Unmanned autonomous deep moon drilling sampling system and drilling sampling method

Abstract

The invention relates to an unmanned autonomous deep moon drilling sampling system and a drilling sampling method. Comprising a movable drilling platform, a deep drilling device and a detection device. Wherein the movable drilling platform is used for bearing the lunar exploration radar, the deep drilling device and the detection device, realizing autonomous movement and inspection on the lunar surface, and moving the deep drilling device to a proper drilling hole position; the deep drilling device is used for performing unmanned autonomous drilling by adopting a dual-power drilling and flexible salvage coring combined type drilling and coring method of hole bottom self-submerging short spiral drilling, flexible composite cable salvage coring and top multi-rod assembled sleeve follow-up retaining wall; and the detection device is lowered into the drill hole after the deep drilling device completes deep drilling, and scientific information detection is carried out on the deep layer of the lunar surface.

Description

Technical Field

[0001] The present invention relates to an unmanned and autonomous lunar deep drilling sampling system and a drilling sampling method, belonging to the technical field of deep space sampling and detection. Background Art

[0002] Deep space exploration is an inevitable path for humanity to explore the mysteries of the universe and pursue long-term development, and will become a key battleground for major space powers. Sampling extraterrestrial objects is a key technical means of deep space exploration. As Earth's only natural satellite, the Moon, with its unique locational characteristics, irreplaceable spatial advantages, and abundant mineral resources and energy, serves as a frontier for humanity's deep space exploration and extraterrestrial resource development. Landing on the Moon and conducting deep lunar drilling is the most effective means of obtaining full-section lunar samples and high-quality exploration data.

[0003] Deep, full-profile lunar samples will help researchers study the origin and evolution of the Moon, including its internal and external dynamics, the evolution of its ancient magnetic field and core, lunar volcanic eruptions and source region evolution, and its internal structure. The maximum depth of sampling from extraterrestrial bodies currently conducted is 3.05 meters, which falls short of reaching the bedrock. To obtain deep, full-profile lunar soil samples directly down to the bedrock, a sampling system for deep lunar drilling is needed to enable autonomous, deep, full-profile lunar soil sampling. Summary of the Invention

[0004] The technical problem solved by the present invention is to overcome the shortcomings of the existing technology, provide an unmanned and autonomous lunar deep drilling sampling system and drilling sampling method, and solve the problem of high power consumption caused by traditional long spiral chip removal.

[0005] The present invention solves the technical problem by providing an unmanned and autonomous lunar deep drilling and sampling system, which includes a mobile drilling platform, a deep drilling device, and a detection device; wherein:

[0006] The mobile drilling platform is used to carry lunar exploration radar, deep drilling equipment, and detection equipment, to achieve autonomous movement and inspection on the lunar surface, and to move the deep drilling equipment to the preset drilling position;

[0007] The deep drilling device uses a dual-power drilling method with short spiral drilling at the bottom of the hole, flexible composite cable salvage and coring, and a flexible salvage and coring composite drilling and coring method with multiple rods connected to the top to follow up the wall protection, to carry out unmanned autonomous drilling;

[0008] After the deep drilling device completes deep drilling, the detection device is lowered into the borehole to conduct scientific information detection on the deep layer of the lunar surface.

[0009] Preferably, the deep drilling device includes a self-submersible drilling mechanism, a flexible composite cable, a flexible salvage mechanism, a casing drilling mechanism, a station switching mechanism, a grabbing mechanical arm, a drill pipe clamping mechanism, a casing, a drill pipe, and a core pipe; wherein:

[0010] The self-submersible drilling mechanism is initially installed on the workstation switching mechanism. During drilling, the entire mechanism is supported inside the casing. The upper end is powered by a flexible composite cable, and the lower end is connected to the drill rod to provide rotation, impact, and feed power for the drill rod.

[0011] The flexible salvage mechanism pulls or lowers the self-submersible drilling mechanism by winding or releasing the flexible composite cable;

[0012] The coring tube is located inside the drill pipe and is used to coring lunar soil;

[0013] The casing drilling mechanism is initially installed on the workstation switching mechanism. During drilling, the lower end is connected to the casing to provide rotation and drilling power for the casing to achieve casing drilling;

[0014] The workstation switching mechanism realizes the switching between the casing drilling mechanism and the self-submersible drilling mechanism in the drilling station;

[0015] Grasping robot arm can grasp and move casing, drill pipe and core pipe;

[0016] The drill pipe clamping mechanism is located at the drilling station, clamps and fixes the drill pipe, and cooperates with the self-submersible drilling mechanism to achieve the docking and locking of the drill pipe; clamps and fixes the casing, and cooperates with the casing drilling mechanism to achieve the docking and locking of the casing.

[0017] Preferably, the deep drilling device further comprises an anchoring mechanism;

[0018] The anchoring mechanism anchors the lunar deep drilling system to the lunar soil, providing drilling pressure and counter-torque for deep drilling of the deep drilling device.

