An extraterrestrial body unstructured surface attached drilling sampling device and sampling method

Abstract

The present application relates to deep space exploration sampling device, especially relates to an extraterrestrial body unstructured surface attached drilling sampling device and sampling method. Including control mechanism, drilling power mechanism, impact drilling mechanism and attachment mechanism, wherein the drilling power mechanism is used for providing power for the impact drilling mechanism; the impact drilling mechanism is connected with the output end of the drilling power mechanism, and is used for drilling sampling on the surface of the extraterrestrial body; the attachment mechanism is arranged at the lower end of the drilling power mechanism, and is used for attaching to the surface of the extraterrestrial body; the control mechanism is arranged at the upper end of the drilling power mechanism, and is used for controlling the attachment mechanism and the impact drilling mechanism. The present application is compact in structure, convenient to control through modularization and light weight design, and can realize the attachment on the unstructured surface of the extraterrestrial body and the core sampling under the auxiliary operation assembly of astronauts or the automatic operation of unmanned.

Description

TECHNICAL FIELD

[0001] The present application relates to a deep space exploration sampling device, in particular to an extraterrestrial object unstructured surface attachment drilling sampling device and a sampling method. BACKGROUND

[0002] The surface sample of the extraterrestrial object (including the moon, Mars, asteroid, comet, etc.) has important information reflecting its physicochemical characteristics, and the sampling activity of the sample attached to the surface of the object at different positions has important significance for scientific exploration and analysis of the extraterrestrial object. The extraterrestrial object generally has a typical unstructured surface environment, and the unstructured surface generally has uneven material properties, irregular structure and size changes, and the detection information cannot be described, which poses a great challenge to the design of the attachment mechanism. In addition, the extreme working environment of the extraterrestrial object, including low microgravity, day and night temperature difference, vacuum condition, etc. makes it extremely difficult to carry out sampling activities. The traditional space exploration robots, such as wheeled, legged and tracked sampling robots, may be limited in different degrees in terms of attachment adaptability and sampling capacity on the unstructured surface of the extraterrestrial object. Therefore, there is an urgent need for an attachment mechanism with redundant degrees of freedom that can adapt to the unstructured surface of the extraterrestrial object and an impact sampling mechanism to provide an effective solution to these problems. SUMMARY

[0003] In order to solve the above-mentioned extraterrestrial object unstructured surface attachment and sampling problem, the purpose of the present application is to provide an extraterrestrial object unstructured surface attachment drilling sampling device and a sampling method.

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

[0005] The present application provides an extraterrestrial object unstructured surface attachment drilling sampling device, comprising:

[0006] A drilling power mechanism for supplying power and providing power for the impact drilling mechanism;

[0007] An impact drilling mechanism connected with the output end of the drilling power mechanism for drilling and sampling the surface of the extraterrestrial object;

[0008] An attachment mechanism arranged at the lower end of the drilling power mechanism for attaching to the surface of the extraterrestrial object;

[0009] A control mechanism arranged at the upper end of the drilling power mechanism for controlling the attachment mechanism and the drilling sampling mechanism.

[0010] The attachment mechanism comprises an adapter ring, an attachment base and a plurality of attachment claws, wherein the adapter ring is connected between the drilling power mechanism and the attachment base;

[0011] The attachment base comprises a flange, a mounting seat, a base shell, an attachment power mechanism and a lifting assembly, wherein the flange is arranged at the upper end of the base shell, the lower part of the base shell is provided with a plurality of mounting seats in the circumferential direction, a plurality of attachment claws are respectively arranged on the mounting seats, the lifting assembly is arranged on the outside of the base shell and is connected with the plurality of attachment claws;

[0012] The attachment power mechanism is arranged on the inside of the base shell and is connected with the lifting assembly and the plurality of attachment claws, and the attachment power mechanism provides power for the movement of the plurality of attachment claws.

[0013] The attachment claw comprises a claw part, a connecting rod I, a connecting rod II, a connecting rod III, a small tension spring, a small tension spring base, a release pull rope base, an attachment pull rope and a large tension spring, wherein the connecting rod I, the connecting rod II and the connecting rod III are sequentially and fixedly connected at the tail end, the front end of the connecting rod I is fixedly connected with the rear end of the claw part, the rear end of the connecting rod III is hingedly connected with the mounting seat, the small tension spring base and the release pull rope base are arranged on the connecting rod III, the small tension spring base is connected with the connecting rod II through the small tension spring, the release pull rope base is connected with the lifting assembly, one end of the attachment pull rope is connected with the connecting rod I through the large tension spring, and the other end of the attachment pull rope is connected with the attachment power mechanism.

[0014] The drilling power mechanism comprises a sealed shell, a direct current power source arranged in the sealed shell, a power transmission mechanism and a sensing mechanism, wherein the direct current power source is used for supplying power to the attachment drilling and sampling device; the power transmission mechanism has the freedom of rotating around a vertical shaft and moving up and down; the sensing mechanism is connected between the output end of the power transmission mechanism and the impact drilling mechanism, and is used for detecting drilling pressure, torque and rotating speed.

[0015] 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 arranged on the sensing spindle from top to bottom, the encoder is arranged outside the pressure sensor I, and the sensor holder is arranged outside the encoder; the upper end of the sensing spindle is connected with the power transmission mechanism, and the lower end is connected with the impact drilling 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.

