Ground sampling verification system suitable for extraterrestrial celestial body star soil drilling

Abstract

The invention provides a ground sampling verification system suitable for extraterrestrial celestial body star soil drilling, the ground sampling verification system is used for simulating a drilling device in an extraterrestrial celestial body environment to perform drilling sampling, and the system comprises a support vehicle; the tilting device is arranged at the bottom of the support vehicle, and the star soil barrel is arranged below the drilling rig; the rotary lifting device is arranged on the star soil barrel mounting frame and used for adjusting lifting and rotary motion of the star soil barrel, and the constant force output gravity compensation device is arranged on the support vehicle and used for simulating drilling sampling of the drilling device in the extraterrestrial celestial body gravity environment. Different topographic conditions of an extraterrestrial celestial body drilled by the drilling device can be simulated through the inclination device, the inclination angle of the inclination device is smaller than or equal to 8 degrees, and the star soil barrel is arranged below the drilling device, so that star catalogue touch detection of the drilling device can be simulated. By arranging the rotary lifting device, automatic rotation of the simulated star soil barrel can be achieved, and simulated star soil is efficiently utilized.

Description

Technical Field

[0001] The present application relates to the field of deep space exploration technology, and in particular to a ground sampling verification system suitable for extraterrestrial body and star soil drilling. Background Art

[0002] With the advancement of science and technology and the use of earth resources, human beings' desire for extraterrestrial resources has become stronger and stronger. Obtaining the physical composition of star soil, especially star soil with stratigraphic information, has become a hot research direction in various countries. So far, the main method for obtaining extraterrestrial star soil with stratigraphic information is drilling, and the verification of the drilling method mainly uses a ground verification system. The content of this patent is applied to the field of deep space exploration, providing a ground sampling verification system for the detector sampling device to drill the lunar surface.

[0003] The difficulty in designing a ground verification system suitable for extraterrestrial object soil drilling lies in simulating the terrain of extraterrestrial objects and realizing the detection of touching the star table. The current ground verification system based on drilling sampling method only has a single horizontal terrain and cannot realize the detection of touching the star table. Summary of the invention

[0004] In view of this, the present application provides a ground sampling verification system suitable for extraterrestrial body soil drilling, which solves the technical problems that the ground verification system in the prior art only has a single horizontal terrain and cannot detect the touching of the star table.

[0005] The present application provides a ground sampling verification system suitable for extraterrestrial soil drilling, which can simulate the drilling and sampling of a drilling device in an extraterrestrial environment, and includes: a support vehicle, wherein the drilling device is arranged on one side of the support vehicle; a tilting device, wherein the tilting device is arranged at the bottom of the support vehicle, wherein the tilting device is used to adjust the tilt angle of the support vehicle in different directions, and the drilling device is arranged on one side of the support vehicle; a soil barrel, wherein the soil barrel is arranged below the drilling device; a soil barrel mounting frame, wherein the soil barrel is placed on the soil barrel mounting frame; a rotating lifting device, wherein the rotating lifting device includes a rotating component and a lifting component, wherein the rotating component and the lifting component are both mounted on the soil barrel mounting frame, wherein the rotating lifting device is used to adjust the lifting and rotating motion of the soil barrel, and a constant force output gravity compensation device, wherein the constant force output gravity compensation device is arranged on the support vehicle and above the drilling device, and is used to simulate the drilling and sampling of the drilling device in the gravity environment of an extraterrestrial body.

[0006] In a possible implementation, the star soil barrel mounting frame includes: a base; a top plate, a through hole is formed on the top plate, and the through hole is used to place the star soil barrel; a mounting platform, the mounting platform is arranged between the base and the top plate, and is arranged parallel to the base and the top plate; a rotating lifting platform, the rotating lifting platform is installed on the mounting platform, a fifth mounting hole is formed on the rotating lifting platform, and the star soil barrel is fixedly connected to the rotating lifting platform through the fifth mounting hole; a moving wheel, the moving wheel is fixedly connected to the bottom of the base; and a travel switch, the travel switch is installed on the mounting platform.

[0007] In a possible implementation, the rotating assembly includes: a rotating motor, which is mounted on the mounting platform; a rotating drive shaft, one end of which is connected to the rotating motor; a rotating worm, the other end of which is connected to the rotating worm; a rotating worm wheel, which is meshed with the rotating worm, and the rotating worm wheel is fixedly connected to the rotating lifting platform; wherein the rotating worm and the rotating worm wheel are driven to rotate by the rotating motor, thereby driving the rotating lifting platform to rotate in the horizontal direction.

[0008] In a possible implementation, the lifting assembly includes: a lifting motor, which is fixedly connected to the center position of the base; a bevel gear, the driving shaft of the lifting motor is connected to the bevel gear; a steering shaft, both ends of the bevel gear are connected to the steering shaft; a third lifting screw, the steering shaft is connected to one end of the third lifting screw, the other end of the third lifting screw passes through the mounting platform and is fixedly connected to the bottom of the top plate; a lifting guide column, one end of the lifting guide column is fixedly connected to the base, one end of the lifting guide column passes through the mounting platform and is fixedly connected to the bottom of the top plate, and the lifting guide column is slidably connected to the mounting platform; wherein, the third lifting screw and the mounting platform form a threaded pair, and the mounting platform can move up and down along the third lifting screw.

[0009] In a possible implementation, the star soil barrel includes: a fourth mounting hole, which is arranged at one end of the star soil barrel, and the star soil barrel is installed on the rotating lifting platform through the fourth mounting hole and the fifth mounting hole; and a lifting ring, which is installed on the star soil barrel.

