driven to rotate by the reducer 401, and then the freedom degree of the upward and downward movement of the movable base 405 is realized, and the transmission main shaft 406 is driven to move upward and downward, and then the transmission drill rod 702 is driven to move upward and downward, which facilitates the chip removal of the transmission drill rod 702 in the locked-rotor state.

[0061] Based on the above design concept, the sampling method using the extraterrestrial body weathering layer portable drilling sampler in the above embodiment is provided, and the drilling and sample collection activities are completed by using the hollow drill rod 702, the coring pipe 701 and the drill sleeve 704 combined in a modular manner. Figure 8The specific sampling method includes the following steps:

[0062] I. After the sampling site is selected, the first-stage drilling unit is generally assembled according to the design scheme. After the initial state configuration of the sampler is completed, the drilling mechanism 7 is operated to approach the weathered layer surface for drilling. At this stage, the transmission main shaft 406 does not rotate, and the impact mechanism 6 does not work, as shown in Figure 8 (a) ;

[0063] II. When the drill bit 703 in the drilling mechanism 7 contacts the weathered layer, the transmission motor 403 in the power transmission mechanism 4 drives the transmission main shaft 406 to rotate, thereby driving the hollow drill rod 702 and the drill bit 703 to drill into the weathered layer. At this time, the impact mechanism 6 also starts to work, and the impact module 604 hammers the drill rod adapter 705 at the upper end of the hollow drill rod 702 at a designed frequency and hammering force, helping the hollow drill rod 702 and the drill sleeve 704 to penetrate the weathered layer, as shown in Figure 8 (b) ;

[0064] III. When the first-stage hollow drill rod 702 reaches the designed depth, the transmission motor 403 stops working, so that the drilling mechanism 7 also stops working, as shown in Figure 8 (c) ;

[0065] IV. Then, the drill sleeve adapter 706 (connected with the drill sleeve mounting head 606) is pulled out, and the drill rod adapter 705 is removed, and the core tube 701, the hollow drill rod 702 and the drill sleeve 704 in the first-stage drilling unit are still left in the weathered layer, as shown in Figure 8 (d) ;

[0066] V. After the first-stage sampling activity is completed, the second-stage drilling unit is installed, which is connected with the core tube 701, the hollow drill rod 702 and the drill sleeve 704 in the first-stage drilling unit one by one, wherein the core tube 701 and the hollow drill rod 702 are assembled by rotation, and the drill sleeve 704 is directly connected with the adapter, as shown in Figure 8 (e) ;

[0067] VI. After the installation of the second-stage drill body is completed, the drill rod adapter 705 and the drill sleeve adapter 706 are installed in turn, as shown in Figure 8 (f) ;

[0068] VII. After the first-stage and second-stage drilling units are assembled as a whole, the power transmission mechanism 4 and the impact mechanism 6 start to work, and the hollow drill rod 702 continues to drill under the action of rotation and hammering, as shown in Figure 8 (g).

[0069] Similarly, when the second-stage hollow drill rod 702 reaches the design depth, drilling is stopped, and then the previous assembly and sample collection sequence is repeated to complete the drilling activities of the subsequent drilling units until the entire drilling and sampling activities are completed. It should be noted that if the hollow drill rod 702 is blocked or the drill bit 703 encounters difficult-to-crush materials (such as harder stones) during drilling, the hollow drill rod 702 can be lifted by rotating the transmission worm 407 in the power transmission mechanism 4, and the corresponding drill bit 703 can be replaced to continue the drilling activities.

[0070] The extraterrestrial body weathering layer portable drilling sampler and method provided by the present application can realize drilling and sampling of the extraterrestrial body weathering layer in an astronaut-assisted or unmanned automatic operation mode; the sampler can realize automatic continuous drilling in an astronaut-assisted operation assembly mode, and realize the functions of drilling and sampling of the extraterrestrial body weathering layer through the innovative design of the modular impact drilling mechanism. If the sampler is modified, it can be applied to extraterrestrial robot sampling tasks, such as being installed on a lander or a rover to realize unmanned drilling and sampling operation. Based on the above task scenarios, the sampler can also be used for scientific research tasks of future extraterrestrial landing exploration. In addition, if it is necessary to expand the value of the task, more sampling objects, such as boulders and water ice, can be determined to carry out further sampling activities.

