Weak gravitation asteroid anchoring device and method based on plant root system bionics

Abstract

The invention discloses a weak gravitation asteroid anchoring device and method based on plant root system bionics, and belongs to the technical field of planet detectors. A weak-gravity asteroid anchoring device based on plant root system bionics comprises a supporting mechanism and an anchoring mechanism, the anchoring mechanism comprises a drill bit, a lifting structure for driving the drill bit to ascend and descend is arranged on a detector body, a plurality of drill rods are arranged on the side wall of the upper portion of the drill bit, and the drill rods are obliquely arranged upwards and outwards. A telescopic structure for driving the drill rod to stretch out and draw back in the drill bit is arranged in the drill bit, a plurality of supporting rods are arranged on the side wall of the bottom of the drill bit, spines are arranged at the bottoms of the supporting rods, and an unfolding structure for driving the supporting rods to unfold and fold is arranged in the drill bit. According to the weak gravitational force asteroid anchoring device and method based on plant root system bionics, sufficient anchoring force can be provided for a detector in a short time through the drill rod and the supporting rod, rebounding and floating away are prevented, and the landing stability is improved; and the device has the advantages of being reusable and high in terrain adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of planet explorer, and particularly relates to a weak-gravity asteroid anchoring device based on plant root system bionics and an anchoring method. BACKGROUND

[0002] An asteroid is a planet in the solar system that orbits the sun, but its volume and mass are much smaller than those of a planet, and it has the characteristics of microgravity, weak gravity and complex terrain. The exploration of asteroids can provide important information about the origin, formation and evolution of the early solar system, and it is of great significance to the development of human civilization.

[0003] With the further expansion of deep space exploration missions, the near flyby, orbit observation and short contact methods adopted by the small asteroid explorers launched by domestic and foreign countries cannot meet the exploration needs, and multi-target observation and long-term attachment will become the development trend of future asteroid exploration missions. As the connecting object of the probe and the surface material of the asteroid, the anchoring device is very important, and it is related to the success or failure of the attachment sampling mission. The long-term and diversified exploration mission requirements put forward higher requirements for the anchoring device, and the anchoring device with light mass, small volume, simple structure, high integration degree of control system, flexible operation, high stability and high reliability becomes the focus of research in the field of asteroid explorer attachment.

[0004] The existing anchoring devices include drilling anchoring, spike drill anchoring, bionic hand claw anchoring and cutting anchoring. The drill rod, anchor pin, cutting blade and micro hook are embedded into the surface of the asteroid by the driving device installed on the probe to provide force and torque, but the anchoring force or torque provided is very limited, and there are great challenges for attachment under complex and diversified terrain. The existing anchoring device cannot ensure that enough anchoring force is provided to the probe in a short time, and the probe may bounce and drift away when landing, affecting the stability of landing. SUMMARY

[0005] The present application aims to provide a weak-gravity asteroid anchoring device based on plant root system bionics and an anchoring method, which can provide enough anchoring force to the probe in a short time through the drill rod and the support rod, prevent bouncing and drifting away, and improve the stability of landing; and has the advantages of being reusable and having strong terrain adaptability.

[0006] In order to achieve the above object, the application provides a weak-gravity asteroid anchoring device based on plant root bionics, which comprises a supporting mechanism arranged at the bottom of a probe body, an anchoring mechanism arranged at the center of the bottom of the probe body, the anchoring mechanism comprising a drill bit, a lifting structure arranged on the probe body and used to lift and lower the drill bit, a plurality of drill rods arranged on the upper side wall of the drill bit and inclined upward and outward, an avoiding hole arranged on the drill bit and used to allow the drill rods to pass through the drill bit, a telescopic structure arranged in the drill bit and used to drive the drill rods to extend and retract in the drill bit, a plurality of support rods arranged on the side wall of the bottom of the drill bit and provided with spikes at the bottom, an avoiding groove arranged on the drill bit and used to allow the support rods to pass through the drill bit, and an unfolding structure arranged in the drill bit and used to drive the support rods to unfold and fold.

[0007] Preferably, the telescopic structure comprises a support seat, the support seat is arranged in one-to-one correspondence with the drill rods, the support seat is fixed on a lifting plate in a circumferential array, the lifting plate is connected with the lifting structure, the drill bit is fixed on the lifting plate, the drill rods are slidingly connected with the support seat, and the support seat is provided with a telescopic assembly used to drive the drill bit to extend and retract.