[0019] Preferably, the anchoring mechanism includes an anchoring rod, a rotary motor, a transmission gear, a feed motor, a steel wire rope, and a guide rail; wherein:

[0020] The rotary motor drives the transmission gear, driving the anchor rod to rotate. The feed motor pulls the anchor rod through the wire rope to feed it vertically along the guide rail. The rotation and feed work together to complete the anchoring of the anchoring mechanism and the lunar soil, providing drilling pressure and counter-torque for deep drilling.

[0021] Preferably, the deep drilling device further comprises a sample packaging device;

[0022] The sample packaging device is used to store the core tube and realize the primary packaging of the lunar soil samples after drilling is completed.

[0023] Preferably, the self-diving drilling mechanism comprises a support assembly, a footage assembly, a rotary impact assembly and a housing;

[0024] The upper end of the self-submersible drilling mechanism housing is connected to the flexible salvage mechanism via a flexible composite cable, and the flexible composite cable is used to supply power to various components within the self-submersible drilling mechanism;

[0025] The support assembly, footage assembly, and rotary impact assembly are sequentially connected from top to bottom and assembled in the self-submersible drilling mechanism housing. One end of the footage assembly is connected to the support structure, and the other end of the footage assembly is connected to the rotary impact assembly. The output end of the rotary impact assembly is connected to the drill pipe, and the rotary impact assembly provides rotational and impact power for the drill pipe. The support assembly can deform radially along the self-submersible drilling mechanism housing, and the footage assembly can extend and retract axially along the self-submersible drilling mechanism housing.

[0026] During initial installation, the support assembly, footage assembly and rotary impact assembly are located inside the self-submersible drilling mechanism housing; during drilling, the support assembly provides support for the drill pipe by supporting the inner wall of the casing; the rotary impact assembly cooperates with the footage assembly to provide drilling power for the drill pipe.

[0027] Preferably, the flexible salvage mechanism comprises a reel assembly and a reel support;

[0028] The reel bracket is the main structure of the flexible salvage mechanism and is fixedly installed on the mobile drilling platform. The flexible composite cable is fixed on the reel assembly, and the other end is wound around the reel assembly and connected to the self-submersible drilling mechanism. The reel is rotated to realize the retraction and extension of the composite cable.

[0029] Preferably, the drill rod clamping mechanism includes an upper drill rod clamping mechanism and a lower drill rod clamping mechanism.

[0030] Preferably, the core tube is divided into two cavities, the upper cavity being a cuttings collection cavity and the lower cavity being a sample sampling cavity.

[0031] Another technical solution of the present invention is: an unmanned and autonomous deep lunar drilling sampling method, the method comprising the following steps:

[0032] S1. Anchoring of the mobile platform: After the drilling mobile platform moves to a suitable drilling position, the anchoring mechanism starts working to anchor the mobile drilling platform;

[0033] S2. Drill pipe core barrel splicing: The grabbing robot arm grabs the drill pipe to the drilling hole position reserved by the mobile platform. The drilling hole position is located below the drilling station. The drill pipe is clamped by the clamping mechanism on the drill pipe. Then, the grabbing robot arm inserts the core barrel from the upper end of the drill pipe into the drill pipe to achieve the connection between the core barrel and the drill pipe. Then, the station switching mechanism switches the self-submersible drilling mechanism to the drilling station, so that the self-submersible drilling mechanism and the drill pipe are connected. The self-submersible drilling mechanism realizes the connection with the drill pipe and core barrel assembly through its own rotation and footage functions to obtain the drill pipe assembly;

[0034] S3. Bottom-hole self-diving drilling: The clamping mechanism on the drill rod releases the drill rod, and the self-diving drilling mechanism drives the drill rod assembly to complete rotation, impact, and feed movements to achieve bottom-hole self-diving drilling;

[0035] S4. Core barrel salvage and coring: After the submersible drilling is completed, the flexible salvage mechanism lifts the submersible drilling mechanism and the drill pipe assembly to the drilling hole position. The drill pipe assembly is clamped by the clamping mechanism on the drill pipe. The submersible drilling mechanism separates from the drill pipe assembly through its own rotation and footage functions. Then, the clamping mechanical arm places the core barrel from the upper end of the drill pipe assembly into the sample packaging device to achieve sample packaging;

[0036] S5. Casing splicing: After the core barrel is salvaged and coring is completed, the gripping arm clamps the drill pipe, the upper clamping mechanism releases the drill pipe, and the gripping arm moves the drill pipe to the drill pipe storage position, avoiding the drilling hole. The gripping arm then grips the casing to the drilling hole position, the lower clamping mechanism of the drill pipe grips the casing, and the casing drilling mechanism achieves splicing with the casing through its own rotation and footage functions.

[0037] S6. Casing Drilling and Wall Protection: After the casing is spliced, the clamping mechanism under the drill pipe loosens the casing. The casing drilling mechanism drives the casing to complete rotation, impact, and feed movements to achieve casing drilling, protect the lunar soil hole wall, and provide hole wall support for the next submersible drilling. Subsequently, the clamping mechanism under the drill pipe clamps the casing, and the casing drilling mechanism separates from the casing through its own rotation and feed functions.