[0010] In a possible implementation, the tilting device includes: a base plate, a first fixing frame, the first fixing frame is arranged on the base plate; a second fixing frame, the second fixing frame is arranged on the first fixing frame; a third fixing frame, the third fixing frame is arranged on the second fixing frame, and the first fixing frame, the second fixing frame and the third fixing frame are arranged in parallel; a supporting seat, the supporting seat is arranged at the bottom of the base plate; a first tilting component, the first tilting component is arranged between the first fixing frame and the second fixing frame; a second tilting component, the second tilting component is arranged between the second fixing frame and the third fixing frame.

[0011] In a possible implementation, the first tilt assembly includes: two first lifting screws, the two first lifting screws are symmetrically arranged on the first fixed frame, one end of the first lifting screw is fixedly connected to the first fixed frame, and the other end of the first lifting screw is fixedly connected to the bottom of the second fixed frame; a first lifting transmission shaft, the two first lifting screws are connected through the first lifting transmission shaft, and a first lifting rocker, the first lifting rocker is fixedly connected to the first lifting screw, and is used to adjust the first lifting screw to drive the second fixed frame to move; two first connecting rods, one end of the two first connecting rods is fixedly connected to the first fixed frame, and the other end of the two first connecting rods passes through the second fixed frame and is fixedly connected to the bottom of the third fixed frame. , the first connecting rod is movably connected to the second fixed frame; the second tilting assembly includes: two second lifting screws, the two second lifting screws are symmetrically arranged on the second fixed frame, one end of the second lifting screw is fixedly connected to the second fixed frame, and the other end of the second lifting screw is fixedly connected to the bottom of the third fixed frame; a second lifting transmission shaft, the two second lifting screws are connected through the second lifting transmission shaft, a second lifting rocker, the second lifting rocker is fixedly connected to the second lifting screw, and is used to adjust the second lifting screw to drive the movement of the third fixed frame; two second connecting rods, one end of the two second connecting rods is fixedly connected to the second fixed frame, and the other end of the two second connecting rods is movably connected to the bottom of the third fixed frame.

[0012] In a possible implementation, the support vehicle includes: a first support, the first support is fixedly connected to the third fixed frame, and the first support is a square frame structure; a second support, the second support is fixedly connected to the first support, and the second support is a right-angled triangle frame structure; a drilling support, the drilling support is arranged in the middle position of one of the right-angled sides of the second support; a first mounting hole, the first mounting hole is arranged at one end of the drilling support; and a second mounting hole, the second mounting hole is arranged at the other end of the drilling support.

[0013] In a possible implementation, the constant force output gravity compensation device includes: a steel wire rope; a constant force scroll spring output assembly, which is fixed on the second bracket; a connecting flange, one end of the steel wire rope is connected to the connecting flange, and the other end of the steel wire rope is connected to the constant force scroll spring output assembly, and the connecting flange is fixedly connected to the drilling device; a fixed pulley assembly, which is arranged on the steel wire rope and installed in the second mounting hole.

[0014] In a possible implementation, the ground sampling verification system also includes a six-dimensional force sensor assembly, which includes: a six-dimensional force sensor; a first mounting flange, on which the six-dimensional force sensor is mounted, and one end of the first mounting flange is connected to the support vehicle through the first mounting hole; a second mounting flange, on which one end of the second mounting flange is connected to the first mounting flange, and the other end of the second mounting flange is mounted on the drilling device.

[0015] The present application provides a ground sampling verification system suitable for extraterrestrial soil drilling. The ground sampling verification system can simulate a drilling device to perform drilling and sampling in an extraterrestrial environment, and includes: a support vehicle, the drilling device is arranged on one side of the support vehicle; a tilting device, the tilting device is arranged at the bottom of the support vehicle, the tilting device is used to adjust the tilt angle of the support vehicle in different directions, and the drilling device is arranged on one side of the support vehicle; a soil barrel, the soil barrel is arranged below the drilling device; a soil barrel mounting frame; the soil barrel is placed on the soil barrel mounting frame; a rotating lifting device, the rotating lifting device includes a rotating component and a lifting component, the rotating component and the lifting component are both mounted on the soil barrel mounting frame, the rotating lifting device is used to adjust the lifting and rotating motion of the soil barrel, and a constant force output gravity compensation device, the constant force output gravity compensation device is arranged on the support vehicle and above the drilling device, and is used to simulate the drilling and sampling of the drilling device in the gravity environment of an extraterrestrial body. By setting up the tilting device, the drilling device can be used to simulate different terrain conditions of extraterrestrial bodies. The inclination angle is ≤8°. By setting the star soil bucket under the drilling device, the drilling device's touch star table detection can be simulated. When the tilting device simulates different terrain conditions, the automatic rotation of the star soil bucket can be realized by rotating the lifting device, thereby efficiently simulating in-orbit drilling sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a three-dimensional diagram of a ground verification system provided by an embodiment of the present application;

[0017] Figure 2The figure is a schematic diagram of the structure of a rotating lifting device of a ground verification system provided in an embodiment of the present application;

[0018] Figure 3 The figure is a schematic diagram of the structure of a rotating assembly of a rotating lifting device provided in one embodiment of the present application;

[0019] Figure 4 The figure is a schematic diagram of the structure of the lifting assembly of the rotary lifting device provided in one embodiment of the present application;

[0020] Figure 5 The figure shows a schematic diagram of the structure of a star soil bucket provided in one embodiment of the present application;