[0016] The impact drilling mechanism comprises an impact mechanism and a sampling mechanism, wherein the upper end of the impact mechanism is connected with the sensing mechanism, the lower end is connected with the sampling mechanism, the power transmission mechanism drives the impact mechanism and the sampling mechanism to rotate, the impact mechanism is used for impacting the sampling mechanism, and the surface drilling and sampling of the extraterrestrial body are realized through the cooperation of the impact mechanism and the sampling mechanism.

[0017] The impact mechanism comprises an impact spindle, an impact outer frame, a locking mechanism, an impact module and a sampling mechanism mounting head, wherein the impact module is mounted on the impact spindle, the upper end of the impact spindle is connected with the sensing mechanism, the impact outer frame is arranged outside the impact module, and the lower ends of the impact spindle and the impact outer frame are connected with the sampling mechanism through the sampling mechanism mounting head; the locking mechanism is arranged on the impact outer frame and is used for locking the impact module.

[0018] The impact module comprises a cam, a roller and a disc spring, wherein the disc spring and the cam are sleeved 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 is in contact with the cam structure of the cam.

[0019] The sampling mechanism comprises a buffer adapter rod, a drill rod mounting head and a coring drill rod, wherein the upper end of the buffer adapter rod is connected with the impact mechanism, the drill rod mounting head is assembled at the lower end of the buffer adapter rod and can slide in the axial direction relative to the buffer adapter rod, and the buffer adapter rod is internally provided with a buffer spring; the coring drill rod has a hollow structure and is connected with the drill rod mounting head at the upper end.

[0020] Another embodiment of the present application provides a sampling method using the extraterrestrial unstructured surface attached drilling sampling device, comprising the following steps:

[0021] Ⅰ. Moving the attached drilling sampling device to above the preselected sampling site;

[0022] Ⅱ. Manipulating the control mechanism to lift the attachment claws upward;

[0023] Ⅲ. Dropping the attached drilling sampling device to make the bottom of the attachment base contact the sampling surface;

[0024] Ⅳ. Manipulating the control mechanism to drop the attachment claws downward until the attachment claws contact the sampling surface;

[0025] Ⅴ. Manipulating the control mechanism to make the attachment claws grab inward until the attachment claws are tightly clamped to complete the attachment;

[0026] Ⅵ. Manipulating the control mechanism to work the impact mechanism and the sampling mechanism, under the driving action of the impact mechanism hammering and the drilling power mechanism, the sampling mechanism continuously drills into the sampling surface downward until the set coring depth is reached;

[0027] Ⅶ. Manipulating the control mechanism to release the attachment claws outward;

[0028] Ⅷ. Manipulating the control mechanism to lift the attachment claws upward;

[0029] Ⅸ. Raising the attached drilling sampling device;

[0030] X. dismounting the sampling mechanism and preserving the sample.

[0031] The advantages and beneficial effects of the present application are: the extraterrestrial body unstructured surface attached drilling sampling device provided by the present application is compact in structure, easy to operate, low in power consumption and convenient to carry through modularization and light weight design, and can realize automatic continuous drilling sampling through the impact drilling mechanism; the extraterrestrial body unstructured surface can be attached and cored sampling under the operation and assembly of astronauts or automatic operation of unmanned. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a shaft drawing of the extraterrestrial body unstructured surface attached drilling sampling device of the present application;

[0033] Figure 2 is a front view of the extraterrestrial body unstructured surface attached drilling sampling device of the present application;

[0034] Figure 3 is a structural schematic view of the control mechanism, drilling power mechanism and impact mechanism in the present application;

[0035] Figure 4 is a structural schematic view of the drilling power mechanism in the present application;

[0036] Figure 5 is a structural schematic view of the power transmission mechanism in the present application;

[0037] Figure 6 is a structural schematic view of the sensing mechanism in the present application;

[0038] Figure 7 is a structural schematic view of the impact mechanism in the present application;

[0039] Figure 8 is a structural schematic view of the sampling mechanism in the present application;

[0040] Figure 9 is a structural schematic view of the adapter ring in the present application;

[0041] Figure 10 is a structural schematic view of the attached base in the present application;

[0042] Figure 11 is a structural schematic view of the attached claw in the present application;

[0043] Figure 12 (a)-(l) are attached and drilling operation sequence example diagrams of the attached drilling sampling device of the present application.

