Torsional impact sampling device and system

Abstract

The invention provides a torsional impact sampling device and system. A torsional impact sampling device comprises a shell, a transmission shaft, an elastic component, an intermittent mechanism, a drill bit, a rotation driving mechanism and a footage driving mechanism, the elastic component is connected with the transmission shaft and the shell, the rotation driving mechanism is connected with the transmission shaft through the intermittent mechanism, the drill bit is installed on the transmission shaft, and the footage driving mechanism is installed on the transmission shaft. And the footage driving mechanism is connected with the transmission shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of extraterrestrial object detection, and in particular to a torsional impact sampling device and system. Background Art

[0002] The extraterrestrial environment is complex and highly unknown. Using robotic probes for preliminary exploration of extraterrestrial bodies is a proven and effective approach. In recent years, several unmanned extraterrestrial sample return missions have been successfully carried out. The returned samples have provided us with important information about the geological history, evolution, and potential resources of planets. These research findings not only deepen our understanding of the origin and evolution of the universe but also provide valuable scientific evidence and technical support for the future development and utilization of space resources.

[0003] In addition to the large rovers widely used in extraterrestrial exploration and sampling missions, microrobots with simple, lightweight structures have also attracted increasing attention in recent years. For example, small mobile robots used in certain missions can be launched simultaneously with other scientific payloads, or multiple at a time, enabling diverse and simple functions and greatly enhancing the flexibility and adaptability of exploration missions. Their emergence marks the trend toward miniaturization and intelligentization in extraterrestrial sampling technology, with broad potential for application. These microrobots not only enable efficient exploration in complex extraterrestrial environments but also significantly reduce mission costs and risks, offering new perspectives and possibilities for more accurate and efficient extraterrestrial sampling missions in the future. Numerous studies have focused on the development of micro-exterrestrial sampling devices for collecting extraterrestrial rock and soil samples, mounted on small robots.

[0004] New foreign Mars exploration missions aim to search for signs of ancient life on Mars and identify, collect, document, and preserve samples for later return to Earth. These missions involve sending a car-sized rover equipped with a large robotic arm and a sampling and storage system to collect core and regolith samples into sterile tubes for imaging and evaluation.

[0005] The sampling system consists of a robotic arm, a turret, and a storage device. The drill rig's main shaft receives torque from the power system, rotating the drill string. This in turn drives an impact mechanism comprised of a spring-mass system to hammer the drill string. The impact system's vibration frequency ranges from 23 to 40 Hz and can be shut off at any time during drilling, allowing for pure rotational drilling. The weight on bit is approximately 80 to 120 N. The drill bit has an inner diameter of 13 mm, and the designed coring length is 70 mm.

[0006] The sampling and capture system is large and complex. It consists of a robotic arm, a drilling tower, and an adaptive steering mechanism. It integrates 17 drive motors and numerous spring-driven mechanisms, all mounted on the rover's robotic arm. The rover is about the size of an average car, limiting its maneuverability and deployment flexibility in confined or complex terrain.

[0007] Existing sampling devices are usually equipped with a vertical hammer mechanism. This impact vibration can increase the drilling pressure of the sampling device during operation, but the improvement of the torque in the circumferential direction is not obvious, which may cause the problem of being unable to break the formation due to insufficient torque. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a torsional impact sampling device and system in view of the deficiencies in the prior art.

[0009] The technical solution of the present invention to solve the above technical problems is as follows: A torsional impact sampling device includes: a shell, a transmission shaft, an elastic component, an intermittent mechanism, a drill bit, a rotation drive mechanism, and a footage drive mechanism. The elastic component is connected to the transmission shaft and the shell respectively, the rotation drive mechanism is connected to the transmission shaft through the intermittent mechanism, the drill bit is installed on the transmission shaft, and the footage drive mechanism is connected to the transmission shaft.

[0010] The beneficial effects of the technical solution of the present invention are as follows: the rotational motion is directly driven by the rotary drive mechanism to the drive shaft, which in turn drives the drill bit, which is fixedly connected to the drive shaft, to rotate. The elastic component cooperates with the intermittent mechanism to achieve a torsional impact function. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion, generating periodic torsional impact vibrations, which are transmitted to the drill bit via the drive shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, exerting torsional impact on the drill bit. The footage drive mechanism drives the drive shaft and drill bit in vertical upward or downward motion. The downward motion can be used as footage, while the upward motion retracts the drive shaft and drill bit. Rotation, impact, and footage are simultaneously achieved on a single drive shaft. Using a single drive shaft to drive the drill bit's rotational motion, torsional impact vibration, and upward and downward motion simplifies the overall structure of the device, resulting in a compact structure and high integration. It enables alternating rotational motion and periodic torsional impact vibration while simultaneously achieving footage. This solves the problem of insufficient torque and low drilling efficiency in micro-sampling devices when drilling in dense soil or hard rock.

