A torsional impact sampling device and system

Abstract

The application provides a torsional impact sampling device and system. A torsional impact sampling device comprises a housing, a transmission shaft, an elastic component, an intermittent mechanism, a drill bit, a rotary drive mechanism, and a footage drive mechanism. The elastic component is connected with the transmission shaft and the housing respectively. The rotary drive mechanism is connected with the transmission shaft through the intermittent mechanism. The drill bit is installed on the transmission shaft. The footage drive mechanism is connected with the transmission shaft.

Description

Technical Field

[0001] This invention relates to the field of extraterrestrial object detection technology, and in particular to a torsional impact sampling device and system. Background Technology

[0002] Given the complexity and high degree of uncertainty surrounding extraterrestrial environments, employing robotic probes for preliminary exploration of celestial bodies is an effective approach. In recent years, several unmanned sample return missions have been successfully carried out, providing crucial information about planetary geological history, evolutionary processes, and potential resources. These research findings not only deepen our understanding of the origin and evolution of the universe but also offer valuable scientific evidence and technological support for the future development and utilization of space resources.

[0003] Besides large rovers already widely used in extraterrestrial exploration and sampling missions, miniature robotic detectors with simple structures and lightweight designs have increasingly attracted attention in recent years. Taking a small mobile robot in a certain mission as an example, these miniature detectors can be launched together with other scientific payloads or multiple can be launched simultaneously, thus achieving diverse and simple functions and greatly enhancing the flexibility and adaptability of exploration missions. Their emergence signifies that extraterrestrial sampling technology is developing towards miniaturization and intelligence, and possesses broad application potential. These miniature detectors can not only conduct efficient exploration in complex extraterrestrial environments, but also greatly reduce mission costs and risks, providing a new perspective and possibilities for more accurate and efficient extraterrestrial sampling missions in the future. Currently, many studies focus on miniature extraterrestrial sampling devices used to collect extraterrestrial soil and rock samples mounted on small robots.

[0004] New international Mars exploration missions aim to search for signs of ancient life on Mars, identify, collect, record, and preserve samples for future return to Earth. These missions send rovers, roughly the size of a car, equipped with large robotic arms carrying sampling and storage systems to collect core and regolith samples into sterile tubes for photographing and evaluation.

[0005] The sampling system consists of a robotic arm, a turret, and a storage device. The drill rig's spindle receives torque from the power system, driving the drill string to rotate and in turn, which in turn drives an impact mechanism composed of a spring-mass system to hammer the drill string. The vibration frequency of the impact system is between 23-40Hz and can be shut off at any time during drilling for pure rotational drilling. The drill bit pressure is approximately 80-120N, the drill bit's inner diameter is 13mm, and the designed core sampling length is 70mm.

[0006] The sampling and acquisition system is large and complex. It consists of a robotic arm, a drilling rig, and an adaptive steering system, integrating 17 drive motors and numerous spring-driven mechanisms, all mounted on the robotic arm of the rover. The rover itself is about the size of a regular car, limiting its mobility and deployment flexibility in confined or complex terrain.

[0007] Existing sampling devices are typically equipped with a vertical hammering mechanism. This impact vibration can increase the drilling pressure when the sampling device is working, but it does not significantly improve the torque in the circumferential direction, which may lead to the problem of insufficient torque to break the formation. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a torsional impact sampling device and system.

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

[0010] The beneficial effects of adopting the technical solution of this invention are as follows: The rotational motion is directly driven by the rotational drive mechanism to drive the transmission shaft, thereby driving the drill bit fixedly connected to the transmission shaft to rotate. The elastic component achieves the torsional impact function through cooperation with the intermittent mechanism. The intermittent mechanism is driven by the rotational drive mechanism and converts the rotational motion into intermittent motion to generate periodic torsional impact vibration, which is transmitted to the drill bit through the transmission shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The advance drive mechanism drives the transmission shaft and the drill bit to move vertically upward or downward. The downward motion can be used as the advance motion, and the upward motion can retract the transmission shaft and the drill bit. The three motions of rotation, impact, and advance are realized simultaneously on a single transmission shaft. By driving the rotational motion, torsional impact vibration, and upward and downward motion of the drill bit through the same transmission shaft, the overall structure of the device is simplified, resulting in a compact structure and high integration. It can achieve the alternation of rotational motion and periodic torsional impact vibration, while simultaneously completing the advance motion. It solves the problems of insufficient torque and low drilling efficiency of micro-sampling devices when facing dense soil or hard rock.