[0038] S7, return drilling: repeat steps S2 to S6 until the target position of the bedrock is reached;

[0039] S8. Post-drilling detection: After drilling is completed, the clamping robot arm places the detection device, clamps it and moves it to the drilling hole position, and the clamping mechanism on the drill pipe clamps it. Then the station switching structure switches the self-diving drilling to the drilling station. The self-diving drilling mechanism connects with the detection device through its own rotation and footage functions to obtain a detection assembly. Subsequently, the detection device is placed in the drilling hole through the flexible salvage mechanism for scientific detection activities.

[0040] The beneficial effects of the present invention compared with the prior art are:

[0041] (1) The present invention adopts a salvage coring method to achieve deep drilling under a limited spatial envelope. At the same time, the short spiral drilling coring at the bottom of the hole transfers power to the lunar surface, reducing force transmission loss. The short spiral discharges powder and reduces power consumption, achieving low-power consumption and deep drilling sampling of lunar soil under a small volume envelope, which is suitable for deep space sampling and exploration.

[0042] (2) The self-diving drilling mechanism of the present invention has the functions of pipe wall support, rotation, impact, and footage. With the cooperation of the flexible salvage mechanism, it can realize bottom hole power output and complete deep drilling and coring;

[0043] (3) The core tube of the present invention is divided into two cavities, the upper cavity is a cuttings collection cavity, and the lower cavity is a sample sampling cavity. During the drilling process, the cuttings, lunar soil and samples can be recovered together;

[0044] (4) The present invention adopts a sampling method of self-diving short spiral drilling into the bottom of the hole to take the core, and the top casing drilling is accompanied by the wall protection, and the casing drilling adopts independent splicing;

[0045] (5) The present invention proposes a "step-by-step" coring method with wall protection to solve the problem of high power consumption caused by traditional long spiral chip removal. The method uses a short spiral drill that goes into the bottom of the hole to drill the core and a top casing drill with wall protection to transfer the drilling driving force to the bottom of the hole, thereby reducing the force transmission loss.

[0046] (6) The present invention also provides a casing to protect the wall, thereby preventing the collapse of the lunar soil, effectively protecting the lunar soil stratification information, and realizing deep sampling and detection of the full-section lunar soil with low power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A side view of an unmanned, autonomous deep lunar drilling and sampling system according to an embodiment of the present invention.

[0048] Figure 2 This is a side view of a mobile drilling platform according to an embodiment of the present invention.

[0049] Figure 3 This is a diagram of the radar installation location according to an embodiment of the present invention.

[0050] Figure 4 This is a deep drilling device according to an embodiment of the present invention.

[0051] Figure 5 It is a side view of a deep drilling device according to an embodiment of the present invention.

[0052] Figure 6 This is a side view of the anchoring mechanism according to an embodiment of the present invention.

[0053] Figure 7 It is a schematic diagram of the self-diving drilling mechanism, casing drilling mechanism, workstation switching mechanism, and drill rod clamping mechanism according to an embodiment of the present invention.

[0054] Figure 8 It is a schematic diagram of the internal structure of the self-diving drilling mechanism according to an embodiment of the present invention.

[0055] The names of the components corresponding to the numbers in the figure are as follows:

[0056] 1 Mobile drilling platform, 11+Y solar wing, 12-X solar wing, 13-Y solar wing, 14 omnidirectional antenna, 15 deep drilling equipment cabin, 16 navigation camera, 17 positioning antenna, 18 obstacle avoidance camera, 19 walking mechanism; 2 Lunar exploration radar, 21 dual-polarization antenna, 22 Electronics box; 3 Deep drilling device, 31 Anchoring mechanism, 311 Anchor rod, 312 Rotary motor, 313 Transmission gear, 314 Feed motor, 315 Wire rope, 316 Guide rail, 32 Self-submersible drilling mechanism, 321 Self-submersible drilling mechanism housing, 322 Support assembly, 323 Footage assembly, 324 Rotary impact assembly, 33 Flexible salvage mechanism, 331 Flexible composite cable, 34 Casing drilling mechanism, 35 Workstation switching mechanism, 36 Grabbing robot arm, 37 Drill pipe clamping mechanism, 38 Sample packaging device, 391 Casing, 392 Drill pipe, 393 Core tube. DETAILED DESCRIPTION

[0057] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0058] Aiming at the demand for low-power and deep lunar surface drilling sampling in a space-constrained environment, the present invention provides an unmanned and autonomous lunar deep drilling sampling system and drilling sampling method.

