A self-drilling lunar soil submersible and its submersible method
By designing a lunar soil submersion device capable of autonomous drilling, and utilizing a chip removal channel and track mechanism with the drill bit and drill rod rotating in opposite directions and the spiral blades rotating in opposite directions, the problem of jamming and collapse of the lunar soil detection device during drilling was solved, achieving stable drilling and efficient chip removal, and avoiding motor damage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG SCI-TECH UNIV
- Filing Date
- 2023-06-27
- Publication Date
- 2026-07-31
AI Technical Summary
Existing lunar soil exploration devices are prone to jamming or collapse during drilling due to lunar soil accumulation and hard debris, and the motor power is too high, causing damage and preventing normal operation.
A lunar soil diving device capable of autonomous excavation was designed, comprising a drill bit, drill rod, outer shell, inner sleeve, fixed cover, drive mechanism, and track mechanism. Through the cooperation of the internal chip removal channel and the drive mechanism, the drill bit and drill rod rotate in opposite directions, the helical blades rotate in opposite directions, the track mechanism supports the inner wall of the borehole to prevent collapse, and transmits power through a gear pair.
It achieves stable drilling and chip removal functions, prevents the device from jamming, enhances the cutting efficiency of the drill bit, avoids motor damage, and improves working stability and efficiency.
Smart Images
Figure CN116950581B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of aerospace technology, specifically relating to a lunar soil submersion device and its submersion method that can autonomously tunnel. Background Technology
[0002] In the exploration of the moon, lunar regolith is one of the most important research subjects. Existing technologies for lunar regolith exploration include high-speed penetrating drilling, rope-tethered impact drilling, and rope-tethered tunneling drilling. However, the drilling tools in these devices often experience jamming due to lunar regolith accumulation or encountering hard debris, preventing further operation. Furthermore, because the density of different layers of lunar regolith varies, the borehole wall may collapse when the drill reaches deeper layers, halting further operation. Moreover, encountering hard debris can overload the motor, causing damage and malfunction. Therefore, there is a need to develop a lunar regolith drilling device with excellent debris removal performance and the ability to prevent lunar regolith collapse. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a lunar soil burrowing device and its burrowing method that can autonomously excavate.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] The present invention discloses a lunar soil diving device capable of autonomous excavation, comprising a drill bit, a drill rod, a shell, an inner sleeve, a fixing cover, a drive mechanism, and a track mechanism.
[0006] The outer casing includes an integrally formed cylindrical pipe and a flared opening; a fixed cover is located inside the cylindrical pipe at the end away from the flared opening and is coaxially fixed to the cylindrical pipe by multiple connecting rods arranged equidistantly along the circumference; an inner sleeve is located inside the cylindrical pipe and is coaxially fixed to the fixed cover; the drill rod is located inside the cylindrical pipe, with a gap between the outer wall of the drill rod and the inner wall of the cylindrical pipe, and a spiral blade is fixed thereon; the drill rod is hollow inside and fits onto the inner sleeve, forming a rotating pair with the inner sleeve; the drive mechanism is located inside the inner sleeve, and the drive mechanism includes a drive motor, an internal gear, a rotating shaft, and a cylindrical gear; fixed plates are fixed at both ends inside the inner sleeve; the housing of the drive motor is fixed to the fixed plate near the fixed cover; the output shaft of the drive motor is connected to the rotating shaft through the cylindrical gear pair; the rotating shaft and the fixed plate form a rotating pair; the cylindrical gear is fixed to the rotating shaft; the internal gear is fixed to the inner wall of the drill rod; the cylindrical gear passes through a square hole opened on the inner sleeve and meshes with the internal gear.