[0071] The above only describes the embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principles of the present application is included in the protection scope of the present application.

Claims

1. An extraterrestrial regolith portable drill sampler, comprising: The utility model relates to a kind of extraterrestrial weathering layer drilling sampling devices, including operating handle (1), sealed shell (2), direct current power supply (3), power transmission mechanism (4), impact mechanism (6) and drilling mechanism (7), wherein operating handle (1) is installed on the outside upper end of sealed shell (2), direct current power supply (3) and power transmission mechanism (4) are set in sealed shell (2) inside, direct current power supply (3) is used to power transmission mechanism (4) power supply, impact mechanism (6) is set to the bottom outside of sealed shell (2), and one end is connected with power transmission mechanism (4), the other end of impact mechanism (6) is connected with drilling mechanism (7);Power transmission mechanism (4) drives impact mechanism (6) and drilling mechanism (7) rotation, impact mechanism (6) is used to impact the drilling mechanism (7), and extraterrestrial weathering layer drilling sampling is realized by impact mechanism (6) and drilling mechanism (7) cooperation; The drilling mechanism (7) comprises at least one drilling unit; The drilling unit comprises a coring tube (701), a hollow drill rod (702), a drill bit (703), a drill sleeve (704) and a drilling mechanism adapter assembly, wherein the coring tube (701) is installed inside the hollow drill rod (702), the drill bit (703) is installed at the lower part of the hollow drill rod (702), the drill sleeve (704) is installed outside the hollow drill rod (702), the drill sleeve (704) and the upper part of the hollow drill rod (702) are connected with the impact mechanism (6) through the drilling mechanism adapter assembly, and the hollow drill rod (702) rotates with the impact mechanism (6); The impact mechanism (6) comprises an impact spindle (601), an impact outer frame (602), a locking mechanism (603), an impact module (604) and an impact mechanism adapter assembly, wherein the impact module (604) is installed on the impact spindle (601), the upper end of the impact spindle (601) is connected with the power transmission mechanism (4), the impact outer frame (602) is arranged outside the impact module (604), the lower end of the impact spindle (601) and the impact outer frame (602) is connected with the drilling mechanism adapter assembly through the impact mechanism adapter assembly, and the locking mechanism (603) is arranged on the impact outer frame (602) and used for locking the impact module (604); The impact module (604) comprises a cam (6041), a roller (6042) and a disc spring (6043), wherein the disc spring (6043) and the cam (6041) are arranged outside the impact spindle (601) from top to bottom, the cam (6041) is a hollow cylinder with a cam structure on the lower end face, the cam (6041) is axially slidably connected with the impact outer frame (602), the disc spring (6043) provides driving force for the downward sliding of the cam (6041), and the roller (6042) is arranged on the impact spindle (601) and in contact with the cam structure of the cam (6041). The percussion mechanism adapter assembly comprises a drill rod mounting head (605) and a drill sleeve mounting head (606), wherein one end of the drill rod mounting head (605) is connected with the lower end of the percussion spindle (601), the drill sleeve mounting head (606) is sleeved outside the drill rod mounting head (605), and one end is connected with the percussion outer frame (602); The drilling mechanism adapter assembly comprises a drill rod adapter head (705) and a drill sleeve adapter head (706), wherein one end of the drill rod adapter head (705) is connected with the hollow drill rod (702) and abuts against the coring pipe (701), and the other end of the drill rod adapter head (705) is connected with the other end of the drill rod mounting head (605); one end of the drill sleeve adapter head (706) is connected with the drill sleeve (704), and the other end of the drill sleeve adapter head (706) is connected with the other end of the drill sleeve mounting head (606).

2. The portable drill-and-sample apparatus for extraterrestrial regolith according to claim 1, wherein, The locking mechanism (603) comprises a connecting seat and a locking bolt, wherein the connecting seat is connected with the percussion outer frame (602), and the locking bolt is threadedly connected with the connecting seat, and the locking bolt is used for tightly pressing the cam (6041).

