A weak-gravity asteroid anchoring device and method based on plant root system bionics

Abstract

This invention discloses a weak-gravitational asteroid anchoring device and method based on plant root biomimicry, belonging to the field of planetary probe technology. The weak-gravitational asteroid anchoring device based on plant root biomimicry includes a support mechanism and an anchoring mechanism. The anchoring mechanism includes a drill bit. A lifting structure is provided on the probe body to drive the drill bit up and down. Several drill rods are provided on the upper sidewall of the drill bit, inclined upwards and outwards. A telescopic structure is provided inside the drill bit to drive the drill rods to extend and retract within the drill bit. Several support rods are provided on the bottom sidewall of the drill bit, with spikes at the bottom of the support rods. An unfolding structure is provided inside the drill bit to drive the support rods to unfold and retract. Using the weak-gravitational asteroid anchoring device and method based on plant root biomimicry described in this invention, sufficient anchoring force can be provided to the probe in a short time through the drill rods and support rods, preventing bounce and drifting away, and improving landing stability; it also has the advantages of reusability and strong terrain adaptability.

Description

Technical Field

[0001] This invention relates to the field of planetary probe technology, and in particular to a weak-gravity asteroid anchoring device and anchoring method based on plant root biomimicry. Background Technology

[0002] Asteroids are planet-like structures orbiting the Sun within our solar system, but much smaller in size and mass, and characterized by microgravity, weak gravity, and complex topography. The exploration of asteroids can provide crucial insights into the origin, formation, and evolution of the early solar system, and is of great significance to the development of human civilization.

[0003] With the further expansion of deep space exploration missions, the anchoring device, as the direct contact point between the probe and the asteroid's surface material, plays a crucial role in the success of the attachment and sampling mission. The long-term and diverse needs of exploration missions place higher demands on anchoring devices. Lightweight, compact, simple in structure, with a highly integrated control system, flexible operation, high stability, and strong reliability, anchoring devices have become the focus of research in the field of asteroid probe attachment.

[0004] Existing anchoring devices include borehole anchoring, spiked anchoring, bionic gripper anchoring, and cutting anchoring. These devices embed drill rods, anchors, cutting discs, and micro-hooks into the asteroid surface by applying force and torque through a drive mechanism mounted on the probe. However, the anchoring force or torque provided is very limited, and adhesion to complex and diverse terrains poses a significant challenge. Existing anchoring devices cannot guarantee sufficient anchoring force for the probe in a short time, causing the probe to bounce and drift away upon landing, affecting landing stability. Summary of the Invention

[0005] The purpose of this invention is to provide a weak-gravity asteroid anchoring device and method based on plant root biomimicry. The device can provide sufficient anchoring force to the probe in a short time through the drill rod and support rod, preventing it from bouncing away and improving landing stability. It also has the advantages of being reusable and having strong terrain adaptability.

[0006] To achieve the above objectives, this invention provides a weak-gravity asteroid anchoring device based on plant root biomimicry, comprising a support mechanism disposed at the bottom of the probe body, an anchoring mechanism disposed at the center of the bottom of the probe body, the anchoring mechanism comprising a drill bit, a lifting structure disposed on the probe body for driving the drill bit to rise and fall, a plurality of drill rods disposed on the upper side wall of the drill bit, the drill rods being inclined upward and outward, a clearance hole disposed on the drill bit for the drill rods to pass through the drill bit, a telescopic structure disposed inside the drill bit for driving the drill rods to extend and retract within the drill bit, a plurality of support rods disposed on the bottom side wall of the drill bit, the bottom of the support rods being provided with spikes, a clearance groove disposed on the drill bit for the support rods to pass through the drill bit, and an unfolding structure disposed inside the drill bit for driving the support rods to unfold and retract.

[0007] Preferably, the telescopic structure includes a support base, with each support base corresponding to a drill rod. The support bases are fixed to the lifting plate in a circumferential array. The lifting plate is connected to the lifting structure. The drill bit is fixed to the lifting plate. The drill rod is slidably connected to the support base. The support base is provided with a telescopic component that drives the drill bit to extend and retract.

[0008] Preferably, the telescopic assembly includes a rotating drum rotatably disposed inside the support base, a drill rod located inside the rotating drum, an internal thread on the inner surface of the rotating drum, an external thread adapted to the internal thread on the lower outer surface of the drill rod, a power assembly for driving the rotating drum to rotate on the lifting plate, and a limiting assembly for restricting the rotation of the drill rod on the support base.