[0044] In the figure: 1 is the operating mechanism, 101 is the operating handle, 102 is the control button, 2 is the drilling power mechanism, 201 is the upper sealing end cover, 202 is the sealing shell, 203 is the lower sealing end cover, 204 is the DC power supply, 205 is the power transmission mechanism, 2051 is the speed reducer, 2052 is the gear pair, 2053 is the transmission motor, 2054 is the upper mounting disc, 2055 is the movable base, 2056 is the transmission main shaft, 2057 is the transmission worm, 2058 is the lower mounting disc, 2059 is the guide column, 206 is the sensing mechanism, 2061 is the torque sensor, 2062 is the pressure sensor I, 2063 is the encoder, 2064 is the sensor holder, 2065 is the pressure sensor II, 2066 is the sensing main shaft, 3 is the impact mechanism, 301 is the impact main shaft, 302 is the impact outer frame, 303 is the locking mechanism, 304 is the impact module, 3041 is the cam, 3042 is the roller, 3043 is the disc spring, 305 is the sampling mechanism mounting head, 3051 is the drill rod mounting head, 3052 is the drill sleeve mounting head, 4 is the adapter ring, 5 is the attached base, 501 is the flange, 502 is the lifting arm, 503 is the lifting slide rail, 504 is the lifting ring, 505 is the release pull rope, 506 is the mounting seat, 507 is the base shell, 508 is the attached power mechanism, 6 is the attached claw, 601 is the attached thorn piece, 602 is the lubricating piece, 603 is the outer frame, 604 is the connecting rod I, 605 is the connecting rod II, 606 is the connecting rod III, 607 is the small tension spring, 608 is the small tension spring base, 609 is the release pull rope base, 610 is the attached pull rope, 611 is the large tension spring, 7 is the sampling mechanism, 701 is the buffer adapter rod, 702 is the buffer pin, 703 is the drill rod mounting head, 704 is the drill rod fixing jackscrew, 705 is the core drill rod. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0046] As Figures 1-2As shown in the figure, an embodiment of the present application provides a non-structured surface drilling sampling device for extraterrestrial bodies, which comprises a control mechanism 1, a drilling power mechanism 2, an impact drilling mechanism and an attachment mechanism. The drilling power mechanism 2 is used for power supply and provides power for the impact drilling mechanism. The impact drilling mechanism is connected with the output end of the drilling power mechanism 2, and is used for impact drilling sampling on the surface of the extraterrestrial body. The attachment mechanism is arranged at the lower end of the drilling power mechanism 2, and is used for attaching to the surface of the extraterrestrial body. The control mechanism 1 is arranged at the upper end of the drilling power mechanism 2, and is used for controlling the attachment mechanism and the impact drilling mechanism. An astronaut controls the impact drilling mechanism and the attachment mechanism by operating the control mechanism 1, so that the attachment mechanism can be self-adaptively attached to and detached from the non-structured surface of the extraterrestrial body, and the impact drilling mechanism can be driven to realize drilling sampling on the non-structured surface of the extraterrestrial body.

[0047] As shown in the figure, Figures 1-2 , Figure 9 In an embodiment of the present application, the attachment mechanism comprises an adapter ring 4, an attachment base 5 and a plurality of attachment claws 6. The adapter ring 4 is connected between the drilling power mechanism 2 and the attachment base 5. The plurality of attachment claws 6 are circumferentially distributed on the outer side of the attachment base 5, and are used for attaching to the surface of the extraterrestrial body. The impact drilling mechanism comprises an impact mechanism 3 and a sampling mechanism 7. The upper end of the impact mechanism 3 is connected with the drilling power mechanism 2, and the lower end is connected with the sampling mechanism 7. The drilling power mechanism 2 drives the impact mechanism 3 and the sampling mechanism 7 to rotate. The impact mechanism 3 is used for impacting the sampling mechanism 7, so that the extraterrestrial body surface drilling sampling is realized by cooperation of the impact mechanism 3 and the sampling mechanism 7.

[0048] As shown in the figure, Figures 3-4As shown, in an embodiment of the present invention, the drilling power mechanism 2 includes a sealed shell and a DC power supply 204, a power transmission mechanism 205 and a sensor mechanism 206 arranged in the sealed shell, wherein the sealed shell includes a cylindrical sealed shell 202, an upper sealed end cover 201 and a lower sealed end cover 203, the DC power supply 204, the power transmission mechanism 205 and the sensor mechanism 206 are sequentially accommodated in the sealed shell 202 from top to bottom, the upper sealed end cover 201 and the lower sealed end cover 203 are respectively sealed and connected to the upper and lower ends of the sealed shell 202, so that the DC power supply 204, the power transmission mechanism 205 and the sensor mechanism 206 are in a confined space to avoid being affected by extraterrestrial space particles, dust and radiation. A DC power supply 204 powers the attached drilling sampling device. A power transmission mechanism 205 provides power to the impact mechanism 3 and sampling mechanism 7, and is capable of rotation about a vertical axis and vertical movement. A sensor mechanism 206 is connected between the output of the power transmission mechanism 205 and the impact mechanism 3, detecting drilling pressure, torque, and rotational speed. The control mechanism 1 includes an operating handle 101 and a control button 102. The operating handle 101 is mounted on both ends of the outer side of the upper sealing end cap 201 of the drilling power mechanism 2. The control button 102 is located on the upper side of the upper sealing end cap 201 and is connected to the power transmission mechanism 205.

[0049] like Figure 5 As shown, in an embodiment of the present invention, the power transmission mechanism 205 includes an upper mounting plate 2054, a movable base 2055, a lower mounting plate 2058, a guide column 2059, a linear drive mechanism and a rotary drive mechanism, wherein the upper mounting plate 2054 and the lower mounting plate 2058 are arranged in the sealed shell 202, the guide column 2059 is connected between the upper mounting plate 2054 and the lower mounting plate 2058, the movable base 2055 is slidably connected to the guide column 2059, the linear drive mechanism is arranged between the upper mounting plate 2054 and the lower mounting plate 2058, and is connected to the movable base 2055, the linear drive mechanism is used to drive the movable base 2055 to rise and fall along the guide column 2059; the rotary drive mechanism is arranged on the movable base 2055, and the output end is connected to the impact mechanism 3.

[0050] In the embodiment of the present application, the linear driving mechanism comprises a driving motor, a speed reducer 2051, a transmission assembly and a transmission worm 2057, wherein the transmission worm 2057 is rotatably connected between the upper mounting disc 2054 and the lower mounting disc 2058 and is parallel to the guide column 2059; the driving motor, the speed reducer 2051 and the transmission assembly are arranged on the upper mounting disc 2054, the driving motor and the speed reducer 2051 are connected, the speed reducer 2051 is connected with the transmission worm 2057 through the transmission assembly, and the transmission worm 2057 is threadedly connected with the movable base 2055. The driving motor drives the transmission worm 2057 to rotate through the speed reducer 2051 and the transmission assembly, so as to drive the movable base 2055 to lift.

