Drilling and sampling device suitable for lunar frozen soil

Abstract

The invention provides a drilling and sampling device suitable for lunar frozen soil. The drilling and sampling device comprises a mounting rack, a feeding mechanism, a rotary impact mechanism, a follow-up cable, a drilling tool assembly and a sample brushing mechanism, the feeding mechanism is mounted on the mounting rack; the rotary impact mechanism is mounted on the feeding mechanism and can move up and down along the feeding mechanism; the follow-up cable is respectively connected with the rotary impact mechanism and the feeding mechanism, and is connected with the drilling and sampling device control system; the drilling tool assembly is connected with the rotary impact mechanism, realizes a linear motion function, a rotary function and an impact function under the driving of the rotary impact mechanism, and is used for realizing the drilling of lunar soil and the temporary storage of samples; the sample brushing mechanism is installed at the bottom of the feeding mechanism, makes contact with the drilling tool assembly and is used for brushing off the lunar soil temporarily stored on the drilling tool assembly to obtain the lunar soil.

Description

TECHNICAL FIELD

[0001] The present application relates to a drilling sampling device suitable for lunar permafrost, belonging to the field of machinery. BACKGROUND

[0002] With the deepening of lunar exploration by countries around the world in recent years, the evidence of a large amount of water ice in the lunar polar region permanent shadow area is also constantly enriched, and the further in-situ identification, exploration, exploitation and utilization of lunar polar region water resources have become a new international research hotspot in the field of lunar exploration.

[0003] The current scientific community generally believes that there is water ice in the surface and shallow layer (about 1m) of the lunar polar region permanent shadow area within a certain range, but the current detection results are all obtained based on radar, neutron, spectral and other orbital remote sensing means analysis, there are problems such as low detection accuracy, low spatial resolution, many interference factors, etc., which cannot obtain scientific information such as specific regional local water ice content and occurrence distribution that can serve water resource exploitation and utilization, and need to be realized through in-situ sampling detection means. Therefore, the in-situ sampling and detection technology of lunar polar region water ice has become the current focus of development.

[0004] According to the deep space exploration mission plan of NASA, ESA and other space organizations, in view of the in-situ sampling and detection needs of lunar polar region water ice, it is planned to land and explore the lunar polar region and obtain the lunar soil in the surface and subsurface of the moon by drilling, so as to realize the in-situ detection of lunar water resources. At present, the exploration of lunar polar region permafrost is in the research stage, and there is no detector to realize the task of directly identifying water ice. The products under research include the water ice sampling drill and in-situ analysis instrument of the American VIPER lunar rover and the PROSPECT lunar water ice sampling and analysis system carried by the Russian / ESA cooperative Luna 27 lander. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a sampling device suitable for the subsurface of the moon, which can also be used for sampling tasks on Mars, asteroids and the like. The device can have the following capabilities: lunar soil / lunar rock particle adaptability, high-strength water-containing lunar soil efficient drilling, controllable temperature rise drilling, controllable pressure drilling, and profile depth sample fixed-point acquisition.

[0006] The technical scheme adopted by the present application is: a drilling sampling device suitable for lunar permafrost, comprising a mounting frame, a feeding mechanism, a rotary impact mechanism, a follow-up cable, a drilling assembly and a sample brushing mechanism.

[0007] The feeding mechanism is installed on the mounting frame; the rotary impact mechanism is installed on the feeding mechanism and can move up and down along the feeding mechanism; the follow-up cable is connected with the rotary impact mechanism and the feeding mechanism respectively and is connected with the drilling sampling device control system; the drilling assembly is connected with the rotary impact mechanism and realizes the linear motion function, the rotary function and the impact function under the driving of the rotary impact mechanism, so as to realize the drilling and temporary storage of the lunar soil; the sample brushing mechanism is installed at the bottom of the feeding mechanism and is in contact with the drilling assembly, so as to brush off the lunar soil temporarily stored on the drilling assembly and obtain the lunar soil.