[0007] The drill bit and drill rod are coaxially arranged; the drill bit has a front conical surface and a flared rear end, the flared rear end is located inside the flared opening, and the end of the flared rear end is in contact with the end of the drill rod near the flared opening; there is a gap between the flared rear end and the inner wall of the flared opening, and a second spiral blade is fixed thereon; a connecting shaft is also fixed at the center of the end of the flared rear end; the connecting shaft and the fixed plate inside the inner sleeve away from the fixed cover form a rotating pair, and are connected to the rotating shaft through a second cylindrical gear pair; multiple grooves are equidistantly arranged circumferentially on the outer wall of the cylindrical pipe on the outer shell, and a crawler mechanism is provided in each groove, the transmission direction of each crawler mechanism is along the axis of the cylindrical pipe; wherein, the rotation direction of the first spiral blade is opposite to that of the second spiral blade, and the gap between the drill bit and the flared opening, the gap between the drill rod and the cylindrical pipe, and the gap between each connecting rod on the fixed cover form an internal chip removal channel.
[0008] Preferably, the end of the drill rod near the fixed cover is connected to the sealing cover by bolts, and the sealing cover is fitted onto the inner sleeve, forming a rotating pair with the inner sleeve.
[0009] Preferably, the first cylindrical gear pair includes a second cylindrical gear and a third cylindrical gear, with the second cylindrical gear fixed on the output shaft of the first drive motor and the third cylindrical gear fixed on the rotating shaft.
[0010] Preferably, the second cylindrical gear pair includes a fourth cylindrical gear and a fifth cylindrical gear, with the fourth cylindrical gear fixed on the connecting shaft and the fifth cylindrical gear fixed on the rotating shaft.
[0011] Preferably, the drill rod is supported on the inner sleeve by a bearing.
[0012] Preferably, the rotating shaft is supported on the fixed plate by bearing two.
[0013] Preferably, the connecting shaft is supported on the fixed plate by bearings.
[0014] Preferably, the track mechanism includes sprockets, a drive shaft, a rotating shaft, a second drive motor, a support plate, a chain, and a driven shaft. The support plate is fixed to a groove. The drive shaft and the driven shaft are located on opposite sides of the support plate and both form a rotating pair with the groove. Sprocket sets are fixed on both the drive shaft and the driven shaft. Each sprocket set includes two sprockets spaced apart. Every two sprockets in the two sprocket sets that are aligned are connected by a chain. Every two links in the two chains that are aligned are connected by a chain plate. The housing of the second drive motor is fixed to the support plate. The output shaft of the second drive motor is connected to the rotating shaft through a cylindrical gear pair. The rotating shaft and the support plate form a rotating pair and are connected to one of the sprockets in the sprocket set on the drive shaft through a bevel gear pair. The central axes of the rotating shaft and the output shaft of the second drive motor are parallel to the central axis of the housing, and the central axes of the drive shaft and the driven shaft are perpendicular to the central axis of the housing.
[0015] More preferably, the cylindrical gear pair three includes cylindrical gear six and cylindrical gear seven, with cylindrical gear six fixed on the rotating shaft and cylindrical gear seven fixed on the output shaft of the drive motor two; the bevel gear pair includes bevel gear one and bevel gear two, with bevel gear one fixed on the sprocket and bevel gear two fixed on the rotating shaft.