[0051] In the embodiment of the present application, the rotary driving mechanism comprises a transmission motor 2053 and a transmission main shaft 2056, wherein the transmission motor 2053 is arranged on the movable base 2055, the transmission main shaft 2056 is arranged in parallel with the guide column 2059, one end of the transmission main shaft 2056 is connected with the output end of the transmission motor 2053, and the other end of the transmission main shaft 2056 is connected with the impact mechanism 3. The transmission motor 2053 drives the transmission main shaft 2056 to rotate, so as to drive the impact mechanism 3 and the sampling mechanism 7 to rotate.

[0052] In the embodiment, the power transmission mechanism 205 comprises two sub-transmission mechanisms: the linear driving mechanism and the rotary driving mechanism; the linear driving mechanism can realize the movement of the main shaft in the up-down direction through the driving motor-speed reducer 2051-transmission worm 2057-movable base 2055, so as to operate the drill to get rid of the adverse factors when the drill is blocked, fails or encounters difficult-to-drill materials, and then protect the sampling device. The rotary driving mechanism can provide power for the impact drilling mechanism through the transmission motor 2053-transmission main shaft 2056, on the one hand, realize the reciprocating impact action of the impact mechanism 3, hammer the sampling mechanism 7, and then make the sampling mechanism 7 penetrate into the unstructured surface, on the other hand, realize the rotary action of the sampling mechanism 7, discharge the drill cuttings along the spiral track of the drill rod to avoid the drill from being blocked. The unstructured surface of the extraterrestrial body mentioned in the present application mainly refers to the weathered layer and the unexplored structure of the material such as rock on the extraterrestrial surface, but is not limited thereto.

[0053] As Figure 6As shown in the figure, in the embodiment of the present application, the sensing mechanism 206 includes a torque sensor 2061, a pressure sensor I 2062, an encoder 2063, a sensor holder 2064, a pressure sensor II 2065 and a sensing spindle 2066, wherein the torque sensor 2061, the pressure sensor I 2062 and the pressure sensor II 2065 are sequentially installed on the sensing spindle 2066 from top to bottom, the encoder 2063 is installed outside the pressure sensor I 2062, and the sensor holder 2064 is installed outside the encoder 2063; the upper end of the sensing spindle 2066 is connected with the transmission spindle 2056 of the power transmission mechanism 205, and the lower end is connected with the impact mechanism 3; the torque sensor 2061 and the encoder 2063 are respectively used for detecting the torque and the rotating speed of the sensing spindle 2066, and the pressure sensor I 2062 and the pressure sensor II 2065 are used for detecting the drilling pressure.

[0054] In the embodiment, the encoder 2063 is used for monitoring the rotating speed of the spindle, the torque sensor 2061 is used for monitoring the torque of the spindle, the pressure sensor I 2062 is used for monitoring the drilling pressure of the drill rod in the sampling mechanism 7, and the pressure sensor II 2065 and the pressure sensor I 2062 are redundantly configured so as to be used in case of failure. Different sensors are used for monitoring the working state of the sampling device so as to feed back to the main controller for adaptive control, and in addition, the sensors are redundantly configured to perform self-diagnosis and self-recovery in case of failure of the sampling device.

[0055] As shown in the figure, Figure 3 , Figure 7 In the embodiment of the present application, the impact mechanism 3 includes an impact spindle 301, an impact outer frame 302, a locking mechanism 303, an impact module 304 and a sampling mechanism mounting head 305, wherein the impact module 304 is installed on the impact spindle 301, the impact module 304 has two degrees of freedom: a rotating degree of freedom and a linear motion degree of freedom in the up-down direction. The upper end of the impact spindle 301 is connected with the sensing spindle 2066 of the sensing mechanism 206, the impact outer frame 302 is arranged outside the impact module 304, the lower ends of the impact spindle 301 and the impact outer frame 302 are connected with the sampling mechanism 7 through the sampling mechanism mounting head 305; the locking mechanism 303 is arranged on the impact outer frame 302 and is used for locking the impact module 304.

[0056] In the embodiment of the present application, the impact module 304 comprises a cam 3041, a roller 3042 and a disc spring 3043, wherein the disc spring 3043 and the cam 3041 are sleeved on the outside of the impact main shaft 301 from top to bottom, the cam 3041 is a hollow cylinder with a cam structure on the lower end face, the cam 3041 is in axial sliding fit with the impact outer frame 302, and the disc spring 3043 provides driving force for the downward sliding of the cam 3041; the roller 3042 is arranged on the impact main shaft 301 and in contact with the cam structure of the cam 3041. In operation, the roller 3042 rotates together with the impact main shaft 301, thereby pushing the cam 3041 to move up and down through the cam structure, and the cam 3041 realizes hammering on the sampling mechanism 7 through the up-and-down movement. In the embodiment, the impact mechanism 3 continuously hammers on the sampling mechanism 7 through reciprocating impact action, thereby assisting the sampling mechanism 7 to drill into the weathered layer to achieve the purpose of sampling the deep weathered layer.

[0057] In the embodiment of the present application, the locking mechanism 303 comprises a connecting seat and a locking bolt, wherein the connecting seat is connected with the impact outer frame 302, and the locking bolt is in threaded connection with the connecting seat, and the locking bolt is used to tighten the cam 3041 to lock the cam 3041. In the embodiment, the locking mechanism 303 realizes locking or unlocking of the impact mechanism 3 by screwing to lock or unlock the movement of the cam 3041. Specifically, the impact mechanism 3 can be determined by the astronaut to work or not according to the site condition in the face of different working scenes.