[0008] Further, the feeding mechanism comprises a feeding driving mechanism, a steel wire rope wheel, a feeding guide rail, a feeding upper trigger switch, a feeding upper pulley, a steel wire rope, a feeding lower trigger switch and a feeding lower pulley; the feeding driving mechanism and the steel wire rope wheel are installed on the feeding guide rail, the feeding upper trigger switch and the feeding upper pulley are installed at the top end of the feeding guide rail, and the feeding lower trigger switch and the feeding lower pulley are installed at the bottom end of the feeding guide rail; the feeding driving mechanism winds the steel wire rope through the steel wire rope wheel to realize the winding and unwinding of the steel wire rope; the feeding upper pulley and the feeding lower pulley guide the two ends of the steel wire rope respectively.

[0009] Further, the rotary impact mechanism comprises an impact driving motor, a rotary impact mechanism upper housing, a rotary driving motor, a rotary impact mechanism middle housing, a conductive slip ring, a lower tension sensor, an upper tension sensor, a plurality of guide rail pulleys, an impact pinion, an impact gear, an impact roller, an impact compression spring, an impact cam, an impact pad, a ball spline gear, a rotary pinion and a spline shaft;

[0010] The rotary impact mechanism is installed on the feeding guide rail through the plurality of guide rail pulleys installed on the side surface; the steel wire rope is connected with the upper tension sensor and the lower tension sensor after passing through the feeding upper pulley and the feeding lower pulley; the steel wire rope drives the rotary impact mechanism to move linearly along the feeding guide rail; the output shaft of the rotary driving motor is fixedly connected with the rotary pinion; the ball spline gear is installed in the rotary impact mechanism middle housing through a bearing and is coaxially engaged with the rotary pinion; one end of the spline shaft is inserted into the central hole of the ball spline gear and is connected with the impact pad; the ball spline gear and the spline shaft form a spline pair; the other end of the spline shaft is connected with the drilling assembly;

[0011] The output shaft of the impact driving motor is fixedly connected with the impact pinion; the impact gear is installed in the rotary impact mechanism middle housing through a bearing and is coaxial with the ball spline gear; the impact gear is fixedly connected with the impact roller; the impact roller is in contact with the impact cam; the impact compression spring is installed between one end of the impact cam central shaft and the upper end cover of the rotary impact mechanism upper housing; the other end of the impact cam central shaft is aligned with the impact pad;

[0012] The conductive slip ring is installed at the bottom of the rotary impact mechanism middle housing and is sleeved on the spline shaft.

[0013] Further, the drill assembly comprises a drill rod, a sampling screw segment and a drill bit; the drill rod is connected with the spline shaft, the sampling screw segment is installed at the end of the drill rod, and the drill bit is installed at the end of the sampling screw segment; the drill temperature sensor a is installed in the sampling screw segment, close to the drill bit cutting edge b and coated with a heat-conducting grease;

[0014] The drill bit cutting edge b realizes cutting and crushing of the lunar soil, and the groove depth of the sampling screw segment is greater than that of the drill rod; by controlling the drilling speed of the drill assembly, the lunar soil is always in a state of extrusion flow in the sampling screw segment, and the sampling screw segment samples the lunar soil; the drill rod realizes the spiral migration and discharge of the lunar soil to the lunar surface.

[0015] Further, the brush sampling mechanism comprises a brush sampling mechanism housing, a drill sleeve and a brush wheel; the brush sampling mechanism housing is connected with the feeding lower pulley, the drill assembly passes through the drill sleeve, and the drill sleeve and the brush wheel are installed on the brush sampling mechanism housing.

[0016] Further, the rotary impact mechanism drives the drill assembly to move linearly through the steel wire rope under the rotation of the driving mechanism; when the rotary impact mechanism moves to the positions of the feeding upper trigger switch and the feeding lower trigger switch, the corresponding switches are triggered to realize the calibration of the drilling position and the in-position stop;

[0017] When drilling and sampling on the lunar surface, the rotary driving motor drives the rotary pinion gear to rotate the ball spline gear along the central axis, and the ball spline gear drives the spline shaft to drive the drill assembly to rotate;

[0018] When encountering lunar rocks or lunar soil containing water, the impact driving motor drives the impact pinion gear to rotate the impact gear along the central axis; when the impact roller rotates along the central axis, it pushes the impact cam to move along the axis; when it passes through the highest point of the cam surface of the impact cam, the impact cam moves downward to convert the elastic potential energy into kinetic energy, knocking the impact pad, which pushes the spline shaft and the drill assembly, so that the impact energy is transmitted to the drilling object through the drill bit, and the drill assembly is pushed to impact.