[0011] Furthermore, the intermittent mechanism is an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a Geneva mechanism, a linkage mechanism, or a pinwheel mechanism.

[0012] The beneficial effects of adopting the above-mentioned further technical solutions are: 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 drive gear, an incomplete gear, and a driven gear. The incomplete gear has a ring structure. The drive gear is mounted on the output shaft of the rotary drive motor, and the driven gear is sleeved on the transmission shaft. Both the drive gear and the driven gear mesh with the incomplete gear.

[0014] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The rotary motion is directly driven by a rotary drive motor to drive the spline shaft, thereby driving the drill bit, which is fixedly connected to the spline shaft, to rotate. The intermittent mechanism is driven by the rotary drive motor and converts the rotary 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 spiral spring periodically stores and releases energy, applying torsional impact to the drill bit. Using torsional impact vibration to assist drill bit 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, and increasing the peak value of the cutting force in the circumferential direction. It avoids stick-slip vibration of the drill bit and drill pipe due to insufficient torque when breaking through hard samples, which affects drilling efficiency. Drilling assisted by torsional impact vibration improves the ability of small sampling devices to break through dense soil or hard rock, and improves drilling efficiency and drilling stability. The combination of the intermittent mechanism and the spring allows the spring to periodically store and release energy, realizing the torsional impact of the sampling device in the circumferential direction.

[0015] Furthermore, the feed drive mechanism includes: a feed drive motor, a ball screw, a screw nut, and a bearing. The feed drive motor is connected to the ball screw, the screw nut is threaded onto the ball screw, 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 mounted in the housing via a slewing bearing.

[0016] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the feed drive motor drives the ball screw to rotate, and the screw nut drives the splined shaft and drill bit to move vertically upward or downward. The downward movement can be used as the feed movement, and the upward movement can retract the splined shaft and drill bit.

[0017] Furthermore, the drive shaft is a splined shaft, and the drive shaft is slidably connected to the intermittent mechanism.

[0018] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the splined shaft and the intermittent mechanism are slidably connected, allowing the splined shaft to still move vertically while the intermittent mechanism drives it to undergo impact vibration. The splined shaft structure enables simultaneous rotation, impact, and advance movements on a single shaft. Connecting the drill bit to the splined shaft allows the drill bit to move vertically while rotating, undergoing torsional impact vibration, and so on. This design not only supports advance movements during operation but also allows the drill bit to be retracted when not in operation, 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 advantage of adopting the above-mentioned further technical solution is that it facilitates the selection of the form of the elastic component according to actual needs.

[0021] 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 claims, and further including a mobile platform on which the torsional impact sampling device is mounted.

[0022] The beneficial effects of adopting the technical solution of this invention are as follows: The torsional impact sampling device is fixed on a mobile platform and moves with the platform. After the mobile platform reaches the designated location, drilling and sampling operations are performed. The rotational motion is directly driven by a rotary drive mechanism, which drives the transmission shaft, thereby causing the drill bit fixedly connected to the transmission shaft to rotate. The elastic component achieves the torsional impact function through cooperation with the intermittent mechanism. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion to generate periodic torsional impact vibration, which is transmitted to the drill bit through the transmission shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The advance drive mechanism drives the transmission shaft and the drill bit to move vertically upward or downward. The downward motion can be used as the advance motion, and the upward motion can retract the transmission shaft and the drill bit. Rotation, impact, and advance motion are realized simultaneously on a single transmission shaft. It can achieve the alternation of rotational motion and periodic torsional impact vibration, while simultaneously completing the advance motion. This solves the problems of insufficient torque and low drilling efficiency of micro-sampling devices when facing dense soil or hard rock.

[0023] Furthermore, the mobile platform is a rocker-arm tracked mobile platform, a wheeled mobile platform, a legged mobile platform, a wheel-legged mobile platform, or a continuous mobile platform.

[0024] The beneficial effects of adopting the above-mentioned further technical solutions are: In addition to using rocker-arm tracked platforms, mobile platforms can also be wheeled, legged, or wheel-legged. This facilitates the selection of the mobile platform type according to actual needs. The structure is simple and highly flexible.