[0011] Furthermore, the intermittent mechanism is an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a grooved wheel mechanism, a connecting rod mechanism or a pinwheel mechanism.

[0012] The beneficial effect of adopting the above-mentioned further technical solution is that the torsional impact sampling device uses multiple methods to achieve periodic torsional impact vibration, which makes it easy to select the form of the intermittent mechanism according to actual needs.

[0013] Furthermore, the rotary drive mechanism is a rotary drive motor, and the intermittent mechanism includes: a driving gear, an incomplete gear and a driven gear, the incomplete gear is a circular ring structure, the driving gear is installed on the output shaft of the rotary drive motor, and the driven gear is sleeved on the transmission shaft, and the driving gear and the driven gear are both engaged with the incomplete gear.

[0014] The beneficial effect of adopting the above-mentioned further technical solution is that the rotational motion is directly driven by the rotary drive motor to the spline shaft, thereby driving the drill bit fixedly connected to the spline shaft to rotate. The intermittent mechanism is driven by the rotary drive motor and converts the rotational motion into intermittent motion in the circumferential direction, generating periodic torsional impact vibration, which is transmitted to the drill bit through the spline shaft. Under the action of the intermittent mechanism, the scroll spring periodically stores and releases energy, exerting torsional impact on the drill bit. Torsional impact vibration is used to assist the drill bit in drilling. Compared with traditional hammer vibration, torsional impact vibration can provide high-frequency impact in the circumferential direction, generating greater instantaneous torque when breaking through hard samples or dense soil, thereby increasing the peak circumferential cutting force. This avoids stick-slip vibration of the drill bit and drill pipe caused by insufficient torque when breaking through hard samples, which affects drilling efficiency. Torsional impact vibration-assisted drilling improves the ability of small sampling devices to break dense soil or hard rock, thereby improving drilling efficiency and drilling stability. The combination of the intermittent mechanism and the spring causes the spring to periodically store and release energy, achieving torsional impact on the sampling device in the circumferential direction.

[0015] Furthermore, the footage drive mechanism includes: a footage drive motor, a ball screw, a screw nut, and a bearing. The footage drive motor is connected to the ball screw, the screw nut is installed on the ball screw through a thread, the bearing is hinged to the screw nut, the bearing is sleeved on the top of the transmission shaft, and the bottom of the transmission shaft is installed in the housing through a slewing bearing.

[0016] The beneficial effect of adopting the above-mentioned further technical solution is that the feed drive motor drives the ball screw to rotate, and the screw nut drives the spline shaft and drill bit to move upward or downward in the vertical direction. The downward movement can be used as the feed movement, and the upward movement can be used to retract the spline shaft and drill bit.

[0017] Furthermore, the transmission shaft is a spline shaft, and the transmission shaft is slidingly connected to the intermittent mechanism.

[0018] The beneficial effect of adopting the above-mentioned further technical solution is that the spline shaft and the intermittent mechanism are connected by sliding, and the intermittent mechanism drives the spline shaft to perform impact vibration while the spline shaft can still move in the vertical direction. The spline shaft structure enables it to simultaneously realize three kinds of movement: rotation, impact and footage on a single shaft. The use of a spline shaft to connect the drill bit allows the drill bit to move in the vertical direction while performing rotational movement and torsional impact vibration. This design not only supports footage movement during operation, but also allows the drill bit to be retracted when not in operation, thereby improving the deployment flexibility and environmental adaptability of the torsional impact sampling device.

[0019] Furthermore, the elastic component is a spiral spring or a torsion spring.

[0020] The beneficial effect of adopting the above further technical solution is that it is easy to select the form of the elastic component according to actual needs.

[0021] In addition, the present invention also provides a torsional impact sampling system, comprising a torsional impact sampling device as described above, and further comprising a mobile platform, on which the torsional impact sampling device is mounted.

[0022] The beneficial effects of the technical solution of the present invention are as follows: the torsional impact sampling device is fixed to a mobile platform and moves with it, drilling and sampling after the mobile platform reaches a designated location. The rotational motion is directly driven by a rotary drive mechanism, which in turn drives the drill bit, which is fixedly connected to the drive shaft, to rotate. The elastic component cooperates with the intermittent mechanism to achieve the torsional impact function. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion, generating periodic torsional impact vibrations, which are transmitted to the drill bit via the drive shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The footage drive mechanism drives the drive shaft and drill bit in vertical upward or downward motion. The downward motion serves as footage, while the upward motion retracts the drive shaft and drill bit. Rotation, impact, and footage are simultaneously achieved on a single drive shaft. Rotational motion and periodic torsional impact vibrations can be alternately performed while simultaneously achieving footage. This solves the problem of insufficient torque and low drilling efficiency of micro-sampling devices when drilling in dense soil or hard rock.