[0019] Further, when the temperature rise exceeds the set threshold during drilling, the drill temperature sensor a feeds back the temperature measurement value to the drilling and sampling device control system, and the rotary speed of the drill assembly is controlled by adjusting the rotary driving motor speed to realize real-time control of the temperature rise during drilling.

[0020] Further, the tension difference between the upper and lower ends of the steel wire rope is fed back to the drilling and sampling device control system by collecting the information of the upper and lower tension sensors, and the drilling pressure during the drilling process of the drill assembly is calculated, and the drilling pressure during the drilling process is realized by adjusting the current condition of the feeding driving mechanism.

[0021] Further, when drilling to the sampling depth, the steel wire reel is wound by the feeding drive mechanism to drive the drilling assembly to move upward, and the drilling assembly is rotated by the rotation drive motor; when the sampling screw section moves to the sampling brush mechanism, the drilling sleeve restrains the sampling screw section and the brush wheel in contact with each other, and under the action of the rotation of the drilling assembly, the brush wheel is passively rotated according to the worm gear transmission principle, and the moon soil is brushed off under the action of the brush wire, so that the sampling of the moon soil at the target depth is realized.

[0022] Further, the material of the drill bit is YG6x material, the material of the sampling screw section is GH4169 material, and the material of the drill rod is titanium alloy TA7.

[0023] Compared with the prior art, the present application has the following advantages:

[0024] 1. The drilling sampling device suitable for the lunar permafrost is provided, the drilling sampling device is decoupled in rotation, impact and feeding movements, and can realize various working modes such as rotary drilling, rotary impact drilling and impact drilling, so that the effective drilling and sample acquisition capacity for the lunar rock and high-strength water-containing moon soil are improved.

[0025] 2. A controllable drilling temperature rise design scheme is provided. In order to solve the problem that the detection accuracy is difficult to guarantee due to the volatilization of water in the lunar permafrost caused by drilling heat disturbance, a temperature sensor is arranged near the cutting edge in the drill bit, the temperature of the drill bit is measured, and a real-time feedback control system is realized, so that the controllable temperature rise drilling is realized by adjusting the rotation speed of the drilling assembly.

[0026] 3. A controllable pressure drilling design scheme is provided. In order to solve the problem of low-pressure drilling sampling in the lunar gravity environment, two tension sensors are arranged on the transmission path of the drilling assembly, the difference between the measured values of the tension sensors is calculated to feed back to the control system, and the controllable pressure drilling scheme is realized by using the real-time current closed-loop control of the feeding movement mechanism.

[0027] 4. A deep spiral groove sampling container design scheme is provided, the lunar soil is always kept in a state of extrusion flow in the deep spiral groove by using the drilling assembly configuration design, and the sample acquisition capacity of the drilling assembly is improved.

[0028] 5. A fixed-point sampling design scheme is provided, the lunar soil at the target depth is contained in the deep spiral groove of the drilling assembly, and the drilling assembly is taken out of the moon surface, the passive rotation of the brush wheel of the sampling brush mechanism is realized by using the rotation of the drilling assembly, the lunar soil temporarily stored in the spiral groove of the drilling assembly is brushed off, no additional mechanism is needed, and the fixed-point acquisition of the lunar soil is realized. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is an axonometric view of the lunar permafrost sampling device;

[0030] Figure 2is the axial view of the feed mechanism;

[0031] Figure 3 is the axial view of the rotary impact mechanism Figure 1 ;

[0032] Figure 4 is the axial view of the rotary impact mechanism Figure 2 ;

[0033] Figure 5 is the sectional view of the rotary impact mechanism;

[0034] Figure 6 is the axial view of the drilling assembly;

[0035] Figure 7 is the sectional view of the drilling assembly;

[0036] Figure 8 is the axial view of the brush sampling mechanism. DETAILED DESCRIPTION

[0037] The present application is described in conjunction with the accompanying drawings.