[0016] The present invention discloses a method for the autonomous excavation lunar soil submersion device, the specific details of which are as follows:
[0017] A collection device is connected to the end of the cylindrical pipe furthest from the flared end. The controller controls the output shaft of drive motor one to rotate forward. The output shaft of drive motor one drives the rotating shaft to rotate in reverse through cylindrical gear pair one. The rotating shaft drives cylindrical gear one to mesh with the internal gear, thereby driving the drill rod and spiral blade one to rotate in reverse. At the same time, the rotating shaft drives the connecting shaft to rotate forward through cylindrical gear pair two, thereby driving the drill bit and spiral blade two to rotate in the forward direction. Then, the lunar rover assists in pushing the outer shell to drive the rotating drill bit to start drilling downwards. The drill rod and drill bit rotate in opposite directions, so that the torque of the drill rod and the torque of the drill bit cancel each other out. When the depth of the hole drilled by the drill bit exceeds the position of each track mechanism, the controller controls each track mechanism to start working. Each track mechanism drives the outer shell to move downwards along the hole, while supporting the inner wall of the hole. During the drilling process, the lunar soil drilled out by the drill bit enters the internal chip removal channel. Because the rotation direction of spiral blade one is opposite to that of spiral blade two... Conversely, the drill rod and drill bit rotate in opposite directions. Lunar soil is conveyed upwards by spiral blades one and two until it exits the internal chip removal channel and enters the collection device. If debris gets stuck on spiral blade one or two during drilling, causing them to become jammed, the controller controls the output shaft of drive motor one to rotate in both reverse and forward directions. This, in turn, drives the drill bit and spiral blade two to rotate in both reverse and forward directions, and the drill rod and spiral blade one to rotate in both forward and reverse directions. At the same time, all track mechanisms stop working, and the lunar rover stops pushing the outer shell downwards until the debris is removed from spiral blade one or two, and spiral blades one and two are no longer jammed. The controller then controls the output shaft of drive motor one to continue rotating forward, and all track mechanisms continue working, allowing the lunar rover to continue pushing the outer shell forward. After completing the drilling task, the controller controls drive motor one to stop working, and the lunar rover and all track mechanisms drive the outer shell backwards until it exits the borehole.
[0018] The beneficial effects of this invention are as follows:
[0019] 1. This invention achieves both the function of breaking lunar soil and drilling by setting up an internal chip removal channel and driving the drill bit to rotate the second spiral blade in the forward direction via a drive mechanism. Simultaneously, the drive mechanism drives the drill rod to rotate the first spiral blade in the reverse direction. Since the rotation direction of the first spiral blade is opposite to that of the second spiral blade, lunar soil entering the internal chip removal channel during drilling can be conveyed upwards along the first and second spiral blades, thus achieving chip removal from the inside of the device. Furthermore, the opposite rotation of the drill bit and drill rod cancels out the torque of the drill bit, making the drilling and chip removal operations more stable and improving operational stability. If hard debris gets stuck on either the first or second spiral blade during drilling, causing jamming, the drive motor can repeatedly rotate in both directions to dislodge the hard debris, preventing the device from jamming and halting operation.
[0020] 2. The present invention includes a track mechanism. During the drilling process, the track mechanism supports the inner wall of the borehole, stabilizes the lunar debris on the inner wall of the borehole, and prevents the lunar debris on the inner wall of the borehole from collapsing. At the same time, the track mechanism provides a downward driving force, which increases the forward power of the drill bit, thereby increasing the cutting torque of the drill bit, improving the cutting efficiency of the drill bit, and also avoiding the situation of damage caused by excessive motor power.
[0021] 3. In the drive mechanism and track mechanism of the present invention, power is transmitted through gear pairs, which is stable, reliable, low in noise and highly efficient. Attached Figure Description
[0022] Figure 1 This is a half-sectional perspective view of the present invention;
[0023] Figure 2 This is a half-sectional perspective view of the drill pipe, housing, and drive mechanism of the present invention;
[0024] Figure 3 This is a schematic diagram of the overall structure of the present invention;
[0025] Figure 4 This is a schematic diagram of the outer shell and track mechanism of the present invention;
[0026] Figure 5 This is a schematic diagram illustrating the operation of the present invention. Detailed Implementation
[0027] The present invention will now be further described with reference to the accompanying drawings.
[0028] like Figure 1 , Figure 2 and Figure 3As shown, the present invention provides a lunar soil diving device capable of autonomous excavation, comprising a drill bit 1, a drill rod 2, a shell 3, an inner sleeve 8, a fixed cover 10, a drive mechanism, and a track mechanism.