[0023] Furthermore, the mobile platform is a rocker crawler mobile platform, a wheeled mobile platform, a leg-type mobile platform, a wheel-leg mobile platform or a continuum mobile platform.

[0024] The beneficial effect of adopting the above-mentioned further technical solution is that the mobile platform can be used in addition to the rocker crawler type, and can also be used in wheeled, leg-type, wheel-leg type, etc. The type of mobile platform can be easily selected according to actual needs. It has a simple structure and high flexibility.

[0025] Furthermore, the mobile platform includes: a pair of rocker arms, a pair of tracks, two pairs of track wheels, a pair of wheels, a chassis, and a pair of fixed arms. The torsional impact sampling device is installed on the chassis. The pair of rocker arms are hinged to the two sides of the chassis in a one-to-one correspondence. The two pairs of track wheels are hinged to the pair of rocker arms in a one-to-one correspondence. The pair of tracks are sleeved on the two pairs of track wheels in a one-to-one correspondence. A pair of fixed arms are installed on both sides of the chassis. The pair of wheels are rotatably installed on the pair of fixed arms in a one-to-one correspondence.

[0026] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the vehicle body is supported by a rocker arm, two pairs of track wheels and a pair of wheels, the rocker arm and the vehicle body are connected by a revolute pair, and the fixed arm is fixed to the vehicle body. Revolute pairs are used to connect the track wheels and the rocker arm, and the wheels and the fixed arm, so that the mobile platform can move smoothly on the road. When encountering rough terrain, the rocker arm can rotate around the revolute pair to help the mobile platform overcome obstacles. The use of tracks between the two track wheels realizes transmission, increases the contact area between the mobile platform and the ground, and enables the mobile platform to obtain a larger driving torque to cope with possible rough and steep roads. The chassis is used to carry the load and connect the various parts of the system. The torsional impact sampling device is fixed on the chassis of the mobile platform and moves with the rover. After the mobile platform arrives at the designated location, drilling and sampling operations are performed.

[0027] Furthermore, the chassis is equipped with a laser radar, a binocular camera, an on-board computer, an on-board control board, an on-board drive, a lithium battery and an anchoring mechanism; a track tensioning wheel is installed on the rocker arm through a rotating pair, and the track tensioning wheel is in contact with the track; a pair of rocker arms are hinged to the two sides of the chassis through a rotating pair in a one-to-one manner, two pairs of track wheels are hinged to the pair of rocker arms through a rotating pair in a one-to-one manner, and a pair of wheels are rotatably installed on a pair of fixed arms through a rotating pair in a one-to-one manner; the track wheels and wheels located on both sides of the middle of the chassis are respectively connected to motors; the laser radar, the binocular camera, the on-board control board and the lithium battery are all connected to the on-board computer, the on-board drive is connected to the on-board control board, and the rotation drive motor, the footage drive motor and the motor are all connected to the on-board drive.

[0028] The beneficial effect of adopting this further technical solution is that a revolute joint is used between the track tensioner and the rocker arm to provide track tension. For a compact vehicle, independent drive and steering are implemented. The two front track wheels serve as driven wheels for the track, while the middle track wheel and wheel are driven by motors. By controlling the direction and speed of the motors, the speed and direction of the torsional impact sampling system are controlled. Combined with an anchoring mechanism, it provides greater adhesion during drilling.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is one of the structural schematic diagrams of the torsional impact sampling device provided in an embodiment of the present invention.

[0031] Figure 2 This is a second structural diagram of the torsional impact sampling device provided in an embodiment of the present invention.

[0032] Figure 3 This is one of the principle schematic diagrams of the intermittent mechanism composed of cams provided in an embodiment of the present invention.

[0033] Figure 4 The second schematic diagram of the principle of the intermittent mechanism composed of cams provided in an embodiment of the present invention.

[0034] Figure 5 The third schematic diagram of the principle of the intermittent mechanism composed of cams provided in an embodiment of the present invention.

[0035] Figure 6 This is the fourth principle schematic diagram of the intermittent mechanism composed of cams provided in an embodiment of the present invention.

[0036] Figure 7 This is one of the principle schematic diagrams of an intermittent mechanism composed of incomplete gears provided in an embodiment of the present invention.