[0038] As shown in the drawings, Figure 1 a drilling and sampling device for lunar permafrost, comprising a mounting frame 1, a feed mechanism 2, a rotary impact mechanism 3, a trailing cable 4, a drilling assembly 5, and a brush sampling mechanism 6.

[0039] The mounting frame 1 provides support and connection functions for the entire sampling device, and is used to mount the drilling and sampling device on the main structure of the probe, and is connected to the feed mechanism 2. The feed mechanism 2 is connected to the rotary impact mechanism 3, and is used to provide power and position constraints during the drilling and sampling process; the trailing cable 4 is connected to the rotary impact mechanism 3 and the feed mechanism 2, respectively, and is used to realize electrical connection during the movement of the rotary impact mechanism 3; the drilling assembly 5 is connected to the rotary impact mechanism 3, and is used to realize drilling and temporary storage of lunar soil; the brush sampling mechanism 6 is connected to the feed mechanism 2, and is in contact with the drilling assembly 5, and is used to brush off the lunar soil temporarily stored in the helical groove of the drilling assembly 5 to obtain lunar soil.

[0040] As shown in the drawings, Figure 2As shown, the feeding mechanism 2 includes a feeding drive mechanism 2-1, a steel wire rope wheel 2-2, a feeding guide rail 2-3, a feeding upper trigger switch 2-4, a feeding upper pulley 2-5, a steel wire rope 2-6, a feeding lower trigger switch 2-7, and a feeding lower pulley 2-8. The feeding drive mechanism 2-1 and the steel wire rope wheel 2-2 are installed on the feeding guide rail 2-3, the feeding upper trigger switch 2-4 and the feeding upper pulley 2-5 are installed at the top end of the feeding guide rail 2-3, and the feeding lower trigger switch 2-7 and the feeding lower pulley 2-8 are installed at the bottom end of the feeding guide rail 2-3; the feeding drive mechanism 2-1 winds the steel wire rope 2-6 through the steel wire rope wheel 2-2 to realize the winding and unwinding of the steel wire rope 2-6; the feeding upper pulley 2-5 and the feeding lower pulley 2-8 guide the two ends of the steel wire rope 2-6 respectively.

[0041] As shown in Figures 3-5 As shown, the rotary impact mechanism 3 includes an impact drive motor 3-1, an impact mechanism housing 3-2, a rotary drive motor 3-3, a rotary impact mechanism housing 3-4, a conductive slip ring 3-5, a lower tension sensor 3-6, an upper tension sensor 3-7, four guide rail pulleys 3-8, an impact pinion 3-9, an impact gear 3-10, an impact roller 3-11, an impact compression spring 3-12, an impact cam 3-13, an impact pad 3-14, a ball spline gear 3-15, a rotary pinion 3-16, a spline shaft 3-17, and a conductive slip ring 3-18. The feeding drive mechanism 2-1 and the steel wire rope wheel 2-2 are installed on the feeding guide rail 2-3, the feeding upper trigger switch 2-4 and the feeding upper pulley 2-5 are installed at the top end of the feeding guide rail 2-3, and the feeding lower trigger switch 2-7 and the feeding lower pulley 2-8 are installed at the bottom end of the feeding guide rail 2-3; the feeding drive mechanism 2-1 winds the steel wire rope 2-6 through the steel wire rope wheel 2-2 to realize the winding and unwinding of the steel wire rope 2-6; the feeding upper pulley 2-5 and the feeding lower pulley 2-8 guide the two ends of the steel wire rope 2-6 respectively.

[0042] As shown in Figure 6 As shown, the drill assembly 5 includes a drill rod 5-1, a sampling spiral section 5-2, and a drill bit 5-3; the drill rod 5-1 is connected with the spline shaft 3-17, the sampling spiral section 5-2 is installed at the end of the drill rod 5-1, and the drill bit 5-3 is installed at the end of the sampling spiral section 5-2.

[0043] As shown in Figure 8 As shown, the brush sampling mechanism 6 includes a brush sampling mechanism housing 6-1, a drill sleeve 6-2, and a brush wheel 6-3; the brush sampling mechanism housing 6-1 is connected with the feeding lower pulley 2-8, the drill assembly 5 passes through the drill sleeve 6-2, and the drill sleeve 6-2 and the brush wheel 6-3 are installed on the brush sampling mechanism housing 6-1.

