A drill sampling device suitable for lunar permafrost

Abstract

The application provides a drilling sampling device suitable for lunar permafrost, which comprises a mounting frame, 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 frame; 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 connected with the rotary impact mechanism and the feeding mechanism respectively and is connected with a drilling sampling device control system; the drilling tool assembly is connected with the rotary impact mechanism and realizes linear motion function, rotary function and impact function under the driving of the rotary impact mechanism, so as to realize drilling of lunar soil and temporary storage of samples; the sample brushing mechanism is mounted at the bottom of the feeding mechanism and is in contact with the drilling tool assembly, so as to brush off the lunar soil temporarily stored on the drilling tool assembly and obtain the lunar soil.

Description

Technical Field

[0001] This invention relates to a drilling and sampling device suitable for lunar permafrost, belonging to the field of machinery. Background Technology

[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 permanently shadowed regions of the lunar poles has been continuously enriched. Further in-situ verification, exploration, exploitation and utilization of water resources in the lunar poles has become a new international research hotspot in the field of lunar exploration.

[0003] The scientific community generally believes that water ice exists within a certain range of the surface and shallow subsurface (~1m) of the permanently shadowed regions in the lunar polar regions. However, current detection results are all based on analysis using orbital remote sensing methods such as radar, neutron, and spectroscopy. These methods suffer from low detection accuracy, low spatial resolution, and numerous interference factors, failing to provide scientific information on the local water ice content and distribution in specific areas that can be used for water resource extraction and utilization. In-situ sampling detection methods are therefore necessary. Consequently, in-situ sampling detection technologies for water ice in the lunar polar regions have become a key area of ​​development.

[0004] According to the deep space exploration mission plans of NASA, ESA, and other space organizations, in order to meet the need for in-situ sampling and detection of water ice in the lunar polar regions, it is planned to land and explore at the lunar south pole and use drilling methods to obtain lunar regolith from the lunar surface and subsurface, thereby achieving in-situ detection of lunar water resources. Currently, the exploration of lunar polar permafrost is in the research stage, and no probe has yet achieved the mission goal of direct water ice verification. Products under development include the water ice sampling drill and in-situ analysis instruments of the US VIPER lunar rover, and the PROSPECT lunar water ice sampling and analysis system carried by the Luna 27 lander, a collaboration between Russia and ESA. Summary of the Invention

[0005] The technical problem this invention aims to solve is to provide a sampling device suitable for the lunar subsurface, which can also be used for sampling missions on Mars and asteroids. The device simultaneously possesses capabilities such as: adaptability to lunar soil / rock particles, efficient drilling of high-intensity water-bearing lunar soil, controlled temperature rise drilling, controlled pressure drilling, and precise acquisition of samples at specific depths along the profile.

[0006] The technical solution adopted in this invention is: a drilling and sampling device suitable for lunar permafrost, comprising a mounting frame, a feeding mechanism, a rotary impact mechanism, a follow-up cable, a drilling tool assembly, and a brushing mechanism; The feed mechanism is mounted on the mounting frame; the rotary impact mechanism is mounted on the feed mechanism and can move up and down along the feed mechanism; the follower cable is connected to the rotary impact mechanism and the feed mechanism respectively, and is connected to the control system of the drilling and sampling device; the drill assembly is connected to the rotary impact mechanism and realizes the linear motion function, rotary function and impact function under the drive of the rotary impact mechanism, which is used to realize the drilling of lunar soil and temporary storage of samples; the brushing mechanism is installed at the bottom of the feed mechanism and is in contact with the drill assembly, which is used to brush off the lunar soil temporarily stored on the drill assembly and obtain the lunar soil.

[0007] Furthermore, the feeding mechanism includes a feeding drive mechanism, a wire rope pulley, a feeding guide rail, an upper feeding trigger switch, an upper feeding pulley, a wire rope, a lower feeding trigger switch, and a lower feeding pulley. The feeding drive mechanism and the wire rope pulley are mounted on the feeding guide rail. The upper feeding trigger switch and the upper feeding pulley are mounted at the top of the feeding guide rail, and the lower feeding trigger switch and the lower feeding pulley are mounted at the bottom of the feeding guide rail. The feeding drive mechanism winds the wire rope through the wire rope pulley to realize the winding and unwinding of the wire rope. The upper feeding pulley and the lower feeding pulley guide the two ends of the wire rope, respectively.

[0008] Furthermore, the rotary impact mechanism includes an impact drive motor, an upper housing of the rotary impact mechanism, a rotary drive motor, a middle housing of the rotary impact mechanism, a conductive slip ring, a downward force sensor, an upward force sensor, several 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; The rotary impact mechanism is mounted on the feed guide rail via several guide rail pulleys installed on the side. The wire rope passes over the upper feed pulley and the lower feed pulley, and then connects to the upper tension sensor and the lower tension sensor respectively. The wire rope drives the rotary impact mechanism to move linearly along the feed guide rail. The output shaft of the rotary drive motor is fixedly connected to the rotary pinion. The ball spline gear is mounted in the middle housing of the rotary impact mechanism through bearings and meshes with the rotary pinion. One end of the spline shaft is inserted into the center hole of the ball spline gear and connected to the impact pad. The ball spline gear and the spline shaft form a spline kinematic pair. The other end of the spline shaft is connected to the drill assembly. The output shaft of the impact drive motor is fixedly connected to the impact pinion; the impact gear is mounted in the middle housing of the rotary impact mechanism through bearings, coaxial with the ball spline gear, the impact gear is fixedly connected to the impact roller, and the impact roller contacts the impact cam surface; an impact compression spring is installed between one end of the impact cam center shaft and the upper end cover of the upper housing of the rotary impact mechanism, and the other end of the impact cam center shaft is aligned with the impact pad; The conductive slip ring is installed at the bottom of the housing in the middle of the rotary impact mechanism and is fitted onto the spline shaft.