[0008] Preferably, the telescopic assembly comprises a rotating cylinder arranged in the support seat and rotating, the drill rods are located in the rotating cylinder, the inner surface of the rotating cylinder is provided with an internal thread, the lower outer surface of the drill rod is provided with an external thread matched with the internal thread, the lifting plate is provided with a power assembly used to drive the rotating cylinder to rotate, and the support seat is provided with a limiting assembly used to limit the rotation of the drill rod.

[0009] Preferably, the limiting assembly comprises a limiting groove arranged on the upper part of the drill rod, the support seat is provided with a limiting block matched with the limiting groove, the limiting block is located in the limiting groove and is slidingly connected with the limiting groove, the limiting block and the limiting groove limit the rotation of the drill rod, and the smooth extension and retraction of the drill rod are ensured.

[0010] Preferably, the power assembly comprises a second motor arranged on the lifting plate, a first gear arranged on the output shaft of the second motor, a second gear arranged on the rotating seat and engaged with the first gear, the rotating seat is located at the center of the lifting plate and is rotationally connected with the lifting plate, a first bevel gear arranged on the rotating seat and engaged with a second bevel gear arranged on the rotating cylinder.

[0011] Preferably, the drill rod is a flexible rod, the support plate is fixed on the inner wall of the drill bit, and the support plate is provided with an arc-shaped guide plate having a guiding effect on the deformation of the drill rod.

[0012] Preferably, the unfolding structure comprises a third motor arranged on the support plate, a second screw arranged on the output shaft of the third motor, a sliding seat sleeved on the outer part of the second screw and connected with the second screw through thread transmission, a plurality of support rods arranged on the outer part of the sliding seat in a circumferential array, the top end of the support rod is hinged to the inner wall of the drill bit, and the middle part of the support rod is hinged to the sliding seat through a connecting rod.

[0013] Preferably, the lifting structure comprises a fixed seat located below the probe body, the fixed seat is fixedly connected with the probe body through a connecting rod, an installation plate is arranged above the fixed seat, the installation plate is slidably connected with the connecting rod, the installation plate is connected with the lifting plate through a guide rod, the guide rod is slidably connected with the fixed seat, a first motor is arranged on the installation plate, an output shaft of the first motor is connected with a first screw rod through a coupling, a transmission nut matched with the first screw rod is arranged on the fixed seat, and a bottom end of the first screw rod is rotatably connected with the drill bit.

[0014] Preferably, the supporting mechanism comprises a plurality of outwardly inclined landing legs, the landing legs are arranged in a circumferential array at the bottom of the probe body, a foot pad for increasing the friction of the landing leg is arranged at the bottom end of the landing leg, a pressure sensor is arranged on the foot pad, and the pressure sensor is electrically connected with the controller.

[0015] The anchoring method based on the weak-gravity asteroid anchoring device based on plant root system simulation comprises the following steps: S1, when the probe lands, the pressure sensor on the foot pad receives the pressure change, and the controller controls the anchoring mechanism to start working; S2, the first motor rotates, the first motor drives the first screw rod to rotate, the first screw rod drives the drill bit to move downward under the action of the transmission nut, and the drill bit drills into the surface of the asteroid; S3, the second motor rotates, the second motor drives the rotating seat to rotate through the first gear and the second gear, the rotating seat drives the rotating cylinder to rotate through the first bevel gear and the second bevel gear, the rotating cylinder drives the drill rod to extend out of the drill bit along the avoiding hole under the action of the limiting groove and the limiting block through the internal thread and the external thread on the drill rod, and the drill rod is inserted into the surface of the asteroid; S4, the third motor rotates, the third motor drives the second screw rod to rotate, the second screw rod drives the sliding seat to move downward, the sliding seat drives the supporting rod to rotate through the connecting rod, the bottom end of the supporting rod extends out of the avoiding groove of the drill bit and is inserted into the interior of the asteroid; and the anchoring is completed; S5, after the detection is completed, the first motor, the second motor and the third motor are reversely rotated, the drill rod and the supporting rod are retracted into the interior of the drill bit, the drill bit is lifted, and the anchoring mechanism is retracted.