[0044] The rotary impact mechanism 3 is installed on the feeding guide rail 2-3 of the feeding mechanism 2 through a guide rail pulley 3-8. Steel wires 2-6 are connected with a lower tension sensor 3-6 and an upper tension sensor 3-7 respectively, and the steel wires 2-6 can drive the rotary impact mechanism 3 to move linearly along the feeding guide rail 2-3. A drilling assembly 5 is connected with a spline shaft 3-17 in the rotary impact mechanism 3 through a drill rod 5-1, so as to realize rotary motion. A housing 6-1 of a brush sampling mechanism 6 is connected with the feeding mechanism 2 and a feeding lower pulley 2-8, and the drilling assembly 5 passes through a drill sleeve 6-2 in the brush sampling mechanism 6. A servo cable 4 is connected with the rotary impact mechanism 3 and the feeding mechanism 2 respectively, for realizing electrical connection during the movement of the rotary impact mechanism 3, and finally connected with a drilling sampling device control system.

[0045] The drill bit 5-3 in the drilling assembly 5 is made of YG6x material with high strength and high hardness, so as to realize lunar permafrost drilling and crushing. The sampling screw section 5-2 is made of GH4169 material with good low-temperature adaptability and high wear resistance, and the drill rod 5-1 is made of titanium alloy TA7 to realize lightweight design, and the surface is treated by micro-arc oxidation to further improve the wear resistance.

[0046] Rotary drilling function realization:

[0047] When lunar drilling sampling is carried out, the rotary driving motor 3-3 drives the rotary pinion gear 3-16 fixedly connected therewith to drive the ball spline gear 3-15 to rotate along the central axis. The ball spline gear 3-15 and the spline shaft 3-17 form a spline pair, so as to realize torque transmission and axial relative motion therebetween. The spline shaft 3-17 is fixedly connected with the drilling assembly 5, so as to realize driving the drilling assembly 5 to rotate.

[0048] The feeding driving mechanism 2-1 in the feeding mechanism 2 winds the steel wire 2-6 through a steel wire pulley 2-2, so as to realize winding and unwinding of the steel wire 2-6. The steel wire 2-6 is connected with the upper tension sensor 3-7 and the lower tension sensor 3-6 in the rotary impact mechanism 3 after passing through the feeding upper pulley 2-5 and the feeding lower pulley 2-8. The steel wire 2-6 can drive the guide rail pulley 3-8 in the rotary impact mechanism 3 to move along the feeding guide rail 2-3. The rotary impact mechanism 3 is fixedly connected with the drilling assembly 5, and is driven by the steel wire 2-6 to realize linear motion of the drilling assembly 5 under the driving of the driving mechanism 2-1. Feeding upper trigger switches 2-4 and feeding lower trigger switches 2-7 are designed at the initial and terminal positions of the linear motion, so as to realize calibration and stop of drilling position.

[0049] Rotary impact drilling function realization:

[0050] The rotation function, the feeding linear motion function and the rotation drilling function of the drilling tool assembly 5 in the rotary percussion drilling function are consistent with the above-mentioned rotation drilling function implementation scheme. When high-hardness lunar rock or high-strength lunar soil containing water is encountered, the percussion driving motor 3-1 drives the percussion pinion 3-9 fixed thereto to drive the percussion gear 3-10 to rotate along the central axis. The percussion gear 3-10 is fixed with the percussion roller 3-11, the percussion roller 3-11 is in surface contact with the percussion cam 3-13, and the percussion spring 3-12 is installed between the percussion cam 3-13 and the percussion mechanism housing 3-2. When the percussion roller 3-11 rotates along the central axis, the percussion cam 3-13 is pushed to move along the axis, and when it passes the highest point of the percussion cam 3-13, the percussion cam 3-13 moves downward under the action of the percussion spring 3-12 to convert the elastic potential energy into kinetic energy, which strikes the percussion pad 3-14. The percussion pad 3-14 is connected to the drilling tool assembly 5 through the spline shaft 3-17, and finally the percussion energy is transmitted to the drilling object through the drill bit 5-1 to realize rotary percussion drilling.