[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 mounted on the chassis. The pair of rocker arms are hinged to the two sides of the chassis, the two pairs of track wheels are hinged to the pair of rocker arms, the pair of tracks are fitted onto the two pairs of track wheels, the pair of fixed arms are mounted on the two sides of the chassis, and the pair of wheels are rotatably mounted on the pair of fixed arms.

[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 tracked wheels, and a pair of wheels. The rocker arm is connected to the vehicle body via a revolute joint, and the fixed arm is fixedly connected to the vehicle body. Revolute joints are used between the tracked wheels and the rocker arm, and between the wheels and the fixed arm, enabling the mobile platform to move smoothly on the road surface. When encountering rough terrain, the rocker arm can rotate around the revolute joint to help the mobile platform overcome obstacles. Tracks are used between the two tracked wheels to achieve transmission, increasing the contact area between the mobile platform and the ground, allowing the mobile platform to obtain greater driving torque to cope with potentially rough and steep road surfaces. The chassis is used to bear the load and connect the various parts of the system. The torsional impact sampling device is fixed to the chassis of the mobile platform and moves with the rover, performing drilling and sampling operations after the mobile platform reaches the designated location.

[0027] Furthermore, the chassis is equipped with a lidar, a binocular camera, an onboard computer, a control board, a drive board, a lithium battery, and an anchoring mechanism. Track tensioning wheels are mounted on the rocker arms via rotating joints, and these wheels abut against the tracks. A pair of rocker arms are hinged to both sides of the chassis via rotating joints. Two pairs of track wheels are hinged to a pair of rocker arms via rotating joints. A pair of wheels are rotatably mounted on a pair of fixed arms via rotating joints. Motors are connected to the track wheels and wheels located on both sides of the chassis's center. The lidar, binocular camera, control board, and lithium battery are all connected to the onboard computer. The drive board is connected to the control board. The rotary drive motor, the advance drive motor, and other motors are all connected to the drive board.

[0028] The beneficial effects of adopting the above-mentioned further technical solution are as follows: a revolute joint is used to connect the track tensioner and the rocker arm to provide tension to the track. For the small vehicle body, an independent drive system is used for driving and steering. The two foremost track wheels serve as driven wheels, while the middle track wheels and the main wheels are driven by motors. The travel speed and direction of the torsional impact sampling system are controlled by adjusting the direction and speed of the motor rotation. Combined with an anchoring mechanism, it provides greater traction during drilling and extraction.

[0029] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

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

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

[0034] Figure 5 This is the third schematic diagram of the intermittent mechanism composed of cams provided in the embodiments of the present invention.

[0035] Figure 6 The fourth schematic diagram of the intermittent mechanism composed of cams provided in the embodiments of the present invention.

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

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

[0039] Figure 10 The fourth schematic diagram of the principle of the intermittent mechanism composed of incomplete gears provided in the embodiments 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 schematic diagram of the torsional impact sampling system provided in an embodiment of the present invention.

[0042] Reference numerals: 1. Splined shaft; 2. Scroll spring; 3. Intermittent mechanism; 4. Slewing bearing; 5. Drill bit; 6. Rotary 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. Onboard computer; 19. Onboard control board; 20. Onboard drive board; 21. Lithium battery; 22. Torsional impact sampling device. Detailed Implementation

[0043] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended 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 rotary drive mechanism, and a feed drive mechanism. The elastic component is connected to the transmission shaft and the housing respectively. The rotary drive mechanism is connected to the transmission shaft through the intermittent mechanism 3. The drill bit 5 is mounted on the transmission shaft. The feed drive mechanism is connected to the transmission shaft.

[0045] The beneficial effects of adopting the technical solution of this invention are as follows: The rotational motion is directly driven by the rotational drive mechanism to drive the transmission shaft, thereby driving the drill bit fixedly connected to the transmission shaft to rotate. The elastic component achieves the torsional impact function through cooperation with the intermittent mechanism. The intermittent mechanism is driven by the rotational drive mechanism and converts the rotational motion into intermittent motion to generate periodic torsional impact vibration, which is transmitted to the drill bit through the transmission shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The advance drive mechanism drives the transmission shaft and the drill bit to move vertically upward or downward. The downward motion can be used as the advance motion, and the upward motion can retract the transmission shaft and the drill bit. The three motions of rotation, impact, and advance are realized simultaneously on a single transmission shaft. By driving the rotational motion, torsional impact vibration, and upward and downward motion of the drill bit through the same transmission shaft, the overall structure of the device is simplified, resulting in a compact structure and high integration. It can achieve the alternation of rotational motion and periodic torsional impact vibration, while simultaneously completing the advance motion. It solves the problems of insufficient torque and low drilling efficiency of micro-sampling devices when facing dense soil or hard rock.