[0037] Figure 8 The second schematic diagram of the principle of the intermittent mechanism composed of incomplete gears provided in an embodiment of the present invention.

[0038] Figure 9 The third schematic diagram of the principle of the intermittent mechanism composed of incomplete gears provided in an embodiment of the present invention.

[0039] Figure 10 This is the fourth schematic diagram of the principle of the intermittent mechanism composed of incomplete gears provided in an embodiment of the present invention.

[0040] Figure 11 This is one of the structural schematic diagrams of the torsional impact sampling system provided in an embodiment of the present invention.

[0041] Figure 12 This is the second structural diagram of the torsional impact sampling system provided in an embodiment of the present invention.

[0042] Explanation of the accompanying figures: 1. Spline shaft; 2. Volute spring; 3. Intermittent mechanism; 4. Slewing bearing; 5. Drill bit; 6. Rotation drive motor; 7. Ball screw; 8. Feed drive motor; 9. Track tensioner; 10. Rocker arm; 11. Track; 12. Track wheel; 13. Wheel; 14. Chassis; 15. Fixed arm; 16. LiDAR; 17. Binocular camera; 18. On-board computer; 19. Control board onboard; 20. Drive onboard; 21. Lithium battery; 22. Torsional impact sampling device. DETAILED DESCRIPTION

[0043] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0044] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a torsional impact sampling device, including: a housing, a transmission shaft, an elastic component, an intermittent mechanism 3, a drill bit 5, a rotation drive mechanism, and a footage drive mechanism. The elastic component is connected to the transmission shaft and the housing, respectively. The rotation drive mechanism is connected to the transmission shaft through the intermittent mechanism 3. The drill bit 5 is installed on the transmission shaft, and the footage drive mechanism is connected to the transmission shaft.

[0045] The beneficial effects of the technical solution of the present invention are as follows: the rotational motion is directly driven by the rotary drive mechanism to the drive shaft, which in turn drives the drill bit, which is fixedly connected to the drive shaft, to rotate. The elastic component cooperates with the intermittent mechanism to achieve a torsional impact function. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion, generating periodic torsional impact vibrations, which are transmitted to the drill bit via the drive shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, exerting torsional impact on the drill bit. The footage drive mechanism drives the drive shaft and drill bit in vertical upward or downward motion. The downward motion can be used as footage, while the upward motion retracts the drive shaft and drill bit. Rotation, impact, and footage are simultaneously achieved on a single drive shaft. Using a single drive shaft to drive the drill bit's rotational motion, torsional impact vibration, and upward and downward motion simplifies the overall structure of the device, resulting in a compact structure and high integration. It enables alternating rotational motion and periodic torsional impact vibration while simultaneously achieving footage. This solves the problem of insufficient torque and low drilling efficiency in micro-sampling devices when drilling in dense soil or hard rock.

[0046] A torsional impact sampling device provided in an embodiment of the present invention can be a lightweight torsional impact sampling device that can be carried on a small mobile platform, and is used to overcome the problems of insufficient torque and low drilling efficiency of micro sampling devices when facing dense soil or hard rock.

[0047] like Figure 1 and Figure 2 As shown, further, the intermittent mechanism is an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a grooved wheel mechanism, a connecting rod mechanism or a pinwheel mechanism.

[0048] The beneficial effect of adopting the above-mentioned further technical solution is that the torsional impact sampling device uses multiple methods to achieve periodic torsional impact vibration, which makes it easy to select the form of the intermittent mechanism according to actual needs.

[0049] like Figure 1 and Figure 2 As shown, further, the rotary drive mechanism is a rotary drive motor 6, and the intermittent mechanism 3 includes: a driving gear, an incomplete gear and a driven gear, the incomplete gear is a circular ring structure, the driving gear is installed on the output shaft of the rotary drive motor 6, and the driven gear is sleeved on the transmission shaft, and the driving gear and the driven gear are both engaged with the incomplete gear.

[0050] The beneficial effect of adopting the above-mentioned further technical solution is that the rotational motion is directly driven by the rotary drive motor to the spline shaft, thereby driving the drill bit fixedly connected to the spline shaft to rotate. The intermittent mechanism is driven by the rotary drive motor and converts the rotational motion into intermittent motion in the circumferential direction, generating periodic torsional impact vibration, which is transmitted to the drill bit through the spline shaft. Under the action of the intermittent mechanism, the scroll spring periodically stores and releases energy, exerting torsional impact on the drill bit. Torsional impact vibration is used to assist the drill bit in drilling. Compared with traditional hammer vibration, torsional impact vibration can provide high-frequency impact in the circumferential direction, generating greater instantaneous torque when breaking through hard samples or dense soil, thereby increasing the peak circumferential cutting force. This avoids stick-slip vibration of the drill bit and drill pipe caused by insufficient torque when breaking through hard samples, which affects drilling efficiency. Torsional impact vibration-assisted drilling improves the ability of small sampling devices to break dense soil or hard rock, thereby improving drilling efficiency and drilling stability. The combination of the intermittent mechanism and the spring causes the spring to periodically store and release energy, achieving torsional impact on the sampling device in the circumferential direction.