[0029] The outer casing 3 includes an integrally formed cylindrical pipe and a flared opening; a fixed cover 10 is located inside the cylindrical pipe at the end away from the flared opening and is coaxially fixed to the cylindrical pipe by multiple connecting rods arranged equidistantly along the circumference; an inner sleeve 8 is located inside the cylindrical pipe and is coaxially fixed to the fixed cover 10; a drill rod 2 is located inside the cylindrical pipe, with a gap between the outer wall of the drill rod 2 and the inner wall of the cylindrical pipe, and a spiral blade is fixed thereon; the drill rod 2 is hollow inside and is fitted onto the inner sleeve 8, forming a rotating pair with the inner sleeve 8; a drive mechanism is located in the inner sleeve 8. Inside, the drive mechanism includes a drive motor 7, an internal gear 5, a rotating shaft 15, and a cylindrical gear 16. Fixed plates are fixed at both ends of the inner sleeve 8. The housing of the drive motor 7 is fixed to the fixed plate near the fixed cover 10. The output shaft of the drive motor 7 is connected to the rotating shaft 15 via a cylindrical gear pair. The rotating shaft 15 and the fixed plate form a rotating pair. The cylindrical gear 16 is fixed to the rotating shaft 15, and the internal gear 5 is fixed to the inner wall of the drill rod 2. The cylindrical gear 16 passes through a square hole in the inner sleeve 8 and meshes with the internal gear 5. The central axis of the output shaft of the drive motor 7 is parallel to the central axis of the inner sleeve 8.
[0030] Drill bit 1 and drill rod 2 are coaxially arranged. Drill bit 1 has a front conical surface and a flared rear end. The flared rear end is located inside the flared opening, and its end fits against the end of drill rod 2 near the flared opening to prevent soil from entering the drill rod 2. There is a gap between the flared rear end and the inner wall of the flared opening, and a second spiral blade is fixed thereon. A connecting shaft is also fixed at the center of the end of the flared rear end. The connecting shaft and the fixed plate inside the inner sleeve 8 away from the fixed cover 10 form a rotating pair, and are connected to the rotating shaft 15 through a second cylindrical gear pair. Multiple grooves are equidistantly arranged circumferentially on the outer wall of the cylindrical pipe on the outer shell 3. Each groove contains a track mechanism, and the transmission direction of each track mechanism is along the axis of the cylindrical pipe. The rotation direction of the first spiral blade is opposite to that of the second spiral blade. The gap between drill bit 1 and the flared opening, the gap between drill rod 2 and the cylindrical pipe, and the gap between each connecting rod on the fixed cover 10 form an internal chip removal channel.
[0031] In a preferred embodiment, one end of the drill rod 2 near the fixed cover 10 is connected to the sealing cover 11 by bolts 9. The sealing cover 11 is fitted onto the inner sleeve and forms a rotating pair with the inner sleeve 8 to prevent lunar soil from entering the drill rod 2 and affecting normal operation.
[0032] In a preferred embodiment, the cylindrical gear pair one includes cylindrical gear two 6 and cylindrical gear three 13. Cylindrical gear two 6 is fixed on the output shaft of drive motor one 7, and cylindrical gear three 13 is fixed on rotating shaft 15.
[0033] More preferably, the cylindrical gear 6 is circumferentially positioned by the key and the keyway opened on the output shaft of the drive motor 7, and axially positioned by the nut 14 threaded to the output shaft of the drive motor 7 and the shoulder on the output shaft of the drive motor 7.
[0034] In a preferred embodiment, the second cylindrical gear pair includes a fourth cylindrical gear 4 and a fifth cylindrical gear 18. The fourth cylindrical gear 4 is fixed on the connecting shaft, and the fifth cylindrical gear 18 is fixed on the rotating shaft 15.
[0035] More preferably, the cylindrical gear 4 is circumferentially positioned by the key 2 and the keyway opened on the connecting shaft, and axially positioned by the nut 17 threaded to the connecting shaft and the shoulder of the connecting shaft.
[0036] In a preferred embodiment, the drill pipe 2 is supported on the inner sleeve 8 by a bearing 12.
[0037] In a preferred embodiment, the rotating shaft 15 is supported on the fixed plate by bearing 19.
[0038] In a preferred embodiment, the connecting shaft is supported on the fixed plate by bearing 320.