[0021] Figure 6 The figure is a schematic diagram of the structure of a ground verification system provided by an embodiment of the present application;

[0022] Figure 7 The figure is a schematic structural diagram of a first tilting assembly provided in one embodiment of the present application;

[0023] Figure 8 The figure is a schematic structural diagram of a second tilting assembly provided in one embodiment of the present application;

[0024] Fig. 9 The figure shows a schematic structural diagram of a second tilting assembly (tilted 8° to the right) provided in one embodiment of the present application;

[0025] Fig.10 The figure shows a schematic structural diagram of a second tilting assembly (tilted 8° to the left) provided in one embodiment of the present application;

[0026] Fig.11 The figure shows a schematic structural diagram of a first tilting assembly (tilted forward 8°) provided in an embodiment of the present application;

[0027] Fig.12 The figure shows a schematic structural diagram of a first tilting assembly (tilted backwards by 8°) provided in one embodiment of the present application;

[0028] Fig.13 The figure shows a schematic diagram of a structure of simulating the contact between a star soil bucket and a drilling device provided in an embodiment of the present application;

[0029] Fig.14 The figure is a structural schematic diagram of a constant force output gravity compensation device provided in one embodiment of the present application;

[0030] Fig.15 Shown is a schematic structural diagram of a six-dimensional force sensor assembly provided in one embodiment of the present application.

[0031] Description of reference numerals:

[0032] 1. Drilling equipment;

[0033] 2. Bracket vehicle; 21. First bracket; 22. Second bracket; 23. Drilling bracket; 24. First mounting hole; 25. Second mounting hole;

[0034] 3. Tilt device; 31. Bottom plate; 32. First fixed frame; 33. Second fixed frame; 34. Third fixed frame; 35. Support seat; 36. First tilt assembly; 361. First lifting screw; 362. First lifting transmission shaft; 363. First lifting pan; 364. First connecting rod; 37. Second tilt assembly; 371. Second lifting screw; 372. Second lifting transmission shaft; 373. Second lifting pan; 374. Second connecting rod;

[0035] 4. Star soil bucket; 41. Fourth mounting hole; 42. Lifting ring;

[0036] 5. Star soil barrel mounting frame; 51. Base; 52. Top plate; 521. Through hole; 53. Mounting platform; 54. Rotating lifting platform; 541. Fifth mounting hole; 55. Moving wheel; 56. Travel switch;

[0037] 6. Rotating lifting device; 61. Rotating assembly; 611. Rotating motor; 612. Rotating drive shaft; 613. Rotating worm; 614. Rotating worm wheel; 62. Lifting assembly; 621. Lifting motor; 622. Bevel gear; 623. Steering shaft; 624. Third lifting screw; 625. Lifting guide column;

[0038] 7. Constant force output gravity compensation device; 71. Steel wire rope; 72. Constant force scroll spring output assembly; 73. Connecting flange; 74. Fixed pulley assembly;

[0039] 8. Six-dimensional force sensor assembly; 81. First mounting flange; 82. Second mounting flange; 83. Sensor. DETAILED DESCRIPTION

[0040] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0041] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] Figure 1 Shown is a three-dimensional diagram of a ground verification system provided by an embodiment of the present application; Figure 2 FIG. 1 is a schematic diagram of the structure of a rotating lifting device of a ground verification system provided by an embodiment of the present application; Figure 1-2 As shown, the ground sampling verification system can simulate the drilling and sampling of the drilling device 1 in the environment of an extraterrestrial body, and the ground sampling verification system includes: a support vehicle 2, the drilling device 1 is arranged on one side of the support vehicle 2; a tilting device 3, the tilting device 3 is arranged at the bottom of the support vehicle 2, and the tilting device 3 is used to adjust the tilt angle of the support vehicle 2 in different directions; a star soil barrel 4, the star soil barrel 4 is arranged below the drilling device 1; a star soil barrel mounting frame 5; the star soil barrel 4 is placed on the star soil barrel mounting frame 5; a rotating lifting device 6, the rotating lifting device 6 includes a rotating component 61 and a lifting component 62, the rotating component 61 and the lifting component 62 are both installed on the star soil barrel mounting frame 5, the rotating lifting device 6 is used to adjust the lifting and rotating movement of the star soil barrel 4, a constant force output gravity compensation device 7, the constant force output gravity compensation device 7 is arranged on the support vehicle 2, and is arranged above the drilling device 1, and is used to simulate the drilling and sampling of the on-orbit drilling device 1 in the gravity environment of an extraterrestrial body. The ground sampling verification system can simulate the different terrain conditions of the drilling device drilling extraterrestrial bodies under the condition of an inclination angle of ≤8° by setting the tilting device 3. By setting the star soil bucket 4 under the drilling device, the star table detection of the drilling device can be simulated. By setting the rotating lifting device 6, the on-orbit drilling sampling can be efficiently simulated. By reliably connecting the system components, the drilling sampling in the simulated extraterrestrial environment can be realized.

[0044] Specifically, when it is necessary to simulate the inclination of the terrain of an extraterrestrial body, the tilting device 3 of the adjustable support vehicle 2 can be adjusted to achieve a terrain simulation with an inclination of 8° in four directions of front, back, left and right. At the same time, the position of the rotating lifting device 6 is moved so that the star soil bucket 4 is always located directly below the drilling device 1. Through the up and down translation movement of the rotating lifting device 6, the drilling device 1 can touch the simulated star soil.