[0046] The present invention provides a torsional impact sampling device, which can be a lightweight torsional impact sampling device that can be mounted on a small mobile platform, 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, the intermittent mechanism is further described as an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a Geneva mechanism, a linkage mechanism, or a pinwheel mechanism.

[0048] The beneficial effects of adopting the above-mentioned further technical solutions are: 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, the rotary drive mechanism is a rotary drive motor 6, and the intermittent mechanism 3 includes a drive gear, an incomplete gear, and a driven gear. The incomplete gear has a ring structure. The drive gear is mounted on the output shaft of the rotary drive motor 6, and the driven gear is sleeved on the transmission shaft. Both the drive gear and the driven gear mesh with the incomplete gear.

[0050] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The rotary motion is directly driven by a rotary drive motor to drive the spline shaft, thereby driving the drill bit, which is fixedly connected to the spline shaft, to rotate. The intermittent mechanism is driven by the rotary drive motor and converts the rotary 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 spiral spring periodically stores and releases energy, applying torsional impact to the drill bit. Using torsional impact vibration to assist drill bit 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, and increasing the peak value of the cutting force in the circumferential direction. It avoids stick-slip vibration of the drill bit and drill pipe due to insufficient torque when breaking through hard samples, which affects drilling efficiency. Drilling assisted by torsional impact vibration improves the ability of small sampling devices to break through dense soil or hard rock, and improves drilling efficiency and drilling stability. The combination of the intermittent mechanism and the spring allows the spring to periodically store and release energy, realizing the torsional impact of the sampling device in the circumferential direction.

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

[0052] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the feed drive motor drives the ball screw to rotate, and the screw nut drives the splined shaft and drill bit to move vertically upward or downward. The downward movement can be used as the feed movement, and the upward movement can retract the splined shaft and drill bit.

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

[0054] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the splined shaft and the intermittent mechanism are slidably connected, allowing the splined shaft to still move vertically while the intermittent mechanism drives it to undergo impact vibration. The splined shaft structure enables simultaneous rotation, impact, and advance movements on a single shaft. Connecting the drill bit to the splined shaft allows the drill bit to move vertically while rotating, undergoing torsional impact vibration, and so on. This design not only supports advance movements during operation but also allows the drill bit to be retracted when not in operation, improving the deployment flexibility and environmental adaptability of the torsional impact sampling device.

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

[0056] The advantage of adopting the above-mentioned further technical solution is that it facilitates the selection of 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 in this embodiment of the invention consists of a splined shaft 1, a spiral spring 2, an intermittent mechanism 3, a slewing bearing 4, a drill bit 5, a rotary drive motor 6, a ball screw 7, and a feed drive motor 8. The drill bit 5 is fixedly connected to the splined shaft 1. One end of the spiral spring 2 is fixed to the splined shaft 1, and the other end is fixed to the stationary housing. It achieves the torsional impact function through cooperation with the intermittent mechanism 3. This device (torsional impact sampling device) can achieve alternating rotational motion and periodic torsional impact vibration while simultaneously completing the feed motion. The splined shaft 1 and the intermittent mechanism 3 are slidably connected. While the intermittent mechanism 3 drives the splined shaft 1 to perform impact vibration, the splined shaft 1 can still move vertically.