[0039] As a preferred embodiment, such as Figure 4 As shown, the track mechanism includes sprockets 21, a drive shaft 22, a rotating shaft 25, a drive motor 27, a support plate 28, a chain 29, and a driven shaft. The support plate 28 is fixed to a groove. The drive shaft 22 and the driven shaft are located on both sides of the support plate 28 and both form a rotating pair with the groove. Sprocket sets are fixed on both the drive shaft 22 and the driven shaft. Each sprocket set includes two sprockets 21 spaced apart. Every two sprockets 21 aligned in position in the two sprocket sets are connected by a chain 29. Every two chains 29 aligned in position in the two sprocket sets are connected by a chain 29. Two chain links are connected by a chain plate; the housing of the second drive motor 27 is fixed to the support plate 28, and the output shaft of the second drive motor 27 is connected to the rotating shaft 25 through the cylindrical gear pair 3. The rotating shaft 25 and the support plate 28 form a rotating pair, and are connected to a sprocket 21 in the sprocket group on the drive shaft 22 through the bevel gear pair; wherein the central axis of the rotating shaft 25 and the output shaft of the second drive motor 27 is parallel to the central axis of the housing 3, and the central axis of the drive shaft 22 and the driven shaft is perpendicular to the central axis of the housing 3.
[0040] More preferably, the cylindrical gear pair three includes a cylindrical gear six 26 and a cylindrical gear seven 30, with the cylindrical gear six 26 fixed on the rotating shaft 25 and the cylindrical gear seven 30 fixed on the output shaft of the drive motor two 27; the bevel gear pair includes a bevel gear one 23 and a bevel gear two 24, with the bevel gear one 23 fixed on the sprocket 21 and the bevel gear two 24 fixed on the rotating shaft 25.
[0041] More preferably, the cylindrical gear 30 is circumferentially positioned by a keyway connected to the output shaft of the drive motor 27 via a keyway 3, and is axially positioned by a nut 31 threaded to the output shaft of the drive motor 27 and the shoulder of the output shaft of the drive motor 27. The bevel gear 24 is circumferentially positioned by a keyway connected to the rotating shaft 25 via a keyway 4, and is axially positioned by a nut 32 threaded to the rotating shaft and the shoulder of the rotating shaft 25.
[0042] Both drive motor 7 and drive motor 27 are controlled by the controller.
[0043] The present invention discloses a method for the autonomous excavation lunar soil submersion device, the specific details of which are as follows:
[0044] A collection device is connected to the end of the cylindrical pipe furthest from the flared end. For example... Figure 5 As shown, the controller controls the output shaft of drive motor 7 to rotate forward. The output shaft of drive motor 7 drives shaft 15 to rotate in reverse through cylindrical gear pair 1. Shaft 15 drives cylindrical gear 16 to mesh with internal gear 5, thereby driving drill rod 2 and spiral blade 1 to rotate in reverse. At the same time, shaft 15 drives connecting shaft to rotate forward through cylindrical gear pair 2, thereby driving drill bit 1 and spiral blade 2 to rotate forward. Then, the lunar rover's auxiliary push shell 3 drives the rotating drill bit 1 to start drilling downward. Among them, the drill rod 2 and drill bit 1 rotate in opposite directions, so that the torque of drill rod 2 and the torque of drill bit 1 cancel each other out, thereby making the drilling and chip removal work more stable during the drilling process. When the drill bit 1 rotates to a depth exceeding the position of each track mechanism, the controller controls each track mechanism to start working. Each track mechanism drives the outer shell 3 to move downward along the hole, increasing the forward power of the drill bit 1 while supporting the inner wall of the hole to prevent the lunar soil from falling off the inner wall of the hole. During the drilling process, the lunar soil drilled out by the drill bit 1 enters the internal chip removal channel. Since the rotation direction of the first spiral blade is opposite to that of the second spiral blade, and the rotation direction of the drill rod 2 and the drill bit 1 is opposite, the lunar soil is conveyed upward by the second spiral blade and the first spiral blade until it is sent out of the internal chip removal channel and enters the collection device. If hard debris gets stuck on either helical blade 1 or helical blade 2 during drilling, causing them to jam, the controller controls the output shaft of drive motor 7 to rotate in both reverse and forward directions. This, in turn, drives drill bit 1 and helical blade 2 to rotate in both reverse and forward directions, while drill rod 2 and helical blade 1 rotate in both forward and reverse directions. Simultaneously, all track mechanisms stop working, and the lunar rover stops pushing the outer shell 3 downwards until the hard debris disengages from helical blade 1 or helical blade 2, and the jamming is resolved. Then, the controller controls the output shaft of drive motor 7 to continue rotating forward, all track mechanisms continue working, and the lunar rover continues to push the outer shell 3 forward. After completing the drilling task, the controller controls drive motor 7 to stop working, and the lunar rover and all track mechanisms drive the outer shell 3 backwards until it exits the borehole.