[0045] In one possible implementation, the star soil bucket mounting frame 5 includes: a base 51; a top plate 52, a through hole 521 is provided on the top plate 52, and the through hole 521 is used to place the star soil bucket 4; an installation platform 53, the installation platform 53 is arranged between the base 51 and the top plate 52, and is arranged parallel to the base 51 and the top plate 52; a rotating lifting platform 54, the rotating lifting platform 54 is arranged on the installation platform 53, and a fifth installation hole 541 is provided on the rotating lifting platform 54, and the star soil bucket 4 is fixedly connected to the rotating lifting platform 54 through the fifth installation hole 541; a moving wheel 55, and the moving wheel 55 is fixedly connected to the bottom of the base 51; a travel switch 56, and the travel switch 56 is installed on the installation platform 53.

[0046] Specifically, the star soil bucket mounting frame 5 is a rectangular or square frame structure formed by a base 51, a mounting platform 53, and a top plate 52 arranged in parallel. A through hole 521 for placing the star soil bucket 4 is opened on the top plate 52. The mounting platform 53 is arranged between the base 51 and the top plate 52. The function of the rotating lifting platform 54 is to carry the simulated star soil bucket 4 to perform up and down translation and rotation movements in space, which can simulate the downward pressure and touch of the on-orbit drilling device 1. At the same time, a bucket of simulated star soil can be used multiple times, saving manpower and economic costs, and realizing real-time position feedback. The star soil bucket 4 is placed under the drilling device 1 by the moving wheels 55 arranged at the bottom of the base 51, and the star soil bucket 4 is placed on the rotating lifting platform 54. At the same time, the rising or falling position of the mounting platform 53 can be limited by the travel switch 56.

[0047] Figure 3 FIG. 1 is a schematic diagram of the structure of a rotating assembly of a rotating lifting device provided in one embodiment of the present application; Figure 3As shown, the rotating assembly 61 includes: a rotating motor 611, which is installed on the mounting platform 53; a rotating drive shaft 612, one end of which is connected to the rotating motor 611; a rotating worm 613, the other end of which is connected to the rotating worm 613; a rotating worm wheel 614, which is meshed with the rotating worm 613, and the rotating worm wheel 614 is fixedly connected to the rotating lifting platform 54; wherein, the rotating worm 613 and the rotating worm wheel 614 are driven to rotate by the rotating motor 611, thereby driving the rotating lifting platform 54 to rotate in the horizontal direction. The specific structure of the rotating component 61 is set as follows: a rotating motor 611 is installed on the mounting platform 53, and the rotating motor 611 is connected to the rotating lifting platform 54 through a rotating worm gear 614 and a rotating worm 613, and the rotating worm gear 614 and the rotating worm 613 are driven by the rotating motor 611, so that the rotating lifting platform 54 rotates in the horizontal direction. In this implementation method, by rotating the position of the rotating lifting platform 54 in the horizontal direction, the drilling device 1 can achieve multiple sampling in a star soil barrel 4 when drilling and sampling.

[0048] Figure 4 FIG. 1 is a schematic diagram of the structure of a lifting assembly of a rotary lifting device provided in one embodiment of the present application; Figure 4 As shown, the lifting assembly 62 includes: a lifting motor 621, which is fixedly connected to the base 51; a bevel gear 622, the driving shaft of the lifting motor 621 is connected to the bevel gear 622; a steering shaft 623, both ends of the bevel gear 622 are provided with a steering shaft 623; a third lifting screw 624, the steering shaft 623 is connected to one end of the third lifting screw 624, the other end of the third lifting screw 624 passes through the mounting platform 53 and is fixedly connected to the bottom of the top plate 52, a lifting guide column 625, one end of the lifting guide column 625 is fixedly connected to the base 51, the other end of the lifting guide column 625 passes through the mounting platform 53 and is fixedly connected to the bottom of the top plate 53, and the lifting guide column 625 is slidably connected to the mounting platform 53, wherein the third lifting screw 624 and the mounting platform 53 form a threaded pair, and the mounting platform 53 can move up and down along the third lifting screw 624.

[0049] Specifically, the lifting motor 621 drives the bevel gear 622 and the steering shaft 623. The steering shaft 623 is set to make the force of the lifting motor 621 be redirected to both sides, so that the third lifting screws 624 on both sides of the steering shaft 623 can be moved when using one lifting motor 621. Since the mounting platform 53 is fixedly connected to the screw nut of the screw 625, when the lifting motor 621 is turned on, since the lifting guide column 625 is slidingly connected to the mounting platform 53, the threaded pair on the screw 625 can drive the mounting platform 53 to move up and down along the direction of the screw of the third lifting screw 624.

[0050] Depend on Figure 3 as well as Figure 4 It can be seen that the function of the rotating lifting device 6 is to carry the simulated star soil bucket 4 to move up and down and rotate in space, which can simulate the downward pressure and touch of the on-orbit drilling device 1. At the same time, it can realize multiple uses of a bucket of simulated star soil, saving manpower and economic costs and realizing real-time position feedback.