[0058] In the embodiment of the present application, the sampling mechanism mounting head 305 comprises a drill rod mounting head 3051 and a drill sleeve mounting head 3052, wherein the drill rod mounting head 3051 is connected with the lower end of the impact main shaft 301, and the drill sleeve mounting head 3052 is sleeved on the outside of the drill rod mounting head 3051 and connected with the impact outer frame 302.

[0059] In the embodiment, the transmission main shaft 2056, the sensing main shaft 2066, the impact main shaft 301 and the coring drill rod 705 are coaxially connected in sequence to form a main shaft; the coring drill rod 705 is connected with the drill rod mounting head 3051 through a drill rod adapter; in addition, the sampler is operated through the operation handle 101, the power transmission mechanism 204 is powered through the direct current power supply 204, the sampler feedback control is performed through the sensing mechanism 205, and the weathered layer drilling action is realized through the cooperation of the impact mechanism 3 and the sampling mechanism 7, thereby realizing drilling sampling. In the sampling process, the main shaft rotating speed is detected through the encoder 2063, the main shaft torque is detected through the torque sensor 2061, the drilling pressure of the empty drill rod coring drill rod 705 is detected through the pressure sensor I 2062, 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.

[0060] AsFigure 8 As shown, in the embodiment of the present application, the sampling mechanism 7 comprises a buffer adapter rod 701, a buffer pin 702, a drill rod mounting head 703, a drill rod fixing jackscrew 704 and a coring drill rod 705, wherein the upper end of the buffer adapter rod 701 is connected with the sampling mechanism mounting head 305, and the drill rod mounting head 703 is assembled in the buffer adapter rod 701 through the buffer pin 702. Specifically, the lower part of the side wall of the buffer adapter rod 701 is provided with a sliding groove in the axial direction, the lower end of the buffer adapter rod 701 is inserted into the drill rod mounting head 703, the buffer pin 702 passes through the sliding groove on the buffer adapter rod 701 and is connected with the drill rod mounting head 703, and the buffer pin 702 guides the up-and-down movement of the drill rod mounting head 703 relative to the buffer adapter rod 701. The coring drill rod 705 is a hollow structure and is assembled in the drill rod mounting head 703 through the drill rod fixing jackscrew 704. The coring drill rod 705 can be detached from the drill rod mounting head 703, and specifically, only the drill rod fixing jackscrew 704 needs to be removed with a screwdriver, and then the coring drill rod 705 can be detached. The impact mechanism 3 continuously hammers the buffer adapter rod 701 through reciprocating impact action, thereby assisting the coring drill rod 705 to penetrate downward while rotating drilling.

[0061] Specifically, the upper part of the drill rod mounting head 703 is provided with a through hole, and the buffer pin 702 can pass through the through hole and then assemble the drill rod mounting head 703 in the buffer adapter rod 701. In addition, the specific structure of the buffer adapter rod 701 to realize the buffering function is a high-strength buffer spring customized inside the buffer adapter rod 701, and the specific implementation is that when the coring drill rod 705 does not contact the sampling material, the drill rod mounting head 703 is in the lower limit position under the elastic force of the buffer spring inside the buffer adapter rod 701. Specifically, the buffer pin 702 is located at the lower part of the sliding groove provided in the buffer adapter rod 701; when the coring drill rod 705 contacts the sampling material and impacts the sampling, under the action of the reaction force, the drill rod mounting head 703 will move upward, thereby compressing the high-strength buffer spring inside the buffer adapter rod 701, and if the reaction force is within the design index, the buffer pin 702 will not move to the upper part of the sliding groove of the buffer adapter rod 701, and generally, it will move back and forth in the sliding groove to realize the buffering effect, and in the extreme case, it will move to the upper part of the sliding groove, but the duration will not be too long.

[0062] Specifically, the working principle of the drilling power mechanism 2, the impact mechanism 3 and the sampling mechanism 7 is that the sampling device is powered by the direct current power supply 204 to the transmission motor 2053, the transmission motor 2053 drives the transmission main shaft 2056 to rotate, and then the transmission main shaft 2056 drives the sensing main shaft 2066 and the impact main shaft 301 connected thereto to rotate, and the torque sensor 2061, the pressure sensor I 2062 and the pressure sensor II 2065 are fed back to the controller of the transmission motor 2053 by monitoring the state of the sensing main shaft 2066 to realize adaptive control. The impact main shaft 301 drives the impact module 304 to hammer the sampling mechanism mounting head 305, realizes the freedom degree of the core drill rod 705 in the downward penetration direction, and also drives the hollow core drill rod 705 to rotate, realizing the freedom degree of the drilling direction. In addition, through the speed reducer 2051, the transmission worm 2057 is driven to rotate, and then the movable base 2055 is driven to move up and down, and the transmission main shaft 2056 is driven to move up and down, and then the core drill rod 705 is driven to move up and down, facilitating the chip removal of the core drill rod 705 in the locked rotor state.