[0059] like Figure 1 As shown, the unmanned autonomous lunar deep drilling sampling system includes a mobile drilling platform 1, a deep drilling device 3 and a detection device; wherein:

[0060] The mobile drilling platform is used to carry lunar exploration radar, deep drilling equipment, and detection equipment, to achieve autonomous movement and inspection on the lunar surface, and to move the deep drilling equipment to the preset drilling position;

[0061] The deep drilling device uses a dual-power drilling method with short spiral drilling at the bottom of the hole, flexible composite cable salvage and coring, and a flexible salvage and coring composite drilling and coring method with multiple rods connected to the top to follow up the wall protection, to carry out unmanned autonomous drilling;

[0062] After the deep drilling device completes deep drilling, the detection device is lowered into the borehole to conduct scientific information detection of the deep layers of the lunar surface. The scientific information detection includes thermal, magnetic, seismic and other scientific information detection.

[0063] like Figure 2 As shown, the mobile drilling platform 1 includes: +Y solar wing 11, -X solar wing 12, -Y solar wing 13, omnidirectional antenna 14, deep drilling equipment cabin 15, navigation camera 16, alignment antenna 17, obstacle avoidance camera 18, walking mechanism 19, mobile platform main structure and mobile platform control unit; the mobile platform main structure includes +X plate, -X plate, +Y plate and -Y plate, which are vertical plate structures and enclose a mobile carriage;

[0064] The +Y solar wing 11 , the −X solar wing 12 , and the −Y solar wing 13 are deployed on a two-dimensional plane on the upper surface of the mobile drilling platform 1 , and the +X direction is defined as the forward direction of the mobile drilling platform 1 .

[0065] The +Y solar wing 11, -X solar wing 12, and -Y solar wing 13 are connected to the main structure of the mobile platform through folding hinges. The hinges are rotated to achieve solar orientation and provide power supply for the unmanned deep lunar drilling and sampling system.

[0066] The omnidirectional antenna 14 is installed on the mobile platform + Z plate, distributed in four corners, and performs relay communication with the lander to achieve short-range basic communication;

[0067] The deep drilling equipment cabin 15 is located in the middle of the mobile carriage and is used to carry the deep drilling device 3 and the detection device; the position of the mobile carriage is the drilling position, and the hole in the middle of the bottom of the mobile carriage is the drilling hole position.

[0068] The navigation camera 16 is installed in the middle of the top of the +X plate of the mobile drilling platform 1 through a mast to achieve autonomous navigation of the mobile drilling platform 1;

[0069] The fixed antenna 17 is installed on the +X board and is used for long-distance ground communication to achieve high-speed data transmission;

[0070] There are two obstacle avoidance cameras 18, which are installed in the middle of the mobile drilling platform + X plate and arranged symmetrically. They are used to identify obstacles during the walking process and work with the navigation camera 16 to realize the autonomous patrol and walking of the mobile platform;

[0071] The walking mechanism 19 adopts a double-sided rocker wheel structure, and the wheels on both sides are connected by a differential mechanism to drive the mobile platform to move.

[0072] The mobile platform control unit comprehensively controls the signal transmission of omnidirectional antennas, directional antennas, etc., controls the deployment of solar panels and their orientation to the sun; and controls the movement of the mobile drilling platform through image recognition by navigation cameras and obstacle avoidance cameras.

[0073] In a specific embodiment of the present invention, the suitable drilling position is provided by the lunar probe radar 2 .

[0074] like Figure 3 As shown, the lunar probe radar 2 includes a dual-polarized antenna 21 and an electronics box 22. The lunar probe radar 2 is installed on one side of the mobile drilling platform 1. Driven by the mobile drilling platform, the lunar probe radar can achieve a three-dimensional survey of the lunar cross-section structure in the area, avoid difficult drilling points, and select a suitable drilling location.

[0075] The dual-polarized antenna 21 is installed on the -Y side of the mobile drilling platform in a linear arrangement. The two antennas transmit and receive electromagnetic waves respectively. By transmitting frequency-domain continuous-wave ultra-wideband radar signals, the lunar soil at different depths and in different states reflects, scatters, and projects the radar signals. The antenna then acquires echo signals within a depth of 20 meters and transmits them to the electronics box.

[0076] The electronics box 22 is installed in the platform equipment cabin and is responsible for signal processing of lunar radar detection data. The electronics box 22 contains a power supply module and a signal processing module; the power supply module converts the power supply voltage of the mobile platform into the required voltage to power the lunar radar; the signal processing module performs operations such as amplification and filtering on the echo signal, and uses a multi-layer neural network to intelligently identify electrical anomalies, realize stratigraphic reconstruction of the lunar soil profile, interpret the lunar soil profile structure, and support the deep drilling device to select the best drilling position.

[0077] The deep drilling device 3 is installed in the deep drilling equipment cabin 15 of the mobile drilling platform. It realizes unmanned autonomous drilling at great depths through key functions such as self-diving drilling, in-situ sampling, core salvage, casing drilling wall protection, multi-rod assembly, and pipe grabbing and splicing.