[0058] The torsional impact vibration of this device (torsional impact sampling device) is achieved through a spring-mass system composed of intermittent mechanism 3 and spiral spring 2. Figures 3 to 10 The text illustrates two typical forms of intermittent mechanisms: one is an intermittent mechanism composed of cams (…). Figures 3 to 6 Another type is an intermittent mechanism composed of incomplete gears. Figures 7 to 10 ). Figure 3 This is a schematic diagram of the initial state principle of the intermittent mechanism composed of cams. Figure 4 This is a schematic diagram of the spring energy storage principle of an intermittent mechanism composed of cams. Figure 5 This is a schematic diagram illustrating the critical state principle of an intermittent mechanism composed of cams. Figure 6 A schematic diagram of the spring release principle of an intermittent mechanism composed of cams. Figure 7 This is a schematic diagram of the initial state principle of an intermittent mechanism composed of incomplete gears. Figure 8 A schematic diagram illustrating the principle of spring energy storage (meshing period) in an intermittent mechanism composed of incomplete gears. Figure 9 A schematic diagram of the critical state principle of an intermittent mechanism composed of incomplete gears. Figure 10 A schematic diagram illustrating the principle of spring release (non-engaging period) in an intermittent mechanism composed of incomplete gears.

[0059] The rotary motion is directly driven by the rotary drive motor 6, which drives the splined shaft 1, thereby causing the drill bit 5, which is fixedly connected to it, to rotate. The intermittent mechanism 3 is driven by the rotary drive motor 6 and converts the rotary motion into intermittent motion in the circumferential direction, generating periodic torsional impact vibration, which is transmitted to the drill bit 5 through the splined shaft 1. Under the action of the intermittent mechanism 3, the spiral spring 2 periodically stores and releases energy, applying torsional impact to the drill bit 5. To achieve a compact design, a splined shaft 1 structure is adopted, which enables the simultaneous realization of rotation, impact, and advance motion on a single shaft. The advance drive motor 8 drives the ball screw 7 to rotate, and the screw nut drives the splined shaft 1 and the drill bit 5 to move vertically upward or downward. The downward motion can be used as the advance motion, and the upward motion can retract the splined shaft 1 and the drill bit 5.

[0060] 1) This invention employs torsional impact vibration to assist drill bit drilling. Compared to traditional hammer vibration, torsional impact vibration can provide high-frequency impact in the circumferential direction, generating greater instantaneous torque when penetrating hard samples or dense soil, thus increasing the peak cutting force in the circumferential direction. This avoids stick-slip vibration of the drill bit and drill pipe due to insufficient torque when penetrating hard samples, which affects drilling efficiency.

[0061] 2) This invention simplifies the overall structure of the device (torsional impact sampling device) by driving the rotational motion, torsional impact vibration, and upward and downward motion of the drill bit through the same transmission shaft. The device is compact and highly integrated.

[0062] 3) The sampling device (torsional impact sampling device) designed in this invention has advantages such as small size, light weight, and simple structure. It is also easy to install and can be mounted on various types of small detectors to perform sampling tasks, making it highly flexible.

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

[0064] The beneficial effects of adopting the technical solution of this invention are as follows: The torsional impact sampling device is fixed on a mobile platform and moves with the platform. After the mobile platform reaches the designated location, drilling and sampling operations are performed. The rotational motion is directly driven by a rotary drive mechanism, which drives the transmission shaft, thereby causing the drill bit fixedly connected to the transmission shaft to rotate. The elastic component achieves the torsional impact function through cooperation with the intermittent mechanism. The intermittent mechanism is driven by the rotary drive mechanism and converts the rotational motion into intermittent motion to generate periodic torsional impact vibration, which is transmitted to the drill bit through the transmission shaft. Under the action of the intermittent mechanism, the elastic component periodically stores and releases energy, applying torsional impact to the drill bit. The advance drive mechanism drives the transmission shaft and the drill bit to move vertically upward or downward. The downward motion can be used as the advance motion, and the upward motion can retract the transmission shaft and the drill bit. Rotation, impact, and advance motion are realized simultaneously on a single transmission shaft. It can achieve the alternation of rotational motion and periodic torsional impact vibration, while simultaneously completing the advance motion. This solves the problems of insufficient torque and low drilling efficiency of micro-sampling devices when facing dense soil or hard rock.

[0065] like Figure 11 and Figure 12 As shown, the mobile platform is further classified as a rocker-arm tracked mobile platform, a wheeled mobile platform, a legged mobile platform, a wheel-legged mobile platform, or a continuous mobile platform.

[0066] The beneficial effects of adopting the above-mentioned further technical solutions are: In addition to using rocker-arm tracked platforms, mobile platforms can also be wheeled, legged, or wheel-legged. This facilitates the selection of the mobile platform type according to actual needs. The structure is simple and highly flexible.