[0051] Percussion drilling function implementation:

[0052] The percussion drilling function is the composite function of the linear motion of the drilling tool assembly 5 along the feeding guide rail 2-3 and the percussion motion of the drilling tool assembly 5. Its implementation scheme is similar to that of the rotary percussion drilling function, except that the drilling tool assembly 5 has no rotary motion.

[0053] Controllable temperature drilling function implementation:

[0054] As shown in Figure 7 The drilling tool temperature sensor 5-3-a is installed in the drilling tool assembly 5, close to the drill bit cutting edge 5-3-b and coated with a heat-conducting grease. When the temperature rises too high during drilling, the drilling tool temperature sensor 5-3-a feeds back the temperature measurement value to the drilling sampling device control system, which controls the rotation speed of the drilling tool assembly 5 by adjusting the rotation speed of the rotary driving motor 3-3, thereby realizing real-time control of the temperature rise during drilling.

[0055] Controllable pressure drilling function implementation:

[0056] The upper tension sensor 3-7 is connected to the rotary percussion mechanism housing 3-4 and the upper end of the steel wire rope 2-6, and the lower tension sensor 3-6 is connected to the rotary percussion mechanism housing 3-4 and the lower end of the steel wire rope 2-6. The tension difference between the upper and lower ends of the steel wire rope 2-6 is measured to calculate the drilling pressure of the drilling tool assembly 5 during drilling. During drilling, the difference between the lower tension sensor 3-6 and the upper tension sensor 3-7 is calculated to feed back to the control system, and the current condition of the feeding driving mechanism 2-1 is adjusted to realize real-time closed-loop control of the drilling pressure during drilling.

[0057] Fixed-point sampling function implementation:

[0058] The drill pipe 5-1, the sampling screw section 5-2 and the drill bit 5-3 are fixedly connected. The drill bit cutting edge 5-3-b realizes cutting and crushing of the lunar soil, the sampling screw section 5-2 is designed as a deep groove, through the drilling speed control of the drill assembly 5, the lunar soil is always in an extrusion flow state in the sampling screw section 5-2, and the sampling screw section 5-2 samples the lunar soil. The drill pipe 5-1 is designed as a shallow groove, realizing the spiral migration and discharge of the lunar soil to the moon surface.

[0059] When drilling to the fixed-point sampling depth, the steel wire rope 2-6 is wound through the feeding drive mechanism 2-1 and the steel wire rope wheel 2-2 to drive the drill assembly 5 to move upward, and at the same time, the drill assembly 5 is driven to rotate by the rotary drive motor 3-3, realizing the upward movement of the drill assembly 5. When the sampling screw section 5-2 moves to the brush sampling mechanism 6, the drill sleeve 6-2 restricts the sampling screw section 5-2 and the brush wheel 6-3 in the position of mutual contact, under the action of the rotary movement of the drill assembly 5, the brush wheel 6-3 is passively rotated according to the worm and gear transmission principle and at the same time, the lunar soil is brushed off under the action of the brush wire, realizing the fixed-point sampling of the lunar soil at the target depth.

[0060] The part of the present application not described in detail belongs to the known technology of those skilled in the art.

Claims

1. A drilling and sampling device suitable for lunar permafrost, characterized in that, It includes a mounting frame (1), a feed mechanism (2), a rotary impact mechanism (3), a follower cable (4), a drill assembly (5), and a sample brushing mechanism (6); The feeding mechanism (2) is installed on the mounting frame (1); the rotary impact mechanism (3) is installed on the feeding mechanism (2) and can move up and down along the feeding mechanism (2); the follower cable (4) is connected to the rotary impact mechanism (3) and the feeding mechanism (2) respectively, and is connected to the control system of the drilling and sampling device; the drill assembly (5) is connected to the rotary impact mechanism (3) and realizes the linear motion function, rotary function and impact function under the drive of the rotary impact mechanism (3), which is used to realize the drilling of lunar soil and temporary storage of samples; the brushing mechanism (6) is installed at the bottom of the feeding mechanism (2) and is in contact with the drill assembly (5), which is used to brush off the lunar soil temporarily stored on the drill assembly (5) and obtain the lunar soil.