[0063] As shown in Figure 10 In the embodiment of the present application, the attachment base 5 includes a flange 501, a mounting seat 506, a base shell 507, an attachment power mechanism 508 and a lifting assembly, wherein the flange 501 is arranged at the upper end of the base shell 507, the lower end of the adapter ring 4 is connected with the flange 501, and the upper end of the adapter ring 4 is connected with the lower sealing end cover 203. The lower part of the base shell 507 is provided with a plurality of mounting seats 506 along the circumference, and a plurality of attachment claws 6 are respectively mounted on the plurality of mounting seats 506. The lifting assembly is slidably arranged outside the base shell 507 in the vertical direction and connected with the plurality of attachment claws 6. The attachment power mechanism 508 is arranged inside the base shell 507 and connected with the lifting assembly and the plurality of attachment claws 6. The attachment power mechanism 508 provides power for the lifting and grabbing actions of the plurality of attachment claws 6.

[0064] In the embodiment of the present application, the lifting assembly includes a lifting arm 502, a lifting slide rail 503, a lifting ring 504 and a release pull rope 505. The plurality of lifting slide rails 503 are arranged outside the base shell 507 in the vertical direction. The lifting ring 504 is slidably connected with the plurality of lifting slide rails 503. The lifting ring 504 is connected with the power mechanism 508 through the lifting arm 502. The lifting ring 504 is connected with the plurality of attachment claws 6 through the plurality of release pull ropes 505.

[0065] In this embodiment, the attachment base 5 primarily provides a mounting surface for the attachment claw 6. Its internal attachment power mechanism 508 enables multiple actions, including lifting and lowering the attachment claw 6, as well as circumferential retraction and release, thereby enabling the attachment claw 6 to attach and detach from the unstructured surface of an extraterrestrial object. Specifically, the attachment power mechanism 508 includes two sets of lift drive assemblies, each connected to the lift arm 502 and the attachment rope 610, respectively. The lift drive assemblies can employ a screw-nut mechanism, or any other conventional drive mechanism capable of achieving the aforementioned functions, without specific limitation herein.

[0066] like Figure 11 As shown, in an embodiment of the present invention, the attachment claw 6 includes a claw part, a connecting rod I 604, a connecting rod II 605, a connecting rod III 606, a small tension spring 607, a small tension spring base 608, a release rope base 609, an attachment rope 610 and a large tension spring 611, wherein the connecting rod I 604, the connecting rod II 605 and the connecting rod III 606 are hinged end to end in sequence, the front end of the connecting rod I 604 is fixedly connected to the rear end of the claw part, and the rear end of the connecting rod III 606 is hinged to the mounting seat 506; the small tension spring base 608 and the release rope base 609 are both arranged on the connecting rod III 606, and the small tension spring base 608 is connected to the connecting rod II 605 through the small tension spring 607; the release rope base 609 is connected to the lifting assembly; one end of the attachment rope 610 is connected to the connecting rod I 604 through the large tension spring 611, and the other end of the attachment rope 610 is connected to the attachment power mechanism 508.

[0067] Specifically, the claw portion includes an outer frame 603 and a plurality of attachment thorns 601 arranged in the outer frame 603 , and a lubricating sheet 602 is provided between two adjacent attachment thorns 601 .

[0068] In this embodiment, an attachment claw 6 is formed by using an array of claw blades based on the micro-thorns of cockroaches, spiders, etc. The attachment claw 6 has two degrees of freedom, translation and rotation, and can be compliantly hooked on the surface of the weathering layer of celestial bodies, greatly overcoming the influence of the microgravity environment of small celestial bodies and the uncertain surface.

[0069] An embodiment of the present invention provides a device for sampling an unstructured surface of an extraterrestrial body by drilling and attaching the sampling device. The working principle of the device is as follows:

[0070] The attachment and detachment processes are as follows: DC power supply 204 supplies power to attachment power mechanism 508. Based on commands from control button 102, power mechanism 508 transmits power to lifting arm 502, thereby tightening or loosening release cord 505, causing attachment claw 6 to lift or lower. Alternatively, power is transmitted to attachment cord 610, tightening or loosening it, causing attachment claw 6 to grasp inward or release outward. When attachment claw 6 descends and grasps inward, it is considered an attachment process; when attachment claw 6 lifts and releases outward, it is considered a detachment process.

[0071] The impact and sampling process is: the impact mechanism 3 outputs power to the impact spindle 301 through the power transmission mechanism 205, the impact spindle 301 drives the impact module 304 to hammer the sampling mechanism mounting head 305, and the freedom of the sampling mechanism 7 in the downward penetration direction is realized. In addition, the impact spindle 301 simultaneously drives the sampling mechanism 7 to rotate through the sampling mechanism mounting head 305, and the core sampling is realized.

[0072] Specifically, the astronaut carries the attachment and sampling device and the support module assembly to the preselected sampling site; the astronaut configures the initial state of the attachment and sampling device according to the attachment and sampling device, and manipulates the attachment and sampling device near the sampling site; the astronaut adjusts the attitude of the attachment and sampling device to the pre-attachment state, opens the control switch button to perform the attachment and sampling activity, and completes the task index until the task index is completed. After the attachment and sampling activity is completed, the astronaut takes out the attachment and sampling device, transfers and saves the sample to the sample storage cabin, and brings it back to the earth. After the attachment and sampling activity is completed, the attachment and sampling device can be permanently left on the surface of the extraterrestrial celestial body according to the exploration task plan.