[0078] like Figure 4 、 5 As shown, the deep drilling device 3 includes an anchoring mechanism 31, a self-diving drilling mechanism 32, a flexible composite cable 321, a flexible salvage mechanism 33, a casing drilling mechanism 34, a station switching mechanism 35, a grabbing mechanical arm 36, a drill rod clamping mechanism 37, a casing 391, a drill rod 392, and a core tube 393; wherein:

[0079] The self-submersible drilling mechanism is initially installed on the workstation switching mechanism. During drilling, the entire mechanism is supported inside the casing. The upper end is powered by a flexible composite cable, and the lower end is connected to the drill rod 392 to provide rotation, impact, and feed power for the drill rod 392.

[0080] The flexible salvaging mechanism 33 pulls or lowers the self-submersible drilling mechanism 32 by winding or releasing the flexible composite cable 331;

[0081] Coring tube 393, located inside the drill pipe, for coring lunar soil;

[0082] The casing drilling mechanism 34 is initially mounted on the workstation switching mechanism 35. During drilling, the lower end is connected to the casing 391 to provide rotation and drilling power for the casing, thereby achieving casing drilling.

[0083] The station switching mechanism 35 realizes the switching of the casing drilling mechanism 34 and the self-submersible drilling mechanism 32 in the drilling station;

[0084] The grabbing robot arm 36 is used to grab and move the casing 391, the drill pipe 392, and the core tube 323;

[0085] The drill rod clamping mechanism 37 is located at the drilling station, clamps and fixes the drill rod, cooperates with the self-submersible drilling mechanism 32, and realizes the docking and locking of the drill rod 392; clamps and fixes the casing 391, and cooperates with the casing drilling mechanism 34 to realize the docking and locking of the casing.

[0086] The anchoring mechanism 31 anchors the lunar deep drilling system to the lunar soil, providing drilling pressure and counter-torque for deep drilling of the deep drilling device.

[0087] The sample packaging device 38 is used to store the core tube 393, realizing the primary packaging of the lunar soil sample after drilling is completed.

[0088] like Figure 6 As shown, the anchoring mechanism 31 has the functions of rotation and drilling, including: an anchor rod 311, a rotation motor 312, a transmission gear 313, a feed motor 314, a wire rope 315, and a guide rail 316; wherein:

[0089] The rotary motor 312 drives the transmission gear 313, driving the anchor rod 311 to rotate. The feed motor 314 pulls the anchor rod 311 through the wire rope 315 to feed it vertically along the guide rail 316. The rotation and feeding work together to complete the anchoring of the anchoring mechanism and the lunar soil, providing drilling pressure and counter-torque for deep drilling.

[0090] like Figure 7 As shown, the self-diving drilling mechanism includes a support assembly 322, a footage assembly 323, a rotary impact assembly 324 and a housing 321;

[0091] The upper end of the self-drilling mechanism housing 321 is connected to the flexible salvaging mechanism via a flexible composite cable 331, and the flexible composite cable is used to supply power to the various components within the self-drilling mechanism;

[0092] The support assembly 322, footage assembly 323, and rotary impact assembly 324 are sequentially connected from top to bottom and assembled within the self-drilling mechanism housing 321. One end of the footage assembly 323 is connected to the support structure, and the other end is connected to the rotary impact assembly. The output end of the rotary impact assembly is connected to the drill pipe, and the rotary impact assembly provides rotational and impact power to the drill pipe. The support assembly 322 can deform radially along the self-drilling mechanism housing 321, and the footage assembly can extend and retract axially along the self-drilling mechanism housing 321.

[0093] During initial installation, the support assembly, footage assembly and rotary impact assembly are located inside the self-submersible drilling mechanism housing 321; during drilling, the support assembly provides support for the drill rod by supporting the inner wall of the casing; the rotary impact assembly cooperates with the footage assembly to provide drilling power for the drill rod.

[0094] The main function of the self-diving drilling mechanism 32 is to drive the drill rod to drill, and the support mechanism realizes the support with the casing to provide support for drilling. The rotary impact assembly provides the rotary and impact power for the drill rod, and cooperates with the footage assembly to realize the self-diving drilling of lunar soil. Figure 8 As shown, the driving mechanism of the support assembly 322 is installed inside the self-diving drilling mechanism shell 321, and its supporting structure is installed outside the self-diving drilling mechanism shell 321 through a retractable connecting rod. The internal driving mechanism is a screw driven by a motor, which drives the screw to rotate through the motor, thereby causing the nut to move up and down; when the nut moves upward, the angle between the two internal connecting rods becomes smaller, causing the transverse connecting rod to move outward, thereby realizing radial expansion of the support structure and completing stable support.