[0067] like Figure 11 and Figure 12 As shown, the mobile platform further 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 mounted on the chassis 14. The pair of rocker arms 10 are hinged to both sides of the chassis 14, the two pairs of track wheels 12 are hinged to the pair of rocker arms 10, the pair of tracks 11 are sleeved on the two pairs of track wheels 12, the pair of fixed arms 15 are mounted on both sides of the chassis 14, and the pair of wheels 13 are rotatably mounted on the pair of fixed arms 15.

[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 tracked wheels, and a pair of wheels. The rocker arm is connected to the vehicle body via a revolute joint, and the fixed arm is fixedly connected to the vehicle body. Revolute joints are used between the tracked wheels and the rocker arm, and between the wheels and the fixed arm, enabling the mobile platform to move smoothly on the road surface. When encountering rough terrain, the rocker arm can rotate around the revolute joint to help the mobile platform overcome obstacles. Tracks are used between the two tracked wheels to achieve transmission, increasing the contact area between the mobile platform and the ground, allowing the mobile platform to obtain greater driving torque to cope with potentially rough and steep road surfaces. The chassis is used to bear the load and connect the various parts of the system. The torsional impact sampling device is fixed to the chassis of the mobile platform and moves with the rover, performing drilling and sampling operations after the mobile platform reaches the designated location.

[0069] like Figure 11 and Figure 12 As shown, further, the chassis 14 is equipped with a lidar 16, a binocular camera 17, an onboard computer 18, a control board 19, a drive board 20, a lithium battery 21, and an anchoring mechanism. A track tensioner 9 is mounted on the rocker arm 10 via a revolute joint, and the track tensioner 9 abuts against the track 11. A pair of rocker arms 10 are hinged to both sides of the chassis 14 via revolute joints, and two pairs of track wheels 12 are hinged to a pair of rocker arms 10 via revolute joints. A pair of wheels 13 are rotatably mounted on a pair of fixed arms 15 via a rotating joint; the track wheels 12 and wheels 13 located on both sides of the middle of the chassis 14 are respectively connected to motors; the lidar 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 rotary drive motor 6, the advance drive motor 8, and the motor are all connected to the drive board 20.

[0070] The beneficial effects of adopting the above-mentioned further technical solution are as follows: a revolute joint is used to connect the track tensioner and the rocker arm to provide tension to the track. For the small vehicle body, an independent drive system is used for driving and steering. The two foremost track wheels serve as driven wheels, while the middle track wheels and the main wheels are driven by motors. The travel speed and direction of the torsional impact sampling system are controlled by adjusting the direction and speed of the motor rotation. Combined with an anchoring mechanism, it provides greater traction during drilling and extraction.

[0071] like Figure 11 and Figure 12As shown, the torsional impact sampling device is placed on a mobile platform. The mobile platform of this invention uses a track-rocker arm combined suspension structure mobile chassis. The components include a track tensioner 9, a rocker arm 10, a track 11, track wheels 12, wheels 13, a chassis 14, a fixed arm 15, a lidar 16, a binocular camera 17, an onboard computer 18, a control board 19, a drive board 20, a lithium battery 21, and the 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 one pair of wheels 13). The rocker arm 10 is connected to the vehicle body via a revolute joint, and the fixed arm 15 is fixedly connected to the vehicle body. Revolute joints are used between the track wheels 12 and the rocker arm 10, and between the wheels 13 and the fixed arm 15, enabling the rover (mobile platform) to move smoothly on the road surface. When encountering rough terrain, the rocker arm 10 can rotate around a revolute joint to help the rover (mobile platform) overcome obstacles. The two track wheels 12 are connected by a track 11 for transmission, increasing the contact area between the rover and the ground and providing greater driving torque to cope with potentially rough and steep surfaces. A revolute joint connects the track tensioner 9 and the rocker arm 10 to provide tension to the track 11. For the small vehicle body, an independent drive system is used for driving and steering. The two foremost track wheels 12 serve as driven wheels of the track 11, while the middle track wheels 12 and wheels 13 are driven by motors. Controlling the direction and speed of the motor rotation controls the travel speed and direction of the unmanned sampling system (torsional impact sampling system). The torsional impact sampling device is fixed to the chassis 14 of the rover and moves with it, performing drilling and sampling operations after the rover reaches the designated location.