Claims
1. A lunar soil penetrating device capable of autonomous excavation, comprising a drill bit, a drill rod and a housing, characterized in that: It also includes an inner sleeve, a fixed cover, a drive mechanism, and a track mechanism; the outer shell includes an integrally formed cylindrical pipe and a flared opening; the fixed cover is located inside the cylindrical pipe at the end away from the flared opening and is coaxially fixed to the cylindrical pipe by multiple connecting rods arranged equidistantly along the circumference; the inner sleeve is located inside the cylindrical pipe and is coaxially fixed to the fixed cover; the drill rod is located inside the cylindrical pipe, and there is a gap between the outer wall of the drill rod and the inner wall of the cylindrical pipe, and a spiral blade is fixed thereon; the drill rod is hollow inside and fits onto the inner sleeve, connecting with the inner... The sleeve forms a rotating pair; the drive mechanism is located inside the inner sleeve and includes a drive motor, an internal gear, a rotating shaft, and a cylindrical gear. Fixed plates are fixed at both ends of the inner sleeve. The housing of the drive motor is fixed to the fixed plate near the fixed cover. The output shaft of the drive motor is connected to the rotating shaft via the cylindrical gear pair. The rotating shaft and the fixed plate form a rotating pair. The cylindrical gear is fixed to the rotating shaft, and the internal gear is fixed to the inner wall of the drill rod. The cylindrical gear passes through a square hole in the inner sleeve and meshes with the internal gear. The drill bit and drill rod are coaxially arranged; the drill bit has a front conical surface and a flared rear end, the flared rear end is located inside the flared opening, and the end of the flared rear end is in contact with the end of the drill rod near the flared opening; there is a gap between the flared rear end and the inner wall of the flared opening, and a second spiral blade is fixed thereon; a connecting shaft is also fixed at the center of the end of the flared rear end; the connecting shaft and the fixed plate inside the inner sleeve away from the fixed cover form a rotating pair, and are connected to the rotating shaft through a second cylindrical gear pair; multiple grooves are equidistantly arranged circumferentially on the outer wall of the cylindrical pipe on the outer shell, and a crawler mechanism is provided in each groove, the transmission direction of each crawler mechanism is along the axis of the cylindrical pipe; wherein, the rotation direction of the first spiral blade is opposite to that of the second spiral blade, and the gap between the drill bit and the flared opening, the gap between the drill rod and the cylindrical pipe, and the gap between each connecting rod on the fixed cover form an internal chip removal channel; The end of the drill rod near the fixed cover is connected to the sealing cover by bolts. The sealing cover is fitted onto the inner sleeve, forming a rotating pair with the inner sleeve.
2. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The first cylindrical gear pair includes a second cylindrical gear and a third cylindrical gear. The second cylindrical gear is fixed on the output shaft of the first drive motor, and the third cylindrical gear is fixed on the rotating shaft.
3. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The second cylindrical gear pair includes a fourth cylindrical gear and a fifth cylindrical gear. The fourth cylindrical gear is fixed on the connecting shaft, and the fifth cylindrical gear is fixed on the rotating shaft.
4. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The drill pipe is supported on the inner sleeve by a bearing.
5. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The rotating shaft is supported on the fixed plate by bearing 2.
6. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The connecting shaft is supported on the fixed plate by bearings.
7. The autonomously excavating lunar soil-diving device according to claim 1, characterized in that: The track mechanism includes sprockets, a drive shaft, a rotating shaft, a second drive motor, a support plate, a chain, and a driven shaft. The support plate is fixed to a groove. The drive shaft and the driven shaft are located on opposite sides of the support plate and both form a rotating pair with the groove. Sprocket sets are fixed on both the drive shaft and the driven shaft. Each sprocket set includes two sprockets spaced apart. Every two sprockets in the two sprocket sets that are aligned are connected by a chain. Every two links in the two chains that are aligned are connected by a chain plate. The housing of the second drive motor is fixed to the support plate. The output shaft of the second drive motor is connected to the rotating shaft through a cylindrical gear pair. The rotating shaft and the support plate form a rotating pair and are connected to one of the sprockets in the sprocket set on the drive shaft through a bevel gear pair. The central axes of the rotating shaft and the output shaft of the second drive motor are parallel to the central axis of the housing, while the central axes of the drive shaft and the driven shaft are perpendicular to the central axis of the housing.
8. The autonomously excavating lunar soil-diving device according to claim 7, characterized in that: The cylindrical gear pair three includes cylindrical gear six and cylindrical gear seven. Cylindrical gear six is fixed on the rotating shaft, and cylindrical gear seven is fixed on the output shaft of drive motor two. The bevel gear pair includes bevel gear one and bevel gear two. Bevel gear one is fixed on the sprocket, and bevel gear two is fixed on the rotating shaft.
9. The method for submerging a lunar soil submersion device capable of autonomous excavation according to any one of claims 1 to 8, characterized in that: Specifically as follows: A collection device is connected to the end of the cylindrical pipe furthest from the flared end. The controller controls the output shaft of drive motor one to rotate forward. The output shaft of drive motor one drives the rotating shaft to rotate in reverse through cylindrical gear pair one. The rotating shaft drives cylindrical gear one to mesh with the internal gear, thereby driving the drill rod and spiral blade one to rotate in reverse. At the same time, the rotating shaft drives the connecting shaft to rotate forward through cylindrical gear pair two, thereby driving the drill bit and spiral blade two to rotate in the forward direction. Then, the lunar rover assists in pushing the outer shell to drive the rotating drill bit to start drilling downwards. The drill rod and drill bit rotate in opposite directions, so that the torque of the drill rod and the torque of the drill bit cancel each other out. When the depth of the hole drilled by the drill bit exceeds the position of each track mechanism, the controller controls each track mechanism to start working. Each track mechanism drives the outer shell to move downwards along the hole, while supporting the inner wall of the hole. During the drilling process, the lunar soil drilled out by the drill bit enters the internal chip removal channel. Due to the rotation direction of spiral blade one and spiral blade two... Conversely, the drill rod and drill bit rotate in opposite directions. Lunar soil is conveyed upwards by helical blades 1 and 2 until it exits the internal chip removal channel and enters the collection device. If debris gets stuck on helical blades 1 or 2 during drilling, causing them to become jammed, the controller controls the output shaft of drive motor 1 to rotate in both reverse and forward directions. This, in turn, drives the drill bit and helical blade 2 to rotate in both reverse and forward directions, and the drill rod and helical blade 1 to rotate in both forward and reverse directions. At the same time, all track mechanisms stop working, and the lunar rover stops pushing the outer shell downwards until the debris is removed from helical blades 1 or 2. Once helical blades 1 and 2 are no longer jammed, the controller controls the output shaft of drive motor 1 to continue rotating forward, and all track mechanisms continue working, allowing the lunar rover to continue pushing the outer shell forward. After completing the drilling task, the controller controls drive motor 1 to stop working, and the lunar rover and all track mechanisms drive the outer shell backwards until it exits the borehole.