[0016] The weak-gravity asteroid anchoring device and the anchoring method based on plant root system simulation have the following advantages and positive effects: 1. The drill rod is extended out of the drill bit through the telescopic structure, so that the drill rod is inserted into the surface of the asteroid, the stability of the probe body in anchoring on the uneven surface of the asteroid is improved, and the terrain adaptability is improved.

[0017] 2. The supporting rod is retracted and expanded through the unfolding structure, so that the supporting rod is inserted into the interior of the asteroid outside the drill bit, and the stability of the anchoring is improved.

[0018] 3、The drill rod and the support rod form a plant root system bionic anchoring structure, which provides sufficient anchoring force for the detector body in a short time, prevents the detector body from floating away due to rebound, and improves the stability of anchoring.

[0019] 4、The drill rod and the support rod can be extended and stored from the drill bit, realizing recycling and reuse of the drill rod and the support rod.

[0020] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic diagram of the three-dimensional structure of the embodiment of the present application; Figure 2 is a schematic diagram of the anchoring mechanism of the embodiment of the present application; Figure 3 is a schematic diagram of the internal structure of the anchoring mechanism of the embodiment of the present application; Figure 4 is a schematic diagram of the structure of the support rod in the unfolded state of the embodiment of the present application; Figure 5 is a schematic diagram of the structure of the anchoring mechanism in the unfolded state of the embodiment of the present application; Figure 6 is a schematic diagram of the structure of the drill rod of the embodiment of the present application.

[0022] REFERENCE NUMERALS 1, detector body; 2, support mechanism; 21, landing leg; 22, foot pad; 3, anchoring mechanism; 31, fixed seat; 32, connecting rod; 33, mounting plate; 34, first motor; 35, shaft coupling; 36, first lead screw; 37, transmission nut; 38, guide rod; 39, lifting plate; 310, drill bit; 311, avoidance groove; 312, avoidance hole; 313, second motor; 314, first gear; 315, rotating seat; 316, second gear; 317, first bevel gear; 318, support seat; 319, second bevel gear; 320, drill rod; 321, guide plate; 322, support plate; 323, third motor; 324, second lead screw; 325, sliding seat; 326, support rod; 327, connecting rod; 328, limiting groove. DETAILED DESCRIPTION

[0023] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "provided", "mounted", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium; can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] In the present application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art to which the present application belongs. If there is any inconsistency, the meaning described in the specification or derived from the content described in the specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0025] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0026] As shown in Figure 1 A weak-gravity asteroid anchoring device based on plant root system bionics includes a support mechanism 2 arranged at the bottom of a probe body 1. The support mechanism 2 includes a plurality of landing legs 21 arranged outwardly inclined, which are distributed in a circumferential array at the bottom of the probe body 1. The landing legs 21 support the probe body 1. The bottom end of the landing leg 21 is provided with a foot pad 22 for increasing the friction of the landing leg 21, and the foot pad 22 is provided with a pressure sensor, which is electrically connected with a controller. The landing state of the probe is detected by the pressure sensor.

[0027] As shown in Figure 2 , Figure 3As shown, the anchor mechanism 3 is arranged at the bottom center of the probe body 1, and the probe body 1 is fixed to the surface of the asteroid through the anchor mechanism 3. The anchor mechanism 3 comprises a drill bit 310, and the probe body 1 is provided with a lifting structure for lifting the drill bit 310. The lifting structure comprises a fixing seat 31 located below the probe body 1. The fixing seat 31 is fixedly connected with the probe body 1 through a connecting rod 32. An installation plate 33 is arranged above the fixing seat 31, and the installation plate 33 is slidingly connected with the connecting rod 32. The installation plate 33 is fixedly connected with a lifting plate 39 on which the drill bit 310 is fixed, and a guide rod 38 is slidingly connected with the fixing seat 31. A first motor 34 is fixedly arranged on the installation plate 33, and the output shaft of the first motor 34 is connected with a first lead screw 36 through a shaft coupling 35. A transmission nut 37 matched with the first lead screw 36 is arranged on the fixing seat 31, and the bottom end of the first lead screw 36 is rotatably connected with the lifting plate 39 through a bearing. The first lead screw 36 is a ball screw, and the first motor 34 drives the lifting plate 39 to lift or lower through the first lead screw 36 and the transmission nut 37, so as to drive the drill bit 310 to lift or lower, and the drill bit 310 is inserted into or pulled out of the surface of the asteroid.