[0051] Figure 5 The figure is a schematic diagram of the structure of the star soil bucket provided by an embodiment of the present application; Figure 5 As shown, the star soil bucket 4 includes: a fourth mounting hole 41, which is set at one end of the star soil bucket 4, and the star soil bucket 4 is installed on the rotating lifting platform 54 through the fourth mounting hole 41 and the fifth mounting hole 541; and a lifting ring 42, which is installed on the star soil bucket 4. The star soil barrel 4 is used to contain simulated star soil. A lifting ring 42 is installed on the star soil barrel 4 for easy transportation. The star soil barrel 4 is arranged as a two-layer barrel structure of an upper star soil barrel and a lower star soil barrel, which is conducive to the transfer and the provision of star soil. The fourth mounting hole 41 on the star soil barrel 4 and the fifth mounting hole 541 on the rotary lifting platform 54 are fixedly connected to the star soil barrel 4 and the rotary lifting platform 54 by bolts and nuts. The rotary lifting platform 54 is driven up and down by the lifting assembly 62 to realize the touch of simulated star soil. A touch detection switch is arranged on the drill rod of the drilling device 1. The touch detection switch detects the touch signal in real time. The lifting assembly 62 drives the rotary lifting platform 54 to rise, thereby driving the star soil barrel 4 to rise. When the star soil barrel 4 rises to a certain position, the star soil in the star soil barrel 4 touches the touch switch on the drilling device 1, and the drill rod of the drilling device 1 stops sampling downward, thereby avoiding damage to the drilling device 1.

[0052] Figure 6 FIG. 1 is a schematic diagram of the structure of a ground verification system provided by an embodiment of the present application; Figure 6 As shown, the tilting device 3 includes: a base plate 31, a first fixing frame 32, the first fixing frame 32 is arranged on the base plate 31; a second fixing frame 33, the second fixing frame 33 is arranged on the first fixing frame 32; a third fixing frame 34, the third fixing frame 34 is arranged on the second fixing frame 33, and the first fixing frame 32, the second fixing frame 33 and the third fixing frame 34 are arranged in parallel; a supporting seat 35, the supporting seat 35 is arranged at the bottom of the base plate 31; a first tilting component 36, the first tilting component 36 is arranged between the first fixing frame 32 and the second fixing frame 33; a second tilting component 37, the second tilting component 37 is arranged between the second fixing frame 33 and the third fixing frame 34.

[0053] Figure 7 The figure is a schematic structural diagram of a first tilting assembly provided in one embodiment of the present application; Fig. 9 The figure shows a schematic structural diagram of a second tilting assembly (tilted 8° to the right) provided in one embodiment of the present application; Fig.10 FIG. 1 is a schematic diagram of the structure of a second tilting assembly (tilted 8° to the left) provided in one embodiment of the present application; Figure 7 , Fig. 9 as well as Fig.10 As shown, the first tilting assembly 36 includes: two first lifting screws 361, the two first lifting screws 361 are arranged at both ends of the base plate 31, one end of the first lifting screw 361 is fixedly connected to the first fixed frame 32, and the other end of the first lifting screw 631 is fixedly connected to the bottom of the second fixed frame 33; a first lifting transmission shaft 362, the two first lifting screws 361 are connected through the first lifting transmission shaft 362, and a first lifting rocker 363, the first lifting rocker 363 is fixedly connected to the first lifting screw 361, and is used to adjust the first lifting screw 361 to drive the second fixed frame 33 to move; two first connecting rods 364, one end of the two first connecting rods 364 is fixedly connected to the first fixed frame 32, the other end of the two first connecting rods 364 passes through the second fixed frame 33 and is fixedly connected to the bottom of the third fixed frame 34, and the first connecting rod 364 is movably connected to the second fixed frame 33.

[0054] In this embodiment, the first lifting shaker 363 is rotated to drive the first lifting screw 361 to rise or fall, so that the second fixed frame 33 is tilted downward or upward in the direction away from the star soil barrel 4, thereby driving the drilling device 1 to tilt left or right relative to the star soil barrel 4. When it is necessary to simulate the inclination of the extraterrestrial terrain, the first tilting component 36 can be adjusted to achieve a terrain simulation of tilting 8° to the left or right.

[0055] Figure 8 The figure is a schematic structural diagram of a second tilting assembly provided in one embodiment of the present application; Fig.11 The figure shows a schematic structural diagram of a first tilting assembly (tilted forward 8°) provided in an embodiment of the present application; Fig.12 The figure shows a schematic structural diagram of a first tilting assembly (tilted backwards by 8°) provided in one embodiment of the present application; Fig.13 FIG. 1 is a schematic diagram of a structure simulating the contact between a star soil bucket and a drilling device provided in an embodiment of the present application; Figure 8 , Figure 11-13As shown, the second tilting assembly 37 includes: two second lifting screws 371, one end of the second lifting screw 371 is fixedly connected to the second fixed frame 33, and the other end of the second lifting screw 371 is fixedly connected to the bottom of the third fixed frame 34; a second lifting transmission shaft 372, the two second lifting screws 371 are connected through the second lifting transmission shaft 372, and a second lifting rocker 373, the second lifting rocker 373 is fixedly connected to the second lifting screw 371, and is used to adjust the second lifting screw 371 to drive the third fixed frame 34 to move; two second connecting rods 374, one end of the two second connecting rods 374 is fixedly connected to the second fixed frame 33, and the other end of the two second connecting rods 374 is movably connected to the bottom of the third fixed frame 34.

[0056] In this embodiment, the second lifting screw 371 is driven to rise or fall by rotating the second lifting cradle 373, so that one end of the third fixing frame 34 is tilted upward or downward, thereby driving the drilling device 1 to tilt forward or backward relative to the star soil bucket 4. When it is necessary to simulate the tilt of the extraterrestrial terrain, the first tilting component 36 and the second tilting component 37 can be adjusted to achieve a terrain simulation of 8° in four directions of front, back, left and right. When simulating the tilt of the extraterrestrial terrain, the drilling device 1 moves, and the star soil bucket 4 is always located directly below the drilling device 1 by moving the position of the rotating lifting device 6. The drilling device 1 touches the simulated star soil by moving the lifting component 62 and the rotating component 61 of the rotating lifting device 6 up and down and rotating. The touch detection switch 56 detects the touch signal in real time, stops the up and down translation movement of the star soil bucket 4, and avoids damage to the drilling device 1.