[0009] Preferably, the limiting component includes a limiting groove provided on the upper part of the drill rod, and a limiting block provided on the support base that is adapted to the limiting groove. The limiting block is located in the limiting groove and is slidably connected to the limiting groove. The limiting block and the limiting groove restrict the rotation of the drill rod and ensure that the drill rod can extend and retract smoothly.

[0010] Preferably, the power assembly includes a second motor, which is mounted on the lifting plate. A first gear is mounted on the output shaft of the second motor, and a second gear that meshes with the first gear is mounted 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 mounted on the rotating seat, and the first bevel gear meshes with a second bevel gear mounted on the rotating drum.

[0011] Preferably, the drill rod is a flexible rod, and the support plate is provided with an arc-shaped guide plate that guides the deformation of the drill rod. The support plate is fixed to the inner wall of the drill bit.

[0012] Preferably, the unfolding structure includes a third motor, which is mounted on a support plate. A second lead screw is mounted on the output shaft of the third motor. A slide is fitted around the second lead screw, and the slide and the second lead screw are connected by a threaded transmission. Support rods are arranged in a circumferential array outside 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.

[0013] Preferably, the lifting structure includes a fixed base located below the detector body. The fixed base is fixedly connected to the detector body via a connecting rod. An mounting plate is provided above the fixed base. The mounting plate is slidably connected to the connecting rod. The mounting plate is connected to the lifting plate via a guide rod. The guide rod is slidably connected to the fixed base. A first motor is provided on the mounting plate. The output shaft of the first motor is connected to a first lead screw via a coupling. A transmission nut adapted to the first lead screw is provided on the fixed base. The bottom end of the first lead screw is rotatably connected to the drill bit.

[0014] Preferably, the support mechanism includes several outwardly inclined landing legs, which are arranged in a circular array at the bottom of the probe body. The bottom of the landing legs is provided with foot pads to increase the friction of the landing legs, and pressure sensors are provided on the foot pads. The pressure sensors are electrically connected to the controller.

[0015] The anchoring method based on the above-mentioned plant root-inspired bionic asteroid anchoring device includes the following steps:

[0016] S1. When the probe lands, the pressure sensor on the footpad receives the pressure change, and the controller controls the anchoring mechanism to start working.

[0017] S2. The first motor rotates, which drives the first lead screw to rotate. Under the action of the transmission nut, the first lead screw drives the drill bit to move downward, and the drill bit drills into the surface of the asteroid.

[0018] S3. The second motor rotates, and the second motor drives the rotating seat to rotate through the first gear and the second gear. The rotating seat drives the rotating drum to rotate through the first bevel gear and the second bevel gear. The rotating drum drives the drill rod to extend out of the drill bit along the clearance hole through the internal thread and the external thread on the drill rod under the action of the limiting groove and the limiting block. The drill rod is inserted into the surface of the asteroid's raised surface.

[0019] S4. The third motor rotates, which drives the second lead screw to rotate. The second lead 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 out of the drill bit's clearance groove and inserts into the asteroid; thus completing the anchoring.

[0020] 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, the drill bit is lifted, and the anchoring mechanism is retracted.

[0021] The advantages and positive effects of the weak-gravity asteroid anchoring device and anchoring method based on plant root biomimicry described in this invention are as follows:

[0022] 1. This invention uses a telescopic structure to extend the drill rod from inside the drill bit, thereby inserting the drill rod into the raised surface of the asteroid, to improve the stability of the probe body anchoring on the uneven surface of the asteroid and improve terrain adaptability.

[0023] 2. This invention uses an unfolding structure to drive the support rod to retract and unfold, thereby inserting the support rod into the asteroid from the outside of the drill bit, thus improving the stability of the anchoring.

[0024] 3. The drill rod and support rod of this invention form a biomimetic anchoring structure inspired by plant roots, which provides sufficient anchoring force to the detector body in a short time, preventing the detector body from drifting away due to rebound and improving the stability of the anchoring.

[0025] 4. The drill rod and support rod of the present invention can extend and be stored inside the drill bit, realizing the recycling and reuse of the drill rod and support rod.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the anchoring mechanism according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the internal structure of the anchoring mechanism according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the support rod in its unfolded state according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the deployed state of the anchoring mechanism according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the drill pipe structure according to an embodiment of the present invention.