[0051] like Figure 1 and Figure 2 As shown, further, the footage drive mechanism includes: a footage drive motor 8, a ball screw 7, a screw nut, and a bearing. The footage drive motor 8 is connected to the ball screw 7, the screw nut is installed on the ball screw 7 through a thread, the bearing is hinged to the screw nut, the bearing is sleeved on the top of the transmission shaft, and the bottom of the transmission shaft is installed in the housing through a slewing bearing 4.

[0052] The beneficial effect of adopting the above-mentioned further technical solution is that the feed drive motor drives the ball screw to rotate, and the screw nut drives the spline shaft and drill bit to move upward or downward in the vertical direction. The downward movement can be used as the feed movement, and the upward movement can be used to retract the spline shaft and drill bit.

[0053] like Figure 1 and Figure 2 As shown, further, the transmission shaft is a spline shaft 1, and the transmission shaft is slidingly connected to the intermittent mechanism 3.

[0054] The beneficial effect of adopting the above-mentioned further technical solution is that the spline shaft and the intermittent mechanism are connected by sliding, and the intermittent mechanism drives the spline shaft to perform impact vibration while the spline shaft can still move in the vertical direction. The spline shaft structure enables it to simultaneously realize three kinds of movement: rotation, impact and footage on a single shaft. The use of a spline shaft to connect the drill bit allows the drill bit to move in the vertical direction while performing rotational movement and torsional impact vibration. This design not only supports footage movement during operation, but also allows the drill bit to be retracted when not in operation, thereby improving the deployment flexibility and environmental adaptability of the torsional impact sampling device.

[0055] like Figure 1 and Figure 2 As shown, further, the elastic component is a spiral spring 2 or a torsion spring.

[0056] The beneficial effect of adopting the above further technical solution is that it is easy to select the form of the elastic component according to actual needs.

[0057] like Figure 1 and Figure 2 As shown, the torsional impact sampling device provided by the embodiment of the present invention is composed of a spline shaft 1, a scroll spring 2, an intermittent mechanism 3, a rotary bearing 4, a drill bit 5, a rotation drive motor 6, a ball screw 7, and a footage drive motor 8. The drill bit 5 is fixedly connected to the spline shaft 1, one end of the scroll spring 2 is fixed to the spline shaft 1, and the other end is fixed to the stationary housing, and the torsional impact function is realized by cooperating with the intermittent mechanism 3. The device (torsional impact sampling device) can realize the alternation of rotational motion and periodic torsional impact vibration, and complete the footage motion at the same time. The spline shaft 1 and the intermittent mechanism 3 are connected by sliding, and the spline shaft 1 can still move in the vertical direction while the intermittent mechanism 3 drives the spline shaft 1 to perform impact vibration.

[0058] The torsional impact vibration of the device (torsional impact sampling device) is achieved through the spring-mass block system composed of the intermittent mechanism 3 and the spiral spring 2. Figures 3 to 10 In the paper, two typical intermittent mechanisms 3 are shown: one is an intermittent mechanism composed of cams ( Figures 3 to 6 ), the other is an intermittent mechanism composed of incomplete gears ( Figures 7 to 10 ). Figure 3 Schematic diagram of the initial state principle of the intermittent mechanism composed of cams. Figure 4 Schematic diagram of the spring energy storage principle of the intermittent mechanism composed of cams. Figure 5 Schematic diagram of the critical state principle of the intermittent mechanism composed of cams. Figure 6 Schematic diagram of the spring release principle of the intermittent mechanism composed of cams. Figure 7 Schematic diagram of the initial state principle of the intermittent mechanism composed of incomplete gears. Figure 8 Schematic diagram of the spring energy storage principle (meshing period) of an intermittent mechanism composed of incomplete gears. Figure 9 Schematic diagram of the critical state principle of an intermittent mechanism composed of incomplete gears. Figure 10 Schematic diagram of the principle of spring release (non-meshing period) of an intermittent mechanism composed of incomplete gears.