[0072] The torsional impact sampling device 22 can achieve periodic torsional impact vibration in a variety of ways.

[0073] In addition to rocker-arm tracked mobile platforms, wheeled, legged, and wheel-legged mobile platforms can also be used.

[0074] 1) The sampling device (torsional impact sampling device) in this invention improves the ability of small sampling devices to break up dense soil or hard rock through torsional impact vibration-assisted drilling, thereby improving drilling efficiency and stability. The combination of intermittent mechanism 3 and spring (volute spring) allows the spring to periodically store and release energy, achieving torsional impact in the circumferential direction. The intermittent mechanism can be an incomplete gear mechanism, a cam intermittent mechanism, a ratchet mechanism, a Geneva mechanism, a linkage mechanism, a pinwheel mechanism, etc. Depending on specific working requirements, the spring can be a volute spring, a torsion spring, etc., which can effectively sample weathered soil and rock from planetary surfaces.

[0075] 2) The present invention uses a spline shaft to connect the drill bit, so that the drill bit can move vertically while rotating and undergoing torsional impact vibration. This design not only supports the advance movement during operation, but also allows the drill bit to be retracted when not in operation, 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 this invention is easy to install. In addition to being mounted on a rocker-arm tracked rovers, it can also be mounted on various mobile platforms such as wheeled robots, legged robots, tracked robots, and continuous robots. It has a simple structure and high flexibility. When combined with an anchoring mechanism, it has greater adhesion when used for drilling and extraction.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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: The system comprises a housing, a drive shaft, an elastic component, an intermittent mechanism, a drill bit, a rotary drive mechanism, and a feed drive mechanism. The elastic component is connected to both the drive shaft and the housing. The rotary drive mechanism is connected to the drive shaft via the intermittent mechanism. The drill bit is mounted on the drive shaft. The feed drive mechanism is connected to the drive shaft. The rotary drive mechanism is a rotary drive motor. The intermittent mechanism includes a drive gear, an incomplete gear, and a driven gear. The incomplete gear has a ring structure. The drive gear is mounted on the output shaft of the rotary drive motor. The driven gear is sleeved on the transmission shaft. Both the drive gear and the driven gear mesh with the incomplete gear. The feed drive mechanism includes a feed drive motor, a ball screw, a screw nut, and a bearing. The feed drive motor is connected to the ball screw. The screw nut is threaded onto the ball screw. The bearing is hinged to the screw nut and is sleeved on the top of the transmission shaft. The bottom of the transmission shaft is mounted in the housing via a slewing bearing. The transmission shaft is a splined shaft and is slidably connected to the intermittent mechanism. The elastic component is a spiral spring.

2. A torsional impact sampling system, characterized in that, The device includes the torsional impact sampling device as described in claim 1, and further includes a mobile platform on which the torsional impact sampling device is mounted.

3. The torsional impact sampling system according to claim 2, characterized in that, The mobile platform is a rocker-arm tracked mobile platform, a wheeled mobile platform, a legged mobile platform, a wheel-legged mobile platform, or a continuous mobile platform.

4. The torsional impact sampling system according to claim 2, 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 mounted on the chassis. The pair of rocker arms are hinged to the two sides of the chassis, the two pairs of track wheels are hinged to the pair of rocker arms, the pair of tracks are fitted onto the two pairs of track wheels, the pair of fixed arms are mounted on the two sides of the chassis, and the pair of wheels are rotatably mounted on the pair of fixed arms.

5. The torsional impact sampling system according to claim 4, characterized in that, The chassis is equipped with a lidar, a binocular camera, an onboard computer, a control board, a drive board, a lithium battery, and an anchoring mechanism. Track tensioning wheels are mounted on the rocker arms via revolute joints, and these wheels abut against the tracks. A pair of rocker arms are hinged to the sides of the chassis via revolute joints. Two pairs of track wheels are hinged to a pair of rocker arms via revolute joints. A pair of wheels are rotatably mounted on a pair of fixed arms via revolute joints. Motors are connected to the track wheels and wheels located on both sides of the chassis's center. The lidar, binocular camera, control board, and lithium battery are all connected to the onboard computer. The drive board is connected to the control board. The rotary drive motor, the advance drive motor, and other motors are all connected to the drive board.

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