2. The drilling and sampling device for lunar permafrost according to claim 1, characterized in that, The feeding mechanism (2) includes a feeding drive mechanism (2-1), a wire rope wheel (2-2), a feeding guide rail (2-3), a feeding upper trigger switch (2-4), a feeding upper pulley (2-5), a wire rope (2-6), a feeding lower trigger switch (2-7), and a feeding lower pulley (2-8); the feeding drive mechanism (2-1) and the wire rope wheel (2-2) are mounted on the feeding guide rail (2-3), and the feeding upper trigger switch (2-4) and The upper feed pulley (2-5) is installed at the top of the feed guide rail (2-3), and the lower feed trigger switch (2-7) and the lower feed pulley (2-8) are installed at the bottom of the feed guide rail (2-3). The feed drive mechanism (2-1) winds the wire rope (2-6) through the wire rope wheel (2-2) to realize the winding and unwinding of the wire rope (2-6). The upper feed pulley (2-5) and the lower feed pulley (2-8) guide the two ends of the wire rope (2-6) respectively.

3. The drilling and sampling device for lunar permafrost according to claim 2, characterized in that, The rotary impact mechanism (3) includes an impact drive motor (3-1), an upper housing of the rotary impact mechanism (3-2), a rotary drive motor (3-3), a middle housing of the rotary impact mechanism (3-4), a conductive slip ring (3-5), a downward force sensor (3-6), an upward force sensor (3-7), several guide rail pulleys (3-8), an impact pinion (3-9), an impact gear (3-10), an impact roller (3-11), an impact compression spring (3-12), an impact cam (3-13), an impact pad (3-14), a ball spline gear (3-15), a rotary pinion (3-16), and a spline shaft (3-17). The rotary impact mechanism (3) is mounted on the feed guide rail (2-3) via several guide rail pulleys (3-8) mounted on the side. The wire rope (2-6) passes around the upper feed pulley (2-5) and the lower feed pulley (2-8) and is then connected to the upper tension sensor (3-7) and the lower tension sensor (3-6) respectively. The wire rope (2-6) drives the rotary impact mechanism (3) to move linearly along the feed guide rail (2-3). The output shaft of the rotary drive motor (3-3) is connected to the rotary pinion gear. Wheel (3-16) is fixedly connected; ball spline gear (3-15) is installed in the middle housing (3-4) of the rotary impact mechanism through bearings and meshes with the rotary pinion (3-16); one end of spline shaft (3-17) is inserted into the center hole of ball spline gear (3-15) and connected to impact pad (3-14), ball spline gear (3-15) and spline shaft (3-17) form a spline kinematic pair, and the other end of spline shaft (3-17) is connected to drill assembly (5); The output shaft of the impact drive motor (3-1) is fixedly connected to the impact pinion (3-9); the impact gear (3-10) is mounted in the middle housing (3-4) of the rotary impact mechanism through bearings, and is coaxial with the ball spline gear (3-15). The impact gear (3-10) is fixedly connected to the impact roller (3-11), and the impact roller (3-11) is in surface contact with the impact cam (3-13); an impact compression spring (3-12) is installed between one end of the central shaft of the impact cam (3-13) and the upper end cover of the upper housing (3-2) of the rotary impact mechanism, and the other end of the central shaft of the impact cam (3-13) is aligned with the impact pad (3-14). The conductive slip ring (3-5) is installed at the bottom of the middle housing (3-4) of the rotary impact mechanism and is fitted onto the spline shaft (3-17).

4. A drilling and sampling device suitable for lunar permafrost according to claim 3, characterized in that, The drill assembly (5) includes a drill rod (5-1), a sampling spiral section (5-2), and a drill bit (5-3); the drill rod (5-1) is connected to a spline shaft (3-17), the sampling spiral section (5-2) is installed at the end of the drill rod (5-1), and the drill bit (5-3) is installed at the end of the sampling spiral section (5-2); the drill temperature sensor (5-3-a) is installed inside the sampling spiral section (5-2), close to the cutting edge (5-3-b) of the drill bit, and coated with thermal grease; The cutting edge (5-3-b) of the drill bit achieves cutting and crushing of the lunar soil. The groove depth of the sampling spiral section (5-2) is greater than that of the drill rod (5-1). By controlling the drilling speed of the drill assembly (5), the lunar soil is always in a state of compression flow in the sampling spiral section (5-2). The sampling spiral section (5-2) samples the debris of the lunar soil. The drill rod (5-1) realizes the spiral transport of the lunar soil and its discharge to the lunar surface.