[0095] The principle of the footage assembly 323 is the movement of a retractable screw, the screw end of which is connected to the connecting support assembly 322, and the nut end is connected to the rotary impact assembly 324. When the support assembly 322 is stably supported, the motor drives the screw to move, thereby pushing the rotary impact assembly to move;

[0096] In summary, the self-submersible drilling mechanism 32 utilizes a stacked three-layer system (casing, drill pipe, and coring tube) to achieve lunar soil drilling and coring. The coring tube is located at the inner portion, enabling lunar soil coring. The drill pipe is located in the middle and connected to the coring tube. The self-submersible drilling mechanism drives the drill pipe and coring tube combination to achieve drilling. This mechanism transmits power downward to the bottom of the hole, reducing power losses during transmission and improving drilling efficiency. The casing, located at the outermost portion, provides a stable support point for the self-submersible drilling mechanism, ensuring stable drilling. It also protects the borehole formed during drilling, reserving a path for subsequent scientific exploration. Casing drilling is provided by the casing drilling mechanism located above the lunar surface. This creates a dual-powered, flexible coring and salvage drilling solution: self-submersible short spiral drilling at the bottom of the hole, flexible composite cable coring, and a multi-rod assembly of casing at the top to follow up the wall. This enables unmanned, autonomous drilling at great depths within limited space and power consumption.

[0097] like Figure 7 As shown, the flexible salvaging mechanism 33 includes a reel assembly and a reel support assembly 331;

[0098] The reel bracket is the main structure of the flexible salvage mechanism and is fixedly installed on the mobile drilling platform. The flexible composite cable 311 is fixed on the reel assembly. The other end is wound around the reel assembly and connected to the self-submersible drilling mechanism. The composite cable is retracted and released by rotating the reel.

[0099] The flexible composite cable is braided with Kevlar and cable, which makes it flexible, tensile strong and capable of transmitting electrical signals, thus enabling energy transmission and salvage of self-submersible mechanisms.

[0100] like Figure 7 As shown, the casing drilling mechanism 34 drives the casing 341 to provide rotation, and realizes the casing drilling through the rope mechanism;

[0101] like Figure 7 As shown, the station switching mechanism 35 drives the gear to rotate through the motor to realize the switching of casing drilling and self-submersible drilling in the drilling station;

[0102] like Figure 7 As shown, the drill rod clamping mechanism 37 includes an upper drill rod clamping mechanism and a lower drill rod clamping mechanism. The drill rod clamping mechanism 37 clamps and secures the drill rod 38 and casing 341 during docking and recovery. The self-drilling mechanism 32, casing drilling mechanism 34, and grabbing robot arm 36 cooperate to grab, move, dock, and lock the drill rod 38, casing 341, and core tube 321.

[0103] The core tube is divided into two cavities, the upper cavity is a cuttings collection cavity, and the lower cavity is a sample sampling cavity.

[0104] The sample packaging device 39 is used to store the core tube 321 and realize the sealed packaging of the lunar soil sample after drilling is completed;

[0105] When conducting deep lunar drilling, the lunar deep drilling sampling system uses a "step-by-step" coring technology method with accompanying retaining wall drilling. It uses a dual power output method of self-diving short spiral drilling for coring at the bottom of the hole + top casing drilling with accompanying retaining wall. It requires operations such as mobile platform anchoring, drill pipe core barrel splicing, self-diving drilling at the bottom of the hole, core barrel salvage and coring, casing splicing, casing drilling into the retaining wall, and post-drilling detection to achieve deep unmanned lunar deep drilling sampling. The overall operation process is as follows:

[0106] S1. Anchoring of the mobile platform: After the drilling mobile platform moves to a suitable drilling position, the anchoring mechanism starts to work. Under the joint action of the rotary and feed motors, the anchor rod is pushed deep into the lunar surface to achieve anchoring of the mobile drilling platform;

[0107] S2. Drill pipe core barrel splicing: The grabbing robot arm grabs the drill pipe to the drilling hole position reserved by the mobile platform. The drilling hole position is located below the drilling station. The drill pipe is clamped by the clamping mechanism on the drill pipe. Then, the grabbing robot arm inserts the core barrel from the upper end of the drill pipe into the drill pipe to achieve the connection between the core barrel and the drill pipe. Then, the station switching mechanism switches the self-submersible drilling mechanism to the drilling station, so that the self-submersible drilling mechanism and the drill pipe are connected. The self-submersible drilling mechanism realizes the connection with the drill pipe and core barrel assembly through its own rotation and footage functions to obtain the drill pipe assembly;

[0108] S3. Bottom-hole self-diving drilling: The clamping mechanism on the drill rod releases the drill rod, and the self-diving drilling mechanism drives the drill rod assembly to complete rotation, impact, and feed movements to achieve bottom-hole self-diving drilling;

[0109] S4. Core barrel salvage and coring: After the submersible drilling is completed, the flexible salvage mechanism lifts the submersible drilling mechanism and the drill pipe assembly to the drilling hole position. The drill pipe assembly is clamped by the clamping mechanism on the drill pipe. The submersible drilling mechanism separates from the drill pipe assembly through its own rotation and footage functions. Then, the clamping mechanical arm places the core barrel from the upper end of the drill pipe assembly into the sample packaging device to achieve sample packaging;

[0110] S5. Casing splicing: After the core barrel is salvaged and coring is completed, the clamping arm clamps the drill pipe, the upper clamping mechanism of the drill pipe releases the drill pipe, and the clamping arm moves the drill pipe to the drill pipe storage position, avoiding the drilling position. Then, the clamping arm clamps the casing to the drilling hole position, and the lower clamping mechanism of the drill pipe clamps the casing. The casing drilling mechanism realizes splicing with the casing through its own rotation and footage functions;

[0111] S6. Casing Drilling and Wall Protection: After the casing is spliced, the clamping mechanism under the drill pipe loosens the casing. The casing drilling mechanism drives the casing to complete rotation, impact, and feed movements to achieve casing drilling, protect the lunar soil hole wall, and provide hole wall support for the next submersible drilling. Subsequently, the clamping mechanism under the drill pipe clamps the casing, and the casing drilling mechanism separates from the casing through its own rotation and feed functions.