[0033] Figure Labels

[0034] 1. Detector body; 2. Support mechanism; 21. Landing legs; 22. Foot pads; 3. Anchoring mechanism; 31. Fixing seat; 32. Connecting rod; 33. Mounting plate; 34. First motor; 35. Coupling; 36. First lead screw; 37. Transmission nut; 38. Guide rod; 39. Lifting plate; 310. Drill bit; 311. Clearance groove; 312. Clearance hole; 313. Second motor; 314. First gear; 315. Rotary 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. Slide seat; 326. Support rod; 327. Connecting rod; 328. Limiting groove. Detailed Implementation

[0035] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0037] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0038] like Figure 1 As shown, a biomimetic device for anchoring a weakly gravitational asteroid based on plant roots includes a support mechanism 2 located at the bottom of the probe body 1. The support mechanism 2 includes several outwardly inclined landing legs 21, arranged in a circular array at the bottom of the probe body 1. The landing legs 21 support the probe body 1. Foot pads 22, which increase the friction of the landing legs 21, are provided at their bottom ends. Pressure sensors are mounted on the foot pads 22 and are electrically connected to a controller. The landing status of the probe is detected by the pressure sensors.

[0039] like Figure 2 , Figure 3As shown, an anchoring mechanism 3 is provided at the center of the bottom of the probe body 1, and the probe body 1 is fixed to the surface of the asteroid through the anchoring mechanism 3. The anchoring mechanism 3 includes a drill bit 310, and a lifting structure is provided on the probe body 1 to drive the drill bit 310 to rise and fall. The lifting structure includes a fixed seat 31, which is located below the probe body 1. The fixed seat 31 is fixedly connected to the probe body 1 through a connecting rod 32. A mounting plate 33 is provided above the fixed seat 31, and the mounting plate 33 is slidably connected to the connecting rod 32. The mounting plate 33 and the lifting plate 39 on which the drill bit 310 is fixed are fixedly connected through a guide rod 38, and the guide rod 38 is slidably connected to the fixed seat 31. A first motor 34 is fixedly provided on the mounting plate 33, and the output shaft of the first motor 34 is connected to a first lead screw 36 through a coupling 35. A transmission nut 37 adapted to the first lead screw 36 is provided on the fixed seat 31, and the bottom end of the first lead screw 36 is rotatably connected to the lifting plate 39 through a bearing. The first lead screw 36 is a ball screw. The first motor 34 drives the lifting plate 39 to rise and fall through the first lead screw 36 and the transmission nut 37, thereby driving the drill bit 310 to rise and fall, inserting the drill bit 310 into the surface of the asteroid or pulling it out of the surface of the asteroid.

[0040] like Figure 3 , Figure 5 As shown, a plurality of drill rods 320 are provided on the upper sidewall of the drill bit 310, and the drill rods 320 are inclined upward and outward. The drill bit 310 is provided with clearance holes 312 for the drill rods 320 to pass through, and the clearance holes 312 correspond one-to-one with the drill rods 320. The drill bit 310 has a telescopic structure inside that drives the drill rods 320 to extend and retract within the drill bit 310. Through the telescopic structure, the drill rods 320 are extended from the drill bit 310, thereby inserting them into the raised surface of the asteroid, improving the stability of the probe body 1 anchored on the uneven surface of the asteroid and enhancing terrain adaptability.

[0041] The telescopic structure includes support seats 318, with each support seat 318 corresponding to a drill rod 320. The support seats 318 are fixed to the lifting plate 39 in a circumferential array. Each support seat 318 has a through hole through which the drill rod 320 passes, and the drill rod 320 is slidably connected to the support seat 318. The support seat 318 is equipped with a telescopic assembly that drives the drill bit 310 to extend and retract.

[0042] The telescopic assembly includes a rotating cylinder rotatably mounted inside a support base 318 via bearings, with a drill rod 320 located inside the cylinder. The inner surface of the cylinder has an internal thread, and the lower outer surface of the drill rod 320 has an external thread adapted to the internal thread. The cylinder drives the drill rod 320 to move via the internal and external threads. A limiting assembly is provided on the support base 318 to restrict the rotation of the drill rod 320. Figure 6As shown, the limiting assembly includes a limiting groove 328 provided on the upper part of the drill rod 320, and a limiting block adapted to the limiting groove 328 is fixedly provided on the support base 318. The limiting block is located in the limiting groove 328 and is slidably connected to the limiting groove 328. The limiting block and the limiting groove 328 restrict the rotation of the drill rod 320, ensuring that the drill rod 320 can smoothly extend and retract under the action of the internal and external threads.

[0043] A power assembly for driving the rotating drum is installed on the lifting plate 39. The power assembly includes a second motor 313, which is fixedly mounted on the lifting plate 39. A first gear 314 is fixedly mounted on the output shaft of the second motor 313, and a second gear 316 meshing with the first gear 314 is fixedly mounted on the rotating base 315. The rotating base 315 is located at the center of the lifting plate 39 and is rotatably connected to the lifting plate 39 via bearings. A first bevel gear 317 is fixedly mounted on the rotating base 315, meshing with a second bevel gear 319 fixedly mounted on the rotating drum. The second motor 313 drives the rotating base 315 to rotate via the first gear 314 and the second gear 316. The rotating base 315 drives the rotating drum to rotate via the first bevel gear 317 and the second bevel gear 319. The rotating drum drives the drill rod 320 to slide within the support base 318 via internal and external threads, thus achieving the extension and retraction of the drill rod 320.