[0073] The extraterrestrial celestial body unstructured surface attachment and drilling sampling device provided by the application can realize self-adaptive attachment and detachment of the attachment mechanism to the unstructured surface of the extraterrestrial celestial body, and drive the impact mechanism to realize the impact action and the core sampling of the sampling mechanism. The impact module of the impact mechanism is used for hammering the drilling mechanism, and the attachment mechanism, the impact mechanism and the sampling mechanism are cooperated to realize the attachment and drilling sampling on the unstructured surface of the extraterrestrial celestial body. The attachment and drilling sampling device can realize the attachment and core sampling on the unstructured surface of the extraterrestrial celestial body under the operation of the astronaut or the automatic operation of the unmanned robot through the innovative design of the attachment mechanism and the impact drilling mechanism. If the attachment and drilling sampling device is modified, it can be applied to the extraterrestrial celestial body robot exploration task, for example, it can be installed on the lander or the rover to realize the attachment and drilling sampling operation on the weathered boulder on the moon surface. According to the above task scene change, the sampler can also be used for the landing exploration and related scientific research task of the weathered layer unstructured surface of the extraterrestrial celestial body in the future. In addition, if it is necessary to expand the task value, more attachment and sampling objects can be determined, such as meteorite craters, Mars mountains and comet surface water ice, to carry out further attachment and sampling activities.

[0074] Another embodiment of the application provides a sampling method using the extraterrestrial celestial body unstructured surface attachment and drilling sampling device in any of the above embodiments, as shown in the figure, the sampling method comprises the following steps: Figure 12

[0075] Ⅰ. Moving the attachment and drilling sampling device to above the preselected sampling site, as shown in the figure; Figure 12

[0076] ​​II. Manipulate the control button 102 of the control mechanism 1 to lift the attachment claw 6 upward, as shown in Figure 12 (b);

[0077] III. Lower the attachment drilling sampling device, as shown in Figure 12 (c), so that the bottom of the attachment base 5 is in contact with the sampling surface, as shown in Figure 12 (d);

[0078] IV. Manipulate the control button 102 of the control mechanism 1 to lower the attachment claw 6 until it is in contact with the sampling surface, as shown in Figure 12 (e);

[0079] V. Manipulate the control button 102 of the control mechanism 1 to grasp the attachment claw 6 inwardly until it is tightly attached, as shown in Figure 12 (f);

[0080] VI. Manipulate the control button 102 of the control mechanism 1 to operate the impact mechanism 3 and the sampling mechanism 7, under the driving action of the impact mechanism 3 hammering and the drilling power mechanism 2, the sampling mechanism 7 continuously drills into the sampling surface, as shown in Figure 12 (g); the sampling mechanism 7 drills into the sampling surface until the set core depth, as shown in Figure 12 (h);

[0081] VII. Manipulate the control button 102 of the control mechanism 1 to release the attachment claw 6 outwardly, as shown in Figure 12 (I);

[0082] VIII. Manipulate the control button 102 of the control mechanism 1 to lift the attachment claw 6 upward, as shown in Figure 12 (j);

[0083] IX. Raise the attachment drilling sampling device, as shown in Figure 12 (k);

[0084] X. Disassemble the sampling mechanism 7 and save the sample, as shown in Figure 12 Figure 12 (l).

[0085] The extraterrestrial object unstructured surface attachment drilling sampling device and sampling method provided by the present application can realize self-adaptive attachment and detachment of the attachment mechanism to the extraterrestrial object unstructured surface and drive the impact mechanism to realize impact action and the sampling mechanism to rotate coring through the cooperation of the attachment mechanism, the impact mechanism, and the sampling mechanism. The present application realizes compact structure and easy control through modularization and lightweight design, and can realize attachment to the extraterrestrial object unstructured surface and coring sampling under the assistance of astronaut operation assembly or unmanned automatic operation.

[0086] The above merely illustrates the embodiments of the present application, but should not be taken as limiting the protection scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An extraterrestrial body unstructured surface attached drill and sample extraction device, comprising: The device comprises: a drilling power mechanism (2) for supplying power and providing power for the impact drilling mechanism; an impact drilling mechanism connected with the output end of the drilling power mechanism (2) for drilling and sampling on the surface of the extraterrestrial object; an attachment mechanism arranged at the lower end of the drilling power mechanism (2) for attaching to the surface of the extraterrestrial object; a control mechanism (1) arranged at the upper end of the drilling power mechanism (2) for controlling the attachment mechanism and the drilling and sampling mechanism. The attachment mechanism comprises a transfer ring (4), an attachment base (5) and a plurality of attachment claws (6), wherein the transfer ring (4) is connected between the drilling power mechanism (2) and the attachment base (5). The attachment base (5) comprises a flange (501), a mounting seat (506), a base shell (507), an attachment power mechanism (508) and a lifting assembly, wherein the flange (501) is arranged at the upper end of the base shell (507), the lower part of the base shell (507) is provided with a plurality of mounting seats (506) in the circumferential direction, a plurality of attachment claws (6) are respectively arranged on the mounting seats (506), and the lifting assembly is arranged on the outside of the base shell (507) and connected with the plurality of attachment claws (6). The attachment power mechanism (508) is arranged on the inside of the base shell (507) and connected with the lifting assembly and the plurality of attachment claws (6), and provides power for the movement of the plurality of attachment claws (6). The attachment claw (6) comprises a claw part, a connecting rod I (604), a connecting rod II (605), a connecting rod III (606), a small tension spring (607), a small tension spring base (608), a release pull rope base (609), an attachment pull rope (610) and a large tension spring (611), wherein the connecting rod I (604), the connecting rod II (605) and the connecting rod III (606) are sequentially connected end to end, the front end of the connecting rod I (604) is fixedly connected with the rear end of the claw part, and the rear end of the connecting rod III (606) is hingedly connected with the mounting seat (506); the small tension spring base (608) and the release pull rope base (609) are arranged on the connecting rod III (606), the small tension spring base (608) is connected with the connecting rod II (605) through the small tension spring (607); the release pull rope base (609) is connected with the lifting assembly; one end of the attachment pull rope (610) is connected with the connecting rod I (604) through the large tension spring (611), and the other end of the attachment pull rope (610) is connected with the attachment power mechanism (508).