[0059] The rotational motion is directly driven by the rotational drive motor 6 to drive the spline shaft 1, which in turn drives the drill bit 5 fixedly connected to it (the spline shaft 1) to rotate. The intermittent mechanism 3 is driven by the rotational drive motor 6 and converts the rotational motion into intermittent motion in the circumferential direction to generate periodic torsional impact vibration, which is transmitted to the drill bit 5 through the spline shaft 1. Under the action of the intermittent mechanism 3, the volute spring 2 periodically stores and releases energy, exerting a torsional impact on the drill bit 5. In order to achieve a compact design, the spline shaft 1 structure is adopted, which enables it to realize three kinds of motions of rotation, impact and advance on one axis at the same time. The advance drive motor 8 drives the ball screw 7 to rotate, and the screw nut drives the spline shaft 1 and the drill bit 5 to move upward or downward in the vertical direction. The downward motion can be used as an advance motion, and the upward motion can retract the spline shaft 1 and the drill bit 5.

[0060] 1) This invention uses torsional impact vibration to assist the drill bit in drilling. Compared to traditional hammer vibration, torsional impact vibration provides high-frequency impact in the circumferential direction, generating greater instantaneous torque when breaking through hard samples or dense soil, thereby increasing the peak circumferential cutting force. This avoids stick-slip vibration of the drill bit and drill pipe caused by insufficient torque when breaking through hard samples, which can affect drilling efficiency.

[0061] 2) The present invention drives the rotary motion, torsional impact vibration, and upward and downward motion of the drill bit through the same transmission shaft, thereby simplifying the overall structure of the device (torsional impact sampling device), making the structure compact and highly integrated.

[0062] 3) The sampling device (torsion impact sampling device) designed in the present invention has the advantages of small size, light weight, simple structure, etc., and is easy to install. It can be carried on various types of small detectors to perform sampling tasks and has strong flexibility.

[0063] like Figure 11 and Figure 12As shown, in addition, the present invention also provides a torsional impact sampling system, including a torsional impact sampling device as described in any one of the above, and also including a mobile platform, and the torsional impact sampling device 22 is installed on the mobile platform.

[0064] The beneficial effects of the technical solution of the present invention are as follows: the torsional impact sampling device is fixed to a mobile platform and moves with it, drilling and sampling after the mobile platform reaches a designated location. The rotational motion is directly driven by a rotary drive mechanism, which in turn drives the drill bit, which is fixedly connected to the drive shaft, to rotate. The elastic component cooperates with the intermittent mechanism to achieve the torsional impact function. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion, generating periodic torsional impact vibrations, which are transmitted to the drill bit via the drive shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The footage drive mechanism drives the drive shaft and drill bit in vertical upward or downward motion. The downward motion serves as footage, while the upward motion retracts the drive shaft and drill bit. Rotation, impact, and footage are simultaneously achieved on a single drive shaft. Rotational motion and periodic torsional impact vibrations can be alternately performed while simultaneously achieving footage. This solves the problem of insufficient torque and low drilling efficiency of micro-sampling devices when drilling in dense soil or hard rock.

[0065] like Figure 11 and Figure 12 As shown, further, the mobile platform is a rocker crawler mobile platform, a wheeled mobile platform, a leg-type mobile platform, a wheel-leg mobile platform or a continuum mobile platform.

[0066] The beneficial effect of adopting the above-mentioned further technical solution is that the mobile platform can be used in addition to the rocker crawler type, and can also be used in wheeled, leg-type, wheel-leg type, etc. The type of mobile platform can be easily selected according to actual needs. It has a simple structure and high flexibility.

[0067] like Figure 11 and Figure 12 As shown, further, the mobile platform includes: a pair of rocker arms 10, a pair of tracks 11, two pairs of track wheels 12, a pair of wheels 13, a chassis 14, and a pair of fixed arms 15. The torsional impact sampling device 22 is installed on the chassis 14. The pair of rocker arms 10 are hinged to the two sides of the chassis 14 in a one-to-one correspondence. The two pairs of track wheels 12 are hinged to the pair of rocker arms 10 in a one-to-one correspondence. A pair of tracks 11 are sleeved on the two pairs of track wheels 12 in a one-to-one correspondence. A pair of fixed arms 15 are installed on both sides of the chassis 14. A pair of wheels 13 are rotatably installed on the pair of fixed arms 15 in a one-to-one correspondence.