[0057] In a possible implementation, the support vehicle 2 includes: a first support 21, which is fixedly connected to the third fixing frame 34 and is a square frame structure; a second support 22, which is fixedly connected to the first support 21 and is a right-angled triangle frame structure; a drilling support 23, which is arranged at the middle position of one of the right-angled sides of the second support 22; a first mounting hole 24, which is arranged at one end of the drilling support 23; and a second mounting hole 25, which is arranged at the other end of the drilling support 23. The support vehicle 2 is arranged to provide reliable support for the drilling device 1. To simulate the terrain of an extraterrestrial body, the support vehicle 2 can be tilted by 8° in the four directions of front, back, left, and right. The first tilting assembly 36 and the second tilting assembly 37 are lead screw nut structures, which are convenient for static locking, thereby realizing reliable terrain simulation during the drilling process.

[0058] Fig.14 FIG. 1 is a schematic diagram of the structure of a constant force output gravity compensation device provided in one embodiment of the present application; Fig.14As shown, the constant force output gravity compensation device 7 includes: a wire rope 71; a constant force scroll spring output assembly 72, which is fixed to the second bracket 22; a connecting flange 73, one end of the wire rope 71 is connected to the connecting flange 73, and the other end of the wire rope 71 is connected to the constant force scroll spring output assembly 72, and the connecting flange 73 is fixedly connected to the drilling device 1; a fixed pulley assembly 74, which is arranged on the wire rope 71 and installed in the second mounting hole 25. The constant force output compensation gravity device 7 is used to simulate the gravity environment of an extraterrestrial body on the ground. One end is fixedly connected to the drilling mechanism of the drilling device 1 through a connecting flange 73, and the constant force vortex spring output assembly 72 at one end is fixed to the crossbeam bracket of the second bracket 22, wherein the fixed pulley assembly 74 is installed to the second mounting hole 25 of the bracket vehicle 2, the fixed pulley assembly 74 includes two fixed pulleys, and the second mounting hole 25 includes two second mounting holes 25, and the two fixed pulleys are respectively installed on the two second mounting holes 25, wherein the constant force vortex spring output assembly 72 is located below one of the fixed pulleys, and the connecting flange 73 is located below the other fixed pulley, and the connecting flange 73 is fixedly connected to the drilling device 1, which can realize the simulation of the gravity of an extraterrestrial body and offset part of the earth's gravity to simulate the gravity of the lunar surface, the Mars surface, etc.

[0059] It should be understood that the constant force scroll spring output assembly 72 can achieve constant tension output within a certain range of motion of the wire rope 71, always keeping the force on the wire rope 71 as a constant force. Generally speaking, the force value is determined according to the gravity compensation of the drilling device.

[0060] It should also be understood that the drilling device 1 is the verification product of the ground verification system. The drilling device 1 includes a guide rail, a drill rig and a drill rod assembly. During operation, the drill rig is instructed by an external controller to move up and down along the guide rail, thereby realizing the drilling and extraction of the drill rod into and out of the star soil, which is used to simulate sampling under extraterrestrial conditions.

[0061] Fig.15 FIG. 1 is a schematic diagram of the structure of a six-dimensional force sensor assembly provided in an embodiment of the present application. Fig.15As shown, the ground sampling verification system also includes a six-dimensional force sensor assembly 8, which includes: a six-dimensional force sensor 81; a first mounting flange 82, on which the six-dimensional force sensor 81 is mounted, one end of which is connected to the support vehicle 2 through the first mounting hole 24; and a second mounting flange 83, on which one end of the second mounting flange 83 is connected to the first mounting flange 82, and the other end of the second mounting flange 82 is mounted on the drilling device 1. Specifically, the drilling device 1 is a verification product of the ground verification system, one end of the first mounting flange 82 is connected to the support vehicle 2 through the first mounting hole 24, the other end of the first mounting flange 82 is connected to the second mounting flange 83, and the other end of the second mounting flange 83 is mounted on the drilling device 1, which is used to measure the support reaction force and torque of the drilling device 1 on the frame during the process of drilling into the simulated star soil. In this embodiment, the six-dimensional force sensor assembly 8 simulates the fixed connection between the drilling device and the detector in the sky, and can also measure the support reaction force of the drilling device 1 on the support vehicle 2 during the drilling and diving process, so as to realize the measurement of the support reaction force of the simulated detector.

[0062] The process of using the ground verification system is as follows:

[0063] This device can be used when it is necessary to conduct simulation verification of drilling sampling of extraterrestrial celestial bodies. The drilling device is a product designed by the user and can be replaced and verified as needed. Before the test verification, it is necessary to confirm the gravity that the gravity compensation device needs to compensate, which is determined by the mass of the drilling device 1 and the surface gravity of the terrestrial celestial body that needs to be simulated. For example, the gravity of the moon is 1 / 6g, and a force of 5 / 6g*m needs to be compensated, where m is the mass of the drilling device product. During verification, according to the terrain of the extraterrestrial body, the tilt angle of the support vehicle 2 is adjusted as needed through the front and rear and left and right tilting devices 3 to simulate the terrain environment; the rotating lifting device 6 is moved to the bottom of the drilling device 1 and adjusted to a suitable position, and the lifting component 62 is controlled to lift the lunar soil barrel 4. At the same time, the drilling device 1 moves the drill downward along the guide rail (i.e., the direction of the lunar soil barrel) through the command of the external controller, so that the drill rod drills into the lunar soil in the lunar soil barrel 4. Since the lunar soil for each simulated sampling is about 1 ton, the lunar soil needs to be replaced every time the simulated sampling is performed, which is time-consuming and laborious, and reduces the efficiency of the simulated sampling. Therefore, the surface area of ​​the lunar soil in the lunar soil barrel 4 is divided into corresponding parts according to actual needs, which can be 2 equal parts, 4 equal parts, 6 equal parts, or 8 equal parts. Each time the simulated sampling is performed, the drilling device 1 performs simulated sampling at the center position of one of the parts in the lunar soil barrel 4. When the drilling device 1 moves downward to the lunar soil barrel 4 and contacts the lunar soil in the lunar soil barrel 4, the switch is triggered to realize the real-time detection of the contact between the drilling device 1 and the lunar soil. , so that the rotary lifting device 6 stops lifting; the drilling device 1 performs drilling, and during the drilling process, the drill rig on the drilling device 1 moves downward, and the constant force output gravity compensation device 7 plays a role in compensating gravity within the full motion stroke driven by the wire rope 71. At the end of drilling, the drill rig of the drilling device 1 moves upward, and when the drill rig leaves the star soil barrel 4, the rotary lifting device 6 drives the star soil barrel 4 to continue to descend and move away from the drilling device 1. When the mounting platform 53 touches the travel switch 56 during the ascent or descent process, the mounting platform stops ascending or stops descending, and the rotary motor 611 on the rotating assembly 61 drives the rotary worm 613 to rotate, thereby driving the star soil barrel 4 to rotate. The rotation angle is determined according to the corresponding number of portions. For example, the star soil in the star soil barrel 4 is divided into 2 equal parts, and the rotation angle of the star soil barrel 4 is 180°. For another example, the star soil in the star soil barrel 4 is divided into 4 equal parts, and the rotation angle of the star soil barrel 4 is 90°, thereby realizing the reuse of the star soil. Drilling verification can be repeated in the above manner.

[0064] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A ground sampling verification system suitable for extraterrestrial body soil drilling, the ground sampling verification system is used to simulate the drilling device (1) to perform drilling sampling in the extraterrestrial body environment, characterized in that: include: A support vehicle (2), wherein the drilling device (1) is arranged on one side of the support vehicle (2); a tilting device (3), wherein the tilting device (3) is arranged at the bottom of the support vehicle (2), and wherein the tilting device (3) is used to adjust the tilting angle of the support vehicle (2) in different directions; a star soil bucket (4), wherein the star soil bucket (4) is arranged below the drilling device (1); a star soil bucket mounting frame (5); wherein the star soil bucket (4) is placed on the star soil bucket mounting frame (5); a rotating lifting device (6), wherein the rotating lifting device (6) comprises a rotating component (61) and a lifting component (62), wherein the rotating component (61) and the lifting component (62) are both mounted on the star soil bucket mounting frame (5), and wherein the rotating lifting device (6) is used to adjust the lifting and rotating motion of the star soil bucket (4); A constant force output gravity compensation device (7), wherein the constant force output gravity compensation device (7) is arranged on the support vehicle (2) and above the drilling device (1), and is used to simulate the drilling and sampling of the drilling device (1) in the gravity environment of an extraterrestrial body.

2. The ground sampling verification system according to claim 1, characterized in that: The star soil bucket mounting frame (5) comprises: a base (51); a top plate (52), wherein a through hole (521) is provided on the top plate (52), and the through hole (521) is used to place the star soil bucket (4); a mounting platform (53), wherein the mounting platform (53) is arranged between the base (51) and the top plate (52), and is arranged parallel to the base (51) and the top plate (52); a rotating lifting platform (54), wherein the rotating lifting platform (54) is mounted on the mounting platform (53), wherein a fifth mounting hole (541) is provided on the rotating lifting platform (54), and the star soil bucket (4) is fixedly connected to the rotating lifting platform (54) through the fifth mounting hole (541); a moving wheel (55), wherein the moving wheel (55) is fixedly connected to the bottom of the base (51); and a travel switch (56), wherein the travel switch (56) is mounted on the mounting platform (53).

3. The ground sampling verification system according to claim 2, characterized in that: The rotating assembly (61) comprises: A rotating motor (611), wherein the rotating motor (611) is mounted on the mounting platform (53); a rotating drive shaft (612), wherein one end of the rotating drive shaft (612) is connected to the rotating motor (611); a rotating worm (613), wherein the other end of the rotating drive shaft (612) is connected to the rotating worm (613); and a rotating worm wheel (614), wherein the rotating worm wheel (614) is meshed with the rotating worm (613), and the rotating worm wheel (614) is fixedly connected to the rotating lifting platform (54); wherein the rotating motor (611) drives the rotating worm (613) and the rotating worm wheel (614) to rotate, thereby driving the rotating lifting platform (54) to rotate in a horizontal direction.