[0044] The drill rod 320 is an elastic, flexible rod, facilitating its storage inside the drill bit 310. While allowing for deformation and recovery, the drill rod 320 also possesses a certain degree of rigidity to meet the rigidity requirements for transmission between the drill rod 320 and the rotary drum. An arc-shaped guide plate 321, which guides the deformation of the drill rod 320, is fixedly mounted on the support plate 322, which is fixed to the inner wall of the drill bit 310. The guide plate 321 guides the deformation of the drill rod 320, preventing interference between drill rods and ensuring smooth extension and retraction of the drill rod 320 within the drill bit 310.

[0045] like Figure 4 As shown, the bottom sidewall of the drill bit 310 is provided with several support rods 326, and the bottom of the support rods 326 is provided with spikes to facilitate the insertion of the support rods 326 into the asteroid. The drill bit 310 is provided with clearance grooves 311 for the support rods 326 to pass through, and the clearance grooves 311 are provided one-to-one with the support rods 326. The drill bit 310 has an internal unfolding structure that drives the support rods 326 to unfold and retract.

[0046] The unfolding structure includes a third motor 323, which is fixedly mounted on a support plate 322. A second lead screw 324 is fixedly mounted on the output shaft of the third motor 323, and a slide block 325 is sleeved on the outside of the second lead screw 324. The slide block 325 and the second lead screw 324 are connected by a threaded drive. Support rods 326 are arranged in a circumferential array outside the slide block 325. The top of the support rod 326 is hinged to the inner wall of the drill bit 310, and the middle of the support rod 326 is hinged to the slide block 325 through a connecting rod 327. The third motor 323 drives the slide block 325 to rise and fall through the second lead screw 324, and the slide block 325 drives the support rods 326 to retract and unfold through the connecting rod 327, realizing the secondary use of the support rods 326. After unfolding, the support rods 326 are inclined outward and downward.

[0047] The first motor 34, the second motor 313, and the third motor 323 are all electrically connected to the controller inside the detector body 1. The connection method between the pressure sensor, the first motor 34, the second motor 313, and the third motor 323 and the controller adopts existing technology as needed.

[0048] The anchoring method based on the above-mentioned plant root-inspired bionic asteroid anchoring device includes the following steps:

[0049] S1. When the probe lands, the pressure sensor on the foot pad 22 receives the pressure change and feeds it back to the controller, which then controls the anchoring mechanism 3 to start working.

[0050] S2. The first motor 34 rotates, which drives the first lead screw 36 to rotate. Under the action of the transmission nut 37, the first lead screw 36 drives the drill bit 310 to move downward, and the drill bit 310 drills into the surface of the asteroid.

[0051] S3. After the drill bit 310 reaches the 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 drum to rotate through the first bevel gear 317 and the second bevel gear 319. The rotating drum drives the drill rod 320 to extend out of the drill bit 310 along the clearance hole 312 under the action of the limiting groove 328 and the limiting block through the internal thread and the external thread on the drill rod 320. The drill rod 320 is inserted into the surface of the asteroid protrusion.

[0052] S4. The third motor 323 rotates, which drives the second lead screw 324 to rotate. The second lead screw 324 drives the slide 325 to move downward. The slide 325 drives the support rod 326 to rotate through the connecting rod 327. The bottom end of the support rod 326 extends out of the clearance groove 311 of the drill bit 310 and inserts into the asteroid; thus completing the anchoring.

[0053] S5. After the detection is completed, the first motor 34, the second motor 313, and the third motor 323 rotate in opposite directions, the drill rod 320 and the support rod 326 are retracted into the drill bit 310, the drill bit 310 is lifted, and the anchoring mechanism 3 is retracted.

[0054] Therefore, the weak-gravity asteroid anchoring device and anchoring method based on plant root biomimicry described in this invention can provide sufficient anchoring force to the probe in a short time through the drill rod and support rod, preventing it from bouncing away and improving landing stability; and it has the advantages of being reusable and having strong terrain adaptability.