[0068] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the vehicle body is supported by a rocker arm, two pairs of track wheels and a pair of wheels, the rocker arm and the vehicle body are connected by a revolute pair, and the fixed arm is fixed to the vehicle body. Revolute pairs are used to connect the track wheels and the rocker arm, and the wheels and the fixed arm, so that the mobile platform can move smoothly on the road. When encountering rough terrain, the rocker arm can rotate around the revolute pair to help the mobile platform overcome obstacles. The use of tracks between the two track wheels realizes transmission, increases the contact area between the mobile platform and the ground, and enables the mobile platform to obtain a larger driving torque to cope with possible rough and steep roads. The chassis is used to carry the load and connect the various parts of the system. The torsional impact sampling device is fixed on the chassis of the mobile platform and moves with the rover. After the mobile platform arrives at the designated location, drilling and sampling operations are performed.

[0069] like Figure 11 and Figure 12 As shown, further, the chassis 14 is equipped with a laser radar 16, a binocular camera 17, an on-board computer 18, an on-board control panel 19, an on-board drive 20, a lithium battery 21 and an anchoring mechanism. The rocker arm 10 is equipped with a track tensioning wheel 9 through a rotating pair, and the track tensioning wheel 9 abuts against the track 11; a pair of rocker arms 10 are hinged to both sides of the chassis 14 through a rotating pair in a one-to-one correspondence, and two pairs of track wheels 12 are hinged to a pair of rocker arms 10 through a rotating pair in a one-to-one correspondence. A pair of wheels 13 are rotatably mounted on a pair of fixed arms 15 through a revolving pair in a one-to-one correspondence; the track wheels 12 and wheels 13 located on both sides of the middle of the chassis 14 are respectively connected to motors; the laser radar 16, the binocular camera 17, the control board 19 and the lithium battery 21 are all connected to the on-board computer 18, the drive board 20 is connected to the control board 19, and the rotation drive motor 6, the footage drive motor 8 and the motor are all connected to the drive board 20.

[0070] The beneficial effect of adopting this further technical solution is that a revolute joint is used between the track tensioner and the rocker arm to provide track tension. For a compact vehicle, independent drive and steering are implemented. The two front track wheels serve as driven wheels for the track, while the middle track wheel and wheel are driven by motors. By controlling the direction and speed of the motors, the speed and direction of the torsional impact sampling system are controlled. Combined with an anchoring mechanism, it provides greater adhesion during drilling.

[0071] like Figure 11 and Figure 12As shown, the torsional impact sampling device is placed on a mobile platform. The mobile platform of the present invention uses a track-rocker combined suspension structure mobile chassis. Track tensioner 9, rocker arm 10, track 11, track wheel 12, wheel 13, chassis 14, fixed arm 15, laser radar 16, binocular camera 17, on-board computer 18, control board 19, drive board 20, lithium battery 21, torsional impact sampling device 22. The chassis 14 is used to bear the load and connect the various parts of the system. The vehicle body is supported by the rocker arm 10 and six wheels (two pairs of track wheels 12 and a pair of wheels 13). The rocker arm 10 is connected to the vehicle body by a rotating pair, and the fixed arm 15 is fixed to the vehicle body. The track wheel 12 and the rocker arm 10 and the wheel 13 and the fixed arm 15 are all connected by a rotating pair, so that the rover (mobile platform) can move smoothly on the road. When encountering rough terrain, the rocker arm 10 can rotate around the revolute pair to help the rover (mobile platform) overcome obstacles. The track 11 is used between the two track wheels 12 to achieve transmission, increasing the contact area between the rover and the ground, allowing the rover to obtain greater driving torque to cope with possible rough and steep roads. The track tensioner 9 and the rocker arm 10 are connected by a revolute pair to provide tension for the track 11. For the small body, an independent drive method is adopted for driving and steering. The two front track wheels 12 serve as the driven wheels of the track 11, and the middle track wheel 12 and wheel 13 are driven by motors respectively. By controlling the direction and speed of the motor rotation, the speed and direction of the unmanned sampling system (torsional impact sampling system) are controlled. The torsional impact sampling device (torsional impact sampling device) is fixed to the chassis 14 of the rover and moves with the rover. After the rover reaches the designated location, drilling and sampling operations are carried out.

[0072] The torsional impact sampling device 22 can use various methods to achieve periodic torsional impact vibration.

[0073] In addition to the rocker crawler type, the mobile platform can also use wheel type, leg type, wheel-leg type and other mobile platforms.

[0074] 1) The sampling device (torsional impact sampling device) in the present invention improves the crushing ability of a small sampling device for dense soil or hard rock through torsional impact vibration-assisted drilling, thereby improving drilling efficiency and drilling stability. Through the combination of the intermittent mechanism 3 and the spring (volute spring), the spring is periodically stored and released to achieve torsional impact of the sampling device (torsional impact sampling device) in the circumferential direction. The intermittent mechanism can use an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a grooved wheel mechanism, a connecting rod mechanism, a pinwheel mechanism, etc. According to specific work requirements, the spring can select a volute spring, a torsion spring, etc., which can effectively sample soil and rocks in the weathered layer of the planetary surface.