[0112] S7, return drilling: repeat steps S2 to S6 until the target position of the bedrock is reached;

[0113] S8. Post-drilling detection: After drilling is completed, the clamping robot arm places the detection device, clamps it and moves it to the drilling hole position, and the clamping mechanism on the drill pipe clamps it. Then the station switching structure switches the self-diving drilling to the drilling station. The self-diving drilling mechanism connects with the detection device through its own rotation and footage functions to obtain a detection assembly. Subsequently, the detection device is placed in the drilling hole through the flexible salvage mechanism for scientific detection activities.

[0114] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. An unmanned and autonomous deep lunar drilling and sampling system, characterized by Including mobile drilling platforms, deep drilling equipment and detection equipment; among which: The mobile drilling platform is used to carry lunar exploration radar, deep drilling equipment, and detection equipment, to achieve autonomous movement and inspection on the lunar surface, and to move the deep drilling equipment to the preset drilling position; The deep drilling device uses a dual-power drilling method with short spiral drilling at the bottom of the hole, flexible composite cable salvage and coring, and a flexible salvage and coring composite drilling and coring method with multiple rods connected to the top to follow up the wall protection, to carry out unmanned autonomous drilling; After the deep drilling device completes deep drilling, the detection device is lowered into the borehole to conduct scientific information detection on the deep layer of the lunar surface.

2. The unmanned, autonomous deep lunar drilling and sampling system according to claim 1, characterized in that: The deep drilling device comprises a self-diving drilling mechanism, a flexible composite cable, a flexible salvaging mechanism, a casing drilling mechanism, a workstation switching mechanism, a grabbing mechanical arm (36), a drill rod clamping mechanism (37), a casing (391), a drill rod (392), and a core tube (393); wherein: The self-submersible drilling mechanism is initially mounted on the workstation switching mechanism. During drilling, the entire mechanism is supported inside the casing. The upper end is powered by a flexible composite cable, and the lower end is connected to the drill rod (39) to provide rotation, impact, and feed power for the drill rod (39). The flexible salvage mechanism pulls or lowers the self-submersible drilling mechanism by winding or releasing the flexible composite cable; A coring tube (393), located inside the drill pipe, for coring lunar soil; The casing drilling mechanism is initially installed on the workstation switching mechanism. During drilling, the lower end is connected to the casing to provide rotation and drilling power for the casing to achieve casing drilling; The workstation switching mechanism realizes the switching between the casing drilling mechanism and the self-submersible drilling mechanism in the drilling station; A grabbing mechanical arm is used to grab and move the casing (391), the drill pipe (392), and the core tube (393); The drill pipe clamping mechanism is located at the drilling station, clamps and fixes the drill pipe, and cooperates with the self-submersible drilling mechanism to achieve the docking and locking of the drill pipe; clamps and fixes the casing, and cooperates with the casing drilling mechanism to achieve the docking and locking of the casing.

3. The unmanned, autonomous deep lunar drilling and sampling system according to claim 2, characterized in that: The deep drilling device also includes an anchoring mechanism; The anchoring mechanism anchors the lunar deep drilling system to the lunar soil, providing drilling pressure and counter-torque for deep drilling of the deep drilling device.

4. The unmanned, autonomous deep lunar drilling and sampling system according to claim 3, characterized in that: The anchoring mechanism (31) includes an anchoring rod (311), a rotary motor (312), a transmission gear (313), a feed motor (314), a steel wire rope (315), and a guide rail (316); wherein: The rotary motor (312) drives the transmission gear (313), driving the anchor rod (311) to perform rotary motion. The feed motor (314) pulls the anchor rod (311) through the wire rope (315) to perform vertical feed along the guide rail (316). The rotation and feeding work together to complete the anchoring of the anchoring mechanism and the lunar soil, providing drilling pressure and counter-torque for deep drilling.

5. The unmanned, autonomous deep lunar drilling and sampling system according to claim 2, characterized in that: The deep drilling device further comprises a sample packaging device (38); The sample packaging device (38) is used for storing the core tube (393) to achieve primary packaging of the lunar soil sample after drilling is completed.