[0055] 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 preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A weak-gravity asteroid anchoring device based on plant root biomimicry, characterized in that: The device includes a support mechanism located at the bottom of the detector body, an anchoring mechanism located at the center of the bottom of the detector body, an anchoring mechanism including a drill bit, a lifting structure on the detector body that drives the drill bit to rise and fall, several drill rods on the upper side wall of the drill bit that are inclined upward and outward, a clearance hole on the drill bit that allows the drill rods to pass through the drill bit, a telescopic structure inside the drill bit that drives the drill rods to extend and retract within the drill bit, several support rods on the bottom side wall of the drill bit that have spikes at the bottom, a clearance groove on the drill bit that allows the support rods to pass through the drill bit, and an unfolding structure inside the drill bit that drives the support rods to unfold and retract. The telescopic structure includes a support base, with each support base corresponding to a drill rod. The support bases are fixed in a circular array on the lifting plate. 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 base. The support base is equipped with a telescopic component that drives the drill bit to extend and retract. The telescopic assembly includes a rotating drum rotatably disposed inside the support base, a drill rod located inside the rotating drum, an internal thread on the inner surface of the rotating drum, an external thread adapted to the internal thread on the lower outer surface of the drill rod, a power assembly for driving the rotating drum to rotate on the lifting plate, and a limiting assembly for restricting the rotation of the drill rod on the support base. The unfolding structure includes a third motor, which is mounted on a support plate. A second lead screw is mounted on the output shaft of the third motor. A slide is fitted around the second lead screw. The slide and the second lead screw are connected by a threaded transmission. Support rods are arranged in a circumferential array outside 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. The support mechanism includes several outwardly inclined landing legs, which are arranged in a circular array at the bottom of the probe body. The bottom of the landing legs is provided with foot pads to increase the friction of the landing legs, and pressure sensors are provided on the foot pads. The pressure sensors are electrically connected to the controller.

2. The weak-gravity asteroid anchoring device based on plant root biomimicry according to claim 1, characterized in that: The limiting component includes a limiting groove provided on the upper part of the drill rod, and a limiting block provided on the support base that is adapted to the limiting groove. The limiting block is located in the limiting groove and is slidably connected to the limiting groove. The limiting block and the limiting groove restrict the rotation of the drill rod and ensure that the drill rod can extend and retract smoothly.

3. The weak-gravity asteroid anchoring device based on plant root biomimicry according to claim 2, characterized in that: The power assembly includes a second motor, which is mounted on the lifting plate. A first gear is mounted on the output shaft of the second motor, and a second gear that meshes with the first gear is mounted on a rotating base. The rotating base is located at the center of the lifting plate and is rotatably connected to the lifting plate. A first bevel gear is mounted on the rotating base, and the first bevel gear meshes with a second bevel gear mounted on the rotating drum.

4. The weak-gravity asteroid anchoring device based on plant root biomimicry according to claim 3, characterized in that: The drill rod is a flexible rod, and the support plate is provided with an arc-shaped guide plate that guides the deformation of the drill rod. The support plate is fixed to the inner wall of the drill bit.

5. The weak-gravity asteroid anchoring device based on plant root biomimicry according to claim 4, characterized in that: The lifting structure includes a fixed base located below the detector body. The fixed base is fixedly connected to the detector body via a connecting rod. An mounting plate is provided above the fixed base. The mounting plate is slidably connected to the connecting rod. The mounting plate is connected to the lifting plate via a guide rod. The guide rod is slidably connected to the fixed base. A first motor is provided on the mounting plate. The output shaft of the first motor is connected to a first lead screw via a coupling. A transmission nut adapted to the first lead screw is provided on the fixed base. The bottom end of the first lead screw is rotatably connected to the drill bit.

6. An anchoring method based on the plant root biomimetic weak gravity asteroid anchoring device as described in claim 5, characterized in that, Includes the following steps: S1. When the probe lands, the pressure sensor on the footpad receives the pressure change, and the controller controls the anchoring mechanism to start working. S2. The first motor rotates, which drives the first lead screw to rotate. Under the action of the transmission nut, the first lead screw drives the drill bit to move downward, and the drill bit drills into the surface of the asteroid. S3. The second motor rotates, and the second motor drives the rotating seat to rotate through the first gear and the second gear. The rotating seat drives the rotating drum to rotate through the first bevel gear and the second bevel gear. The rotating drum drives the drill rod to extend out of the drill bit along the clearance hole through the internal thread and the external thread on the drill rod under the action of the limiting groove and the limiting block. The drill rod is inserted into the surface of the asteroid's raised surface. S4. The third motor rotates, which drives the second lead screw to rotate. The second lead 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 out of the drill bit's clearance groove and inserts into the asteroid; thus completing the anchoring. 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, the drill bit is lifted, and the anchoring mechanism is retracted.

Images