[0075] 2) The present invention uses a spline shaft to connect the drill bit, so that the drill bit can move vertically while performing rotational motion and torsional impact vibration. This design not only supports the footage movement during operation, but also allows the drill bit to be retracted when not in operation, thereby improving the deployment flexibility and environmental adaptability of the drilling device (torsional impact sampling device).

[0076] 3) The sampling device (torsional impact sampling device) designed in the present invention is easy to install. In addition to being mounted on a rocker-arm crawler rover, it can also be mounted on a variety of different mobile platforms such as wheeled robots, legged robots, crawler robots, and continuum robots. It has a simple structure and high flexibility. When used with an anchoring mechanism, it has greater adhesion when used for drilling.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A torsional impact sampling device, characterized in that: include: A housing, a transmission shaft, an elastic component, an intermittent mechanism, a drill bit, a rotation drive mechanism, and a footage drive mechanism. The elastic component is respectively connected to the transmission shaft and the housing. The rotation drive mechanism is connected to the transmission shaft through the intermittent mechanism. The drill bit is installed on the transmission shaft. The footage drive mechanism is connected to the transmission shaft.

2. A torsional impact sampling device according to claim 1, characterized in that: The intermittent mechanism is an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a grooved wheel mechanism, a connecting rod mechanism or a pinwheel mechanism.

3. A torsional impact sampling device according to claim 1, characterized in that: The rotary drive mechanism is a rotary drive motor, and the intermittent mechanism includes: a driving gear, an incomplete gear and a driven gear. The incomplete gear is a circular ring structure. The driving gear is installed on the output shaft of the rotary drive motor, and the driven gear is sleeved on the transmission shaft. The driving gear and the driven gear are both engaged with the incomplete gear.

4. A torsional impact sampling device according to claim 1, characterized in that: The footage drive mechanism includes: a footage drive motor, a ball screw, a screw nut, and a bearing. The footage drive motor is connected to the ball screw, the screw nut is installed on the ball screw through a thread, the bearing is hinged to the screw nut, the bearing is sleeved on the top of the transmission shaft, and the bottom of the transmission shaft is installed in the housing through a slewing bearing.

5. The torsional impact sampling device according to claim 1, characterized in that: The transmission shaft is a spline shaft, and the transmission shaft is slidably connected to the intermittent mechanism.

6. A torsional impact sampling device according to claim 1, characterized in that: The elastic component is a spiral spring or a torsion spring.

7. A torsional impact sampling system, characterized in that: A torsional impact sampling device comprising any one of claims 1 to 6, further comprising a mobile platform, on which the torsional impact sampling device is mounted.

8. The torsional impact sampling system according to claim 7, characterized in that: The mobile platform is a rocker crawler mobile platform, a wheeled mobile platform, a leg-type mobile platform, a wheel-legged mobile platform or a continuum mobile platform.

9. The torsional impact sampling system according to claim 7, characterized in that: The mobile platform includes: a pair of rocker arms, a pair of tracks, two pairs of track wheels, a pair of wheels, a chassis, and a pair of fixed arms. The torsional impact sampling device is installed on the chassis. The pair of rocker arms are hinged to the two sides of the chassis in a one-to-one correspondence. The two pairs of track wheels are hinged to the pair of rocker arms in a one-to-one correspondence. The pair of tracks are sleeved on the two pairs of track wheels in a one-to-one correspondence. A pair of fixed arms are installed on both sides of the chassis. The pair of wheels are rotatably installed on the pair of fixed arms in a one-to-one correspondence.

10. The torsional impact sampling system according to claim 9, characterized in that: The chassis is equipped with a laser radar, a binocular camera, an on-board computer, an on-board control board, an on-board drive, a lithium battery and an anchoring mechanism; a track tensioning wheel is installed on the rocker arm through a rotating pair, and the track tensioning wheel is in contact with the track; a pair of rocker arms are hinged to the two sides of the chassis through a rotating pair in a one-to-one manner, two pairs of track wheels are hinged to the pair of rocker arms through a rotating pair in a one-to-one manner, and a pair of wheels are rotatably mounted on a pair of fixed arms through a rotating pair in a one-to-one manner; the track wheels and wheels located on both sides of the middle part of the chassis are respectively connected to motors; the laser radar, the binocular camera, the on-board control board and the lithium battery are all connected to the on-board computer, the on-board drive is connected to the on-board control board, and the rotation drive motor, the footage drive motor and the motor are all connected to the on-board drive.

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