[0028] As shown in Figure 3 , Figure 5 , the upper side wall of the drill bit 310 is provided with a plurality of drill rods 320, and the drill rods 320 are arranged upward and outward. The drill bit 310 is provided with a plurality of avoiding holes 312 corresponding to the drill rods 320, and the drill rods 320 pass through the avoiding holes 312. The inside of the drill bit 310 is provided with a telescopic structure for driving the drill rods 320 to extend or retract in the drill bit 310. The drill rods 320 are extended out of the drill bit 310 through the telescopic structure, so as to be inserted into the uneven surface of the asteroid, thereby improving the stability of the anchor of the probe body 1 on the uneven surface of the asteroid and improving the terrain adaptability.

[0029] The telescopic structure comprises a support seat 318 corresponding to the drill rods 320. The support seat 318 is fixed in a circumferential array on the lifting plate 39. The support seat 318 is provided with a through hole through which the drill rod 320 passes, and the drill rod 320 is slidingly connected with the support seat 318. The support seat 318 is provided with a telescopic assembly for driving the drill bit 310 to extend or retract.

[0030] The telescopic assembly comprises a rotating cylinder rotatably arranged in the support seat 318, and the drill rod 320 is located in the rotating cylinder. The inner surface of the rotating cylinder is provided with an internal thread, and the lower outer surface of the drill rod 320 is provided with an external thread matched with the internal thread, and the rotating cylinder drives the drill rod 320 to move through the internal thread and the external thread. The support seat 318 is provided with a limiting assembly for limiting the rotation of the drill rod 320. As shown in Figure 6As shown, the limiting assembly includes a limiting groove 328 arranged on the upper portion of the drill rod 320, and a limiting block fixedly arranged on the support seat 318 and matched with the limiting groove 328. The limiting block is located in the limiting groove 328 and is in sliding connection with the limiting groove 328. The limiting block and the limiting groove 328 limit the rotation of the drill rod 320, and ensure that the drill rod 320 is smoothly extended and retracted under the action of the internal thread and the external thread.

[0031] The lifting plate 39 is provided with a power assembly for driving the rotating drum to rotate. The power assembly includes a second motor 313 fixedly arranged on the lifting plate 39. A first gear 314 is fixedly arranged on the output shaft of the second motor 313, and a second gear 316 is fixedly arranged on the rotating seat 315 and engaged with the first gear 314. The rotating seat 315 is located at the center of the lifting plate 39 and is in rotary connection with the lifting plate 39 through a bearing. A first bevel gear 317 is fixedly arranged on the rotating seat 315 and engaged with a second bevel gear 319 fixedly arranged on the rotating drum. The second motor 313 drives the rotating seat 315 to rotate through the first gear 314 and the second gear 316, and the rotating seat 315 drives the rotating drum to rotate through the first bevel gear 317 and the second bevel gear 319. The rotating drum drives the drill rod 320 to slide in the support seat 318 through the internal thread and the external thread, so as to realize the extension and retraction of the drill rod 320.

[0032] The drill rod 320 is a flexible rod with elasticity, which is convenient for the storage of the drill rod 320 in the drill bit 310. While meeting the deformation and recovery, the drill rod 320 has a certain rigidity, which meets the need of transmission between the drill rod 320 and the rotating drum. An arc-shaped guide plate 321 is fixedly arranged on the support plate 322 and has a guiding effect on the deformation of the drill rod 320. The support plate 322 is fixed on the inner wall of the drill bit 310. The guide plate 321 guides the deformation of the drill rod 320, avoids interference between the drill rods 320, and ensures the smooth extension and retraction of the drill rod 320 in the drill bit 310.

[0033] As shown in the figure, Figure 4 The bottom side wall of the drill bit 310 is provided with a plurality of support rods 326, and the bottom of each support rod 326 is provided with a sharp spike, which is convenient for the support rod 326 to be inserted into the small asteroid. The drill bit 310 is provided with an avoidance groove 311 for allowing the support rod 326 to pass through the drill bit 310, and the avoidance groove 311 is arranged one-to-one corresponding to the support rod 326. The inside of the drill bit 310 is provided with an unfolding structure for driving the support rod 326 to unfold and fold.