2. The off-Earth body unstructured surface attached drill-and-sample device of claim 1, wherein, The drilling power mechanism (2) comprises a sealed shell, a direct current power supply (204), a power transmission mechanism (205) and a sensing mechanism (206) arranged in the sealed shell, wherein the direct current power supply (204) is used for supplying power to the attachment drilling and sampling device; the power transmission mechanism (205) has the freedom of rotating around a vertical shaft and moving up and down; the sensing mechanism (206) is connected between the output end of the power transmission mechanism (205) and the impact drilling mechanism, and is used for detecting the drilling pressure, torque and rotating speed.

3. The off-Earth body unstructured surface attached drill-and-sample device of claim 2, wherein, The sensing mechanism (206) comprises a torque sensor (2061), a pressure sensor I (2062), an encoder (2063), a sensor holder (2064), a pressure sensor II (2065) and a sensing spindle (2066), wherein the torque sensor (2061), the pressure sensor I (2062) and the pressure sensor II (2065) are sequentially installed on the sensing spindle (2066) from top to bottom, the encoder (2063) is installed outside the pressure sensor I (2062), and the sensor holder (2064) is installed outside the encoder (2063); the upper end of the sensing spindle (2066) is connected with the power transmission mechanism (205), and the lower end is connected with the impact drilling mechanism; the torque sensor (2061) and the encoder (2063) are respectively used for detecting the torque and the rotating speed of the sensing spindle (2066), and the pressure sensor I (2062) and the pressure sensor II (2065) are used for detecting the drilling pressure.

4. The off-Earth body unstructured surface attached drill-and-sample device of claim 2, wherein, The impact drilling mechanism comprises an impact mechanism (3) and a sampling mechanism (7), wherein the upper end of the impact mechanism (3) is connected with the sensing mechanism (206), the lower end is connected with the sampling mechanism (7), the power transmission mechanism (205) drives the impact mechanism (3) and the sampling mechanism (7) to rotate, the impact mechanism (3) is used for impacting the sampling mechanism (7), and the surface drilling and sampling of the extraterrestrial body are realized through the cooperation of the impact mechanism (3) and the sampling mechanism (7).

5. The off-Earth body unstructured surface attached drill-and-sample device of claim 4, wherein, The impact mechanism (3) comprises an impact spindle (301), an impact outer frame (302), a locking mechanism (303), an impact module (304) and a sampling mechanism mounting head (305), wherein the impact module (304) is installed on the impact spindle (301), the upper end of the impact spindle (301) is connected with the sensing mechanism (206), the impact outer frame (302) is arranged outside the impact module (304), and the lower ends of the impact spindle (301) and the impact outer frame (302) are connected with the sampling mechanism (7) through the sampling mechanism mounting head (305); the locking mechanism (303) is arranged on the impact outer frame (302) and is used for locking the impact module (304).

6. The off-Earth body unstructured surface attached drill-and-sample device of claim 5, wherein, The impact module (304) comprises a cam (3041), a roller (3042) and a disc spring (3043), wherein the disc spring (3043) and the cam (3041) are sequentially arranged outside the impact spindle (301) from top to bottom, the cam (3041) is a hollow cylinder with a cam structure on the lower end face, the cam (3041) is in slidable cooperation with the impact outer frame (302) in the axial direction, and the disc spring (3043) provides driving force for the downward sliding of the cam (3041); the roller (3042) is arranged on the impact spindle (301), and the roller (3042) is in contact with the cam structure of the cam (3041).

7. The off-Earth body unstructured surface attached drill-and-sample device of claim 4, wherein, The sampling mechanism (7) comprises a buffer adapter rod (701), a drill rod mounting head (703) and a coring drill rod (705), wherein the upper end of the buffer adapter rod (701) is connected with the impact mechanism (3), the drill rod mounting head (703) is assembled at the lower end of the buffer adapter rod (701) and can slide axially relative to the buffer adapter rod (701), and the buffer adapter rod (701) is internally provided with a buffer spring; the coring drill rod (705) has a hollow structure and is connected with the drill rod mounting head (703) at the upper end.

8. A sampling method using the non-structured surface attached drilling sampling device of any one of claims 1-7, wherein, The method comprises the following steps: Ⅰ. Moving the attached drilling sampling device to above the preselected sampling site; Ⅱ. Operating the control mechanism (1) to lift the attachment claws (6) upward; Ⅲ. Dropping the attached drilling sampling device to make the bottom of the attachment base (5) contact with the sampling surface; Ⅳ. Operating the control mechanism (1) to drop the attachment claws (6) downward until the attachment claws (6) contact with the sampling surface; Ⅴ. Operating the control mechanism (1) to make the attachment claws (6) grab inward until the attachment claws (6) are tightly attached; Ⅵ. Operating the control mechanism (1) to make the impact mechanism (3) and the sampling mechanism (7) work, under the driving action of the impact mechanism (3) and the drilling power mechanism (2), the sampling mechanism (7) continuously drills into the sampling surface downward until the set coring depth is reached; Ⅶ. Operating the control mechanism (1) to make the attachment claws (6) release outward; Ⅷ. Operating the control mechanism (1) to lift the attachment claws (6) upward; Ⅸ. Raising the attached drilling sampling device; Ⅹ. Disassembling the sampling mechanism (7) to save the sample.

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