5. A drilling and sampling device suitable for lunar permafrost according to claim 4, characterized in that, The brushing mechanism (6) includes a brushing mechanism housing (6-1), a drill sleeve (6-2), and a brush wheel (6-3); the brushing mechanism housing (6-1) is connected to the feed pulley (2-8), the drill assembly (5) passes through the drill sleeve (6-2), and the drill sleeve (6-2) and the brush wheel (6-3) are mounted on the brushing mechanism housing (6-1).

6. A drilling and sampling device suitable for lunar permafrost according to claim 5, characterized in that, The rotary impact mechanism (3) drives the drill assembly (5) to make linear motion through the wire rope (2-6) under the rotation of the drive mechanism (2-1). When the rotary impact mechanism (3) moves to the position of the feed upper trigger switch (2-4) and the feed lower trigger switch (2-7), the corresponding switch is triggered to realize the calibration of the drilling position and the stop when the machine is in place. When performing lunar surface drilling sampling, the rotary drive motor (3-3) drives the rotary pinion (3-16) to drive the ball spline gear (3-15) to rotate along the central axis, and the ball spline gear (3-15) drives the spline shaft (3-17) to drive the drill assembly (5) to rotate. When encountering lunar rocks or water-bearing lunar soil, the impact drive motor (3-1) drives the impact pinion (3-9) to rotate the impact gear (3-10) along the central axis. When the impact roller (3-11) rotates along the central axis, it pushes the impact cam (3-13) to move along the axis. When it passes the highest point of the cam surface of the impact cam (3-13), under the action of the impact compression spring (3-12), the impact cam (3-13) moves downward to convert elastic potential energy into kinetic energy and strike the impact pad (3-14). The impact pad (3-14) pushes the spline shaft (3-17) and the drill assembly (5), realizing the transfer of impact energy to the drilling object through the drill bit (5-1) and pushing the drill assembly (5) to perform impact motion.

7. A drilling and sampling device suitable for lunar permafrost according to claim 6, characterized in that, When the temperature rise exceeds the set threshold during drilling, the drill string temperature sensor (5-3-a) feeds the temperature measurement value back to the drilling sampling device control system. By adjusting the rotation speed of the rotary drive motor (3-3), the rotation speed of the drill string assembly (5) is controlled, thereby realizing real-time control of the temperature rise during drilling.

8. A drilling and sampling device suitable for lunar permafrost according to claim 7, characterized in that, By collecting information from the upper tension sensor (3-7) and the lower tension sensor (3-6), the tension difference between the upper and lower ends of the wire rope (2-6) is measured and fed back to the control system of the drilling sampling device. The drilling pressure of the drill assembly (5) during the drilling process is calculated. By adjusting the current conditions of the feed drive mechanism (2-1), the real-time closed-loop control of the drilling pressure during the drilling process is realized.

9. A drilling and sampling device suitable for lunar permafrost according to claim 8, characterized in that, After drilling to the designated sampling depth, the feed drive mechanism (2-1) drives the wire rope wheel (2-2) to wind the wire rope (2-6) and drive the drill assembly (5) to move upward. At the same time, the rotary drive motor (3-3) drives the drill assembly (5) to rotate. When the sampling spiral section (5-2) moves to the brushing mechanism (6), the drill sleeve (6-2) constrains the sampling spiral section (5-2) and the brush wheel (6-3) to a position of mutual contact. Under the action of the rotation of the drill assembly (5), the brush wheel (6-3) is passively rotated according to the worm gear transmission principle and brushes off the lunar soil under the action of the brush bristles, thus achieving the designated sampling of lunar soil at the target depth.

10. A drilling and sampling device suitable for lunar permafrost according to claim 9, characterized in that, The drill bit (5-3) is made of YG6x material, the sampling spiral section (5-2) is made of GH4169 material, and the drill rod (5-1) is made of titanium alloy TA7.

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