[0034] The unfolded structure comprises a third motor 323 fixedly arranged on the support plate 322. A second screw rod 324 is fixedly arranged on an output shaft of the third motor 323. The second screw rod 324 is externally sleeved with a sliding seat 325, and the sliding seat 325 is in threaded transmission connection with the second screw rod 324. Support rods 326 are arranged in a circumferential array outside the sliding seat 325. Top ends of the support rods 326 are hingedly connected with an inner wall of the drill bit 310, and middle portions of the support rods 326 are hingedly connected with the sliding seat 325 through connecting rods 327. The third motor 323 drives the sliding seat 325 to ascend and descend through the second screw rod 324. The sliding seat 325 drives the support rods 326 to fold and unfold through the connecting rods 327, so that the support rods 326 are used twice. The support rods 326 are arranged in an outward and downward inclined manner after being unfolded.

[0035] The first motor 34, the second motor 313 and the third motor 323 are electrically connected with a controller in the probe body 1. The connection modes of the pressure sensor, the first motor 34, the second motor 313 and the third motor 323 with the controller are determined according to needs by using existing technologies.

[0036] Based on the above-mentioned anchoring method of the weak-gravity small-asteroid anchoring device based on plant root system bionics, the method comprises the following steps: S1, when the probe lands, the pressure sensor on the foot pad 22 receives the pressure change and feeds back to the controller, and the controller controls the anchoring mechanism 3 to start working.

[0037] S2, the first motor 34 rotates, the first motor 34 drives the first screw rod 36 to rotate, the first screw rod 36 drives the drill bit 310 to move downward under the action of the transmission nut 37, and the drill bit 310 drills into the surface of the small asteroid.

[0038] S3, after the drill bit 310 drills to a specified depth, the second motor 313 rotates, the second motor 313 drives the rotating seat 315 to rotate through the first gear 314 and the second gear 316, the rotating seat 315 drives the rotating cylinder to rotate through the first bevel gear 317 and the second bevel gear 319, the rotating cylinder drives the drill rod 320 to extend from the drill bit 310 along the avoiding hole 312 through the internal thread and the external thread on the drill rod 320 under the action of the limiting groove 328 and the limiting block, and the drill rod 320 is inserted into the surface of the small asteroid.

[0039] S4, the third motor 323 rotates, the third motor 323 drives the second screw rod 324 to rotate, the second screw rod 324 drives the sliding seat 325 to move downward, the sliding seat 325 drives the support rods 326 to rotate through the connecting rods 327, bottom ends of the support rods 326 extend from the avoiding groove 311 of the drill bit 310 and are inserted into the inside of the small asteroid; and the anchoring is completed.

[0040] S5, after the detection is completed, the first motor 34, the second motor 313, the third motor 323 reverse rotation, drill rod 320 and support rod 326 into the drill bit 310 inside, drill bit 310 is lifted, the completion of anchoring mechanism 3 is stored.

[0041] Therefore, the weak gravity small asteroid anchoring device and anchoring method based on plant root system bionics have the advantages that the drill rod and the support rod can provide sufficient anchoring force for the probe in a short time, prevent the probe from rebounding and drifting away, and improve the stability of landing, and the device and the method have the advantages of being reusable and having strong terrain adaptability.

[0042] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: it can still modify or replace the technical solutions of the present application, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A weak gravity asteroid anchoring device based on plant root bionics, characterized by: The invention comprises a supporting mechanism arranged at the bottom of the detector body, an anchoring mechanism arranged at the bottom center of the detector body, the anchoring mechanism comprising a drill bit, a lifting structure for driving the drill bit to rise and fall is arranged on the detector body, a plurality of drill rods are arranged on the upper side wall of the drill bit, the drill rods are arranged to be inclined upward and outward, an avoidance hole for allowing the drill rods to pass through the drill bit is arranged on the drill bit, a telescopic structure for driving the drill rod to extend and retract in the drill bit is arranged inside the drill bit, a plurality of support rods are arranged on the bottom side wall of the drill bit, a spike is arranged at the bottom of the support rod, an avoidance groove for allowing the support rod to pass through the drill bit is arranged on the drill bit, and an expansion structure for driving the support rod to expand and retract is arranged inside the drill bit.

2. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 1, characterized in that: The telescopic structure includes a support seat, which is arranged in a one-to-one correspondence with the drill rod. The support seat is fixed on the lifting plate in a circular array, the lifting plate is connected to the lifting structure, the drill bit is fixed on the lifting plate, the drill rod is slidably connected to the support seat, and a telescopic component for driving the drill bit to extend and retract is provided on the support seat.

3. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 2, characterized in that: The telescopic assembly includes a rotating drum rotatably arranged inside the support seat, the drill rod is located inside the rotating drum, the inner surface of the rotating drum is provided with an internal thread, the lower outer surface of the drill rod is provided with an external thread compatible with the internal thread, a power assembly for driving the rotating drum to rotate is provided on the lifting plate, and a limit assembly for limiting the rotation of the drill rod is provided on the support seat.

4. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 3, characterized in that: The limit assembly includes a limit groove set on the upper part of the drill rod, and a limit block adapted to the limit groove is set on the support seat. The limit block is located in the limit groove and is slidably connected to the limit groove. The limit block and the limit groove limit the rotation of the drill rod to ensure smooth extension and retraction of the drill rod.

5. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 4, characterized in that: The power assembly includes a second motor, which is arranged on the lifting plate. A first gear is provided on the output shaft of the second motor. A second gear meshing with the first gear is provided on the rotating seat. The rotating seat is located at the center of the lifting plate and is rotatably connected to the lifting plate. A first bevel gear is provided on the rotating seat, and the first bevel gear is meshed with a second bevel gear provided on the rotating drum.

6. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 5, characterized in that: The drill rod is a flexible rod, and an arc-shaped guide plate for guiding the deformation of the drill rod is provided on the support plate, and the support plate is fixed on the inner wall of the drill bit.

7. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 6, characterized in that: The unfolding structure includes a third motor, which is arranged on a support plate. A second screw rod is arranged on the output shaft of the third motor. A slide is provided on the outside of the second screw rod. The slide is connected to the second screw rod through a threaded transmission. The support rods are arranged in a circular array on the outside of the slide. The top of the support rod is hinged to the inner wall of the drill bit, and the middle of the support rod is hinged to the slide through a connecting rod.

8. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 7, characterized in that: The lifting structure includes a fixed seat, which is located below the detector body and fixedly connected to the detector body through a connecting rod. A mounting plate is provided above the fixed seat, the mounting plate is slidably connected to the connecting rod, the mounting plate is connected to the lifting plate through a guide rod, the guide rod is slidably connected to the fixed seat, a first motor is provided on the mounting plate, the output shaft of the first motor is connected to the first screw rod through a coupling, a transmission nut adapted to the first screw rod is provided on the fixed seat, and the bottom end of the first screw rod is rotatably connected to the drill bit.

9. The weak gravity asteroid anchoring device based on plant root biomimetic according to claim 8, characterized in that: The support mechanism includes several landing legs that are tilted outward and distributed in a circular array at the bottom of the probe body. The bottom ends of the landing legs are provided with foot pads that increase the friction of the landing legs. The foot pads are provided with pressure sensors, and the pressure sensors are electrically connected to the controller.

10. An anchoring method for the weak gravity asteroid anchoring device based on plant root bionics according to claim 9, characterized in that: The following steps are involved: S1. When the probe lands, the pressure sensor on the foot pad receives pressure changes, and the controller controls the anchoring mechanism to start working; S2. The first motor rotates, driving the first screw to rotate. The first screw drives the drill bit downward under the action of the transmission nut, and the drill bit drills into the surface of the asteroid; S3. The second motor rotates, and the second motor drives the rotating base to rotate through the first gear and the second gear. The rotating base drives the rotating drum to rotate through the first bevel gear and the second bevel gear. The rotating drum drives the drill rod along the avoidance hole and extends from the drill bit under the action of the limit groove and the limit block through the internal thread and the external thread on the drill rod. The drill rod is inserted into the raised surface of the asteroid. S4. The third motor rotates, which drives the second screw to rotate. The second screw drives the slide to move downward. The slide drives the support rod to rotate through the connecting rod. The bottom end of the support rod extends from the avoidance groove of the drill bit and inserts into the interior of the asteroid. Anchoring is completed. S5. After the detection is completed, the first motor, the second motor, and the third motor rotate in opposite directions, the drill rod and the support rod are retracted into the drill bit, and the drill bit is lifted, completing the storage of the anchoring mechanism.

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