6. The unmanned, autonomous deep lunar drilling and sampling system according to claim 5, characterized in that: The self-diving drilling mechanism comprises a support assembly (322), a footage assembly (323), a rotary impact assembly (324) and a housing (321); The upper end of the self-diving drilling mechanism housing (321) is connected to the flexible salvaging mechanism via a flexible composite cable, and the flexible composite cable is used to supply power to various components within the self-diving drilling mechanism; The support assembly, the footage assembly and the rotary impact assembly are sequentially connected from top to bottom and assembled in a self-drilling mechanism housing (321); one end of the footage assembly is connected to the support structure, the other end of the footage assembly is connected to the rotary impact assembly, the output end of the rotary impact assembly is connected to the drill rod, and the rotary impact assembly provides rotation and impact power for the drill rod; the support assembly can be deformed radially along the self-drilling mechanism housing (321), and the footage assembly can be extended and retracted axially along the self-drilling mechanism housing (321); During initial installation, the support assembly, footage assembly and rotary impact assembly are located inside the self-submersible drilling mechanism housing (321); during drilling, the support assembly provides support for the drill rod by supporting the inner wall of the casing; the rotary impact assembly cooperates with the footage assembly to provide drilling power for the drill rod.

7. The unmanned, autonomous deep lunar drilling and sampling system according to claim 1, characterized in that: The flexible salvaging mechanism (33) comprises a reel assembly and a reel support (331); The reel bracket is the main structure of the flexible salvage mechanism and is fixedly installed on the mobile drilling platform. The flexible composite cable is fixed on the reel assembly, and the other end is wound around the reel assembly and connected to the self-submersible drilling mechanism. The reel is rotated to realize the retraction and extension of the composite cable.

8. The unmanned, autonomous deep lunar drilling and sampling system according to claim 1, characterized in that: The drill rod clamping mechanism (37) comprises an upper drill rod clamping mechanism and a lower drill rod clamping mechanism.

9. The unmanned, autonomous deep lunar drilling and sampling system according to claim 6, characterized in that: The core tube is divided into two cavities, the upper cavity is a cuttings collection cavity, and the lower cavity is a sample sampling cavity.

10. An unmanned and autonomous lunar deep drilling sampling method based on the device of claim 9, characterized in that: The steps include: S1. Anchoring of the mobile platform: After the drilling mobile platform moves to a suitable drilling position, the anchoring mechanism starts working to anchor the mobile drilling platform; S2. Drill pipe core barrel splicing: The grabbing robot arm grabs the drill pipe to the drilling hole position reserved by the mobile platform. The drilling hole position is located below the drilling station. The drill pipe is clamped by the clamping mechanism on the drill pipe. Then, the grabbing robot arm inserts the core barrel from the upper end of the drill pipe into the drill pipe to achieve the connection between the core barrel and the drill pipe. Then, the station switching mechanism switches the self-submersible drilling mechanism to the drilling station, so that the self-submersible drilling mechanism and the drill pipe are connected. The self-submersible drilling mechanism realizes the connection with the drill pipe and core barrel assembly through its own rotation and footage functions to obtain the drill pipe assembly; S3. Bottom-hole self-diving drilling: The clamping mechanism on the drill rod releases the drill rod, and the self-diving drilling mechanism drives the drill rod assembly to complete rotation, impact, and feed movements to achieve bottom-hole self-diving drilling; S4. Core barrel salvage and coring: After the submersible drilling is completed, the flexible salvage mechanism lifts the submersible drilling mechanism and the drill pipe assembly to the drilling hole position. The drill pipe assembly is clamped by the clamping mechanism on the drill pipe. The submersible drilling mechanism separates from the drill pipe assembly through its own rotation and footage functions. Then, the clamping mechanical arm places the core barrel from the upper end of the drill pipe assembly into the sample packaging device to achieve sample packaging; S5. Casing splicing: After the core barrel is salvaged and coring is completed, the gripping arm clamps the drill pipe, the upper clamping mechanism releases the drill pipe, and the gripping arm moves the drill pipe to the drill pipe storage position, avoiding the drilling hole. The gripping arm then grips the casing to the drilling hole position, the lower clamping mechanism of the drill pipe grips the casing, and the casing drilling mechanism achieves splicing with the casing through its own rotation and footage functions. S6. Casing Drilling and Wall Protection: After the casing is spliced, the clamping mechanism under the drill pipe loosens the casing. The casing drilling mechanism drives the casing to complete rotation, impact, and feed movements to achieve casing drilling, protect the lunar soil hole wall, and provide hole wall support for the next submersible drilling. Subsequently, the clamping mechanism under the drill pipe clamps the casing, and the casing drilling mechanism separates from the casing through its own rotation and feed functions. S7, return drilling: repeat steps S2 to S6 until the target position of the bedrock is reached; S8. Post-drilling detection: After drilling is completed, the clamping robot arm places the detection device, clamps it and moves it to the drilling hole position, and the clamping mechanism on the drill pipe clamps it. Then the station switching structure switches the self-diving drilling to the drilling station. The self-diving drilling mechanism connects with the detection device through its own rotation and footage functions to obtain a detection assembly. Subsequently, the detection device is placed in the drilling hole through the flexible salvage mechanism for scientific detection activities.

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