4. The ground sampling verification system according to claim 3, characterized in that: The lifting assembly (62) comprises: A lifting motor (621), the lifting motor (621) is fixedly connected to the base (51); a bevel gear (622), the driving shaft of the lifting motor (621) is connected to the bevel gear (622); a steering shaft (623), both ends of the bevel gear (622) are connected to the steering shaft (623); a third lifting screw (624), the steering shaft (623) is connected to one end of the third lifting screw (624), and the other end of the third lifting screw (624) passes through the mounting platform (53) and is fixedly connected to the mounting platform (53). The bottom of the top plate (52); a lifting guide column (625), one end of which is fixedly connected to the base (51), and the other end of which passes through the mounting platform (53) and is fixedly connected to the bottom of the top plate (53), and the lifting guide column (625) is slidably connected to the mounting platform (53); wherein the third lifting screw (624) and the mounting platform (53) form a threaded pair, and the mounting platform (53) can move up and down along the third lifting screw (624).

5. The ground sampling verification system according to claim 2, characterized in that: The star soil bucket (4) comprises: a fourth mounting hole (41), the fourth mounting hole (41) being arranged at one end of the star soil bucket (4), and the star soil bucket (4) being mounted on the rotating lifting platform (54) through the fourth mounting hole (41) and the fifth mounting hole (541); and a lifting ring (42), the lifting ring (42) being mounted on the star soil bucket (4).

6. The ground sampling verification system according to claim 1, characterized in that: The tilting device (3) comprises: A base plate (31); a first fixing frame (32), wherein the first fixing frame (32) is arranged on the base plate (31); a second fixing frame (33), wherein the second fixing frame (33) is arranged on the first fixing frame (32); a third fixing frame (34), wherein the third fixing frame (34) is arranged on the second fixing frame (33), wherein the first fixing frame (32), the second fixing frame (33) and the third fixing frame (34) are arranged in parallel; a supporting seat (35), wherein the supporting seat (35) is arranged at the bottom of the base plate (31); a first tilting assembly (36), wherein the first tilting assembly (36) is arranged between the first fixing frame (32) and the second fixing frame (33); and a second tilting assembly (37), wherein the second tilting assembly (37) is arranged between the second fixing frame (33) and the third fixing frame (34).

7. The ground sampling verification system according to claim 6, characterized in that: The first tilting assembly (36) comprises: two first lifting screws (361), the two first lifting screws (361) are symmetrically arranged on the first fixed frame (32), one end of the first lifting screw (361) is fixedly connected to the first fixed frame (32), and the other end of the first lifting screw (631) is fixedly connected to the bottom of the second fixed frame (33); a first lifting transmission shaft (362), the two first lifting screws (361) are connected through the first lifting transmission shaft (362); a first lifting rocker (363), the first lifting rocker (363) is fixedly connected to the first lifting screw (361), and is used to adjust the first lifting screw (361) to drive the second fixed frame (33) to move; two first connecting rods (364), one end of the two first connecting rods (364) is fixedly connected to the first fixed frame (32), the other end of the two first connecting rods (364) passes through the second fixed frame (33) and is fixedly connected to the bottom of the third fixed frame (34), the first connecting rod ( The second tilting assembly (37) comprises: two second lifting screws (371), the two second lifting screws (371) are symmetrically arranged on the second fixing frame (33), one end of the second lifting screw (371) is fixedly connected to the second fixing frame (33), and the other end of the second lifting screw (371) is fixedly connected to the bottom of the third fixing frame (34); a second lifting transmission shaft (372), the two second lifting screws (371) are connected to the second fixing frame (33) and the second lifting transmission shaft (372) is connected to the second fixing frame (33). The second lifting transmission shaft (372) is connected to a second lifting rocker (373), and the second lifting rocker (373) is fixedly connected to the second lifting screw (371) for adjusting the second lifting screw (371) to drive the movement of the third fixed frame (34); two second connecting rods (374), one end of the two second connecting rods (374) is fixedly connected to the second fixed frame (33), and the other end of the two second connecting rods (374) is movably connected to the bottom of the third fixed frame (34).

8. The ground sampling verification system according to claim 7, characterized in that: The support vehicle (2) comprises: A first bracket (21), the first bracket (21) is fixedly connected to the third fixing bracket (34), and the first bracket (21) is a square frame structure; a second bracket (22), the second bracket (22) is fixedly connected to the first bracket (21), and the second bracket (22) is a right-angled triangle frame structure; a drilling bracket (23), the drilling bracket (23) is arranged at a middle position of one of the right-angled sides of the second bracket (22); a first mounting hole (24), the first mounting hole (24) is arranged at one end of the drilling bracket (23); and a second mounting hole (25), the second mounting hole (25) is arranged at the other end of the drilling bracket (23).

9. The ground sampling verification system according to claim 8, characterized in that: The constant force output gravity compensation device (7) comprises: a steel wire rope (71); a constant force scroll spring output assembly (72), the constant force scroll spring output assembly (72) being fixed on the second bracket (22); a connecting flange (73), one end of the steel wire rope (71) being connected to the connecting flange (73), the other end of the steel wire rope (71) being connected to the constant force scroll spring output assembly (72), the connecting flange (73) being fixedly connected to the drilling device (1); and a fixed pulley assembly (74), the fixed pulley assembly (74) being arranged on the steel wire rope (71), and the fixed pulley assembly (74) being installed in the second mounting hole (25).

10. The ground sampling verification system according to claim 8, characterized in that: The ground sampling verification system also includes a six-dimensional force sensor assembly (8), and the six-dimensional force sensor assembly (8) includes: a six-dimensional force sensor (81); a first mounting flange (82), the six-dimensional force sensor (81) is mounted on the first mounting flange (82), one end of the first mounting flange (82) is connected to the support vehicle (2) through the first mounting hole (24); a second mounting flange (83), one end of the second mounting flange (83) is connected to the first mounting flange (82), and the other end of the second mounting flange (82) is mounted on the drilling device (1).

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