3. The portable drill-and-sample apparatus for extraterrestrial regolith according to claim 1, wherein, The power transmission mechanism (4) is provided with a sensing mechanism (5) between the percussion mechanism (6); The sensing mechanism (5) comprises a torque sensor (501), a pressure sensor I (502), an encoder (503), a sensor holder (504), a pressure sensor II (505) and a sensing spindle (506), wherein the torque sensor (501), the pressure sensor I (502) and the pressure sensor II (505) are sequentially installed on the sensing spindle (506) from top to bottom, the encoder (503) is installed outside the pressure sensor I (502), and the sensor holder (504) is installed outside the encoder (503); the upper end of the sensing spindle (506) is connected with the power transmission mechanism (4), and the lower end is connected with the percussion mechanism (6); the torque sensor (501) and the encoder (503) are respectively used for detecting the torque and the rotating speed of the sensing spindle (506), and the pressure sensor I (502) and the pressure sensor II (505) are used for detecting the drilling pressure of the drilling mechanism (7).

4. The extraterrestrial regolith portable drill sampler of claim 1, wherein, The power transmission mechanism (4) comprises an upper mounting disc (404), a movable base (405), a lower mounting disc (408), a guide column (409), a linear driving mechanism and a rotary driving mechanism, wherein the upper mounting disc (404) and the lower mounting disc (408) are arranged in the sealing shell (2) in a top-and-bottom mode, the guide column (409) is connected between the upper mounting disc (404) and the lower mounting disc (408), the movable base (405) is slidingly connected with the guide column (409), the linear driving mechanism is arranged between the upper mounting disc (404) and the lower mounting disc (408) and connected with the movable base (405), and the linear driving mechanism is used for driving the movable base (405) to ascend and descend along the guide column (409); the rotary driving mechanism is arranged on the movable base (405) and has an output end connected with the percussion mechanism (6).

5. The portable drill-and-sample apparatus for extraterrestrial regolith according to claim 4, wherein, The straight line driving mechanism comprises a speed reducer (401), a transmission assembly and a transmission worm (407), wherein the transmission worm (407) is rotatably connected between the upper mounting disc (404) and the lower mounting disc (408) and is parallel to the guide column (409); the speed reducer (401) and the transmission assembly are arranged on the upper mounting disc (404), the speed reducer (401) is connected with the transmission worm (407) through the transmission assembly, and the transmission worm (407) is threadedly connected with the movable base (405); The rotating driving mechanism comprises a transmission motor (403) and a transmission main shaft (406), wherein the transmission motor (403) is arranged on the movable base (405), the transmission main shaft (406) is arranged in parallel with the guide column (409), one end of the transmission main shaft (406) is connected with the output end of the transmission motor (403), and the other end of the transmission main shaft (406) is connected with the impact mechanism (6).

6. A method of sampling using the portable drill sampler of weathered layer of extraterrestrial body according to any one of claims 1 to 5, characterized in that, The method comprises the following steps: I. selecting a sampling site, and operating the operation handle (1) to make the drill bit (703) of the drilling mechanism (7) approach the surface of the weathering layer of the extraterrestrial object; II. the power transmission mechanism (4) drives the transmission main shaft (406) to rotate through the transmission motor (403), so as to drive the drill bit (703) and the hollow drill rod (702) to drill into the weathering layer; at this time, the impact mechanism (6) starts to work and hammers the drill rod adapter (705) at the upper end of the hollow drill rod (702) through the impact module (604) at a designed frequency and hammering force, so that the hollow drill rod (702) and the drill sleeve (704) penetrate the weathering layer; III. when the first-stage hollow drill rod (702) reaches the designed depth, the transmission motor (403) will stop working; IV. the drill sleeve adapter (706) and the drill rod adapter (705) are removed in sequence, and the coring tube (701), the hollow drill rod (702) and the drill sleeve (704) in the first-stage drilling unit are still left in the weathering layer; V. the second-stage drilling unit is installed, and the second-stage drilling unit is connected with the coring tube (701), the hollow drill rod (702) and the drill sleeve (704) in the first-stage drilling unit one by one; VI. the drill rod adapter (705) and the drill sleeve adapter (706) are installed in sequence again; VII. after the first-stage and second-stage drilling units are assembled as a whole, the power transmission mechanism (4) and the impact mechanism (6) start to work, and the hollow drill rod (702) continues to drill under the action of rotation and hammering.

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