[0009] Furthermore, the drill assembly includes a drill pipe, a sampling auger section, and a drill bit; the drill pipe is connected to a spline shaft, the sampling auger section is installed at the end of the drill pipe, and the drill bit is installed at the end of the sampling auger section; the drill temperature sensor a is installed inside the sampling auger section, close to the cutting edge b of the drill bit, and coated with thermal grease; The cutting edge b of the drill bit cuts and breaks up the lunar regolith. The groove depth of the sampling spiral section is greater than that of the drill pipe. By controlling the drilling speed of the drill assembly, the lunar regolith is always in a state of compression flow in the sampling spiral section, and the sampling spiral section samples the debris of the lunar regolith. The drill pipe realizes the spiral transport of the lunar regolith and its discharge to the lunar surface.

[0010] Furthermore, the brushing mechanism includes a brushing mechanism housing, a drill bushing, and a brush wheel; the brushing mechanism housing is connected to the feed pulley, the drill assembly passes through the drill bushing, and the drill bushing and brush wheel are mounted on the brushing mechanism housing.

[0011] Furthermore, the rotary impact mechanism, under the rotation of the drive mechanism, drives the drill assembly to move linearly via a wire rope. When the rotary impact mechanism moves to the position of the feed upper trigger switch and the feed lower trigger switch, the corresponding switch is triggered to realize the calibration of the drilling position and the stop when the position is reached. When drilling and sampling on the lunar surface, the rotary drive motor drives the rotary pinion 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. When encountering lunar rocks or water-bearing lunar soil, the impact drive motor drives the impact pinion to rotate the impact gear along the central axis. As the impact roller rotates along the central axis, it pushes the impact cam to move along the axis. When it passes the highest point of the impact cam surface, under the action of the impact compression spring, the impact cam moves downward, converting elastic potential energy into kinetic energy, striking the impact pad. The impact pad pushes the spline shaft and drill assembly, realizing the transfer of impact energy through the drill bit to the drilling target, and pushing the drill assembly to perform impact motion.

[0012] Furthermore, when the temperature rise exceeds the set threshold during drilling, the drill string temperature sensor a feeds back the temperature measurement value to the drilling sampling device control system, which controls the rotation speed of the drill string assembly by adjusting the rotation drive motor speed, thereby achieving real-time temperature rise control during drilling.

[0013] Furthermore, by collecting information from the upper and lower tension sensors, the tension difference between the upper and lower ends of the wire rope is measured and fed back to the control system of the drilling sampling device. The drilling pressure during the drilling process of the drill assembly is calculated, and the real-time closed-loop control of the drilling pressure during the drilling process is achieved by adjusting the current conditions of the feed drive mechanism.

[0014] Furthermore, after drilling to the designated sampling depth, the feed drive mechanism drives the wire rope wheel to wind the wire rope and drive the drill assembly to move upward. At the same time, the rotary drive motor drives the drill assembly to rotate. When the sampling spiral section moves to the brushing mechanism, the drill sleeve constrains the sampling spiral section and the brush wheel to a position of mutual contact. Under the action of the rotary motion of the drill assembly, the brush wheel passively rotates according to the worm gear transmission principle, and at the same time, under the action of the brush bristles, it brushes off the lunar soil, thus achieving the designated sampling of lunar soil at the target depth.

[0015] Furthermore, the drill bit is made of YG6x material, the sampling spiral section is made of GH4169 material, and the drill rod is made of titanium alloy TA7.

[0016] The advantages of this invention compared to the prior art are: 1. The drilling sampling device for lunar permafrost proposed in this invention, through the decoupling design of the drilling tool's rotary motion, impact motion, and feed motion, can realize multiple working modes such as rotary drilling, rotary impact drilling, and impact drilling, thereby improving the effective drilling and sample acquisition capabilities for lunar rocks and high-strength water-bearing lunar soil. 2. This invention proposes a controllable drilling temperature rise design scheme. Addressing the challenge of ensuring detection accuracy due to the evaporation of moisture from lunar permafrost caused by drilling thermal disturbances, this invention proposes a design scheme that places a temperature sensor near the cutting edge inside the drill bit to measure the drill bit temperature and provide real-time feedback to the control system. This allows for controllable temperature rise drilling by adjusting the drill string's rotation speed. 3. This invention proposes a controllable pressure drilling design scheme. Addressing the challenge of low-pressure drilling sampling under lunar gravity conditions, it proposes arranging two tension sensors along the drill string assembly's transmission path. A controllable pressure drilling scheme is achieved by calculating the difference in tension sensor measurements and using a feedback control system, along with real-time current closed-loop control of the feed motion mechanism.

[0017] 4. This invention proposes a deep spiral groove sampling and chip handling scheme, which utilizes the drill bit configuration design to ensure that lunar soil remains in a compressed flow state within the deep spiral groove, thereby improving the drill bit's sample acquisition capability. 5. This invention proposes a fixed-point sampling design scheme, which contains lunar soil at the target depth in the deep spiral groove of the drill bit and then pulls the drill bit out of the lunar surface. The rotation of the drill bit drives the passive rotation of the brush wheel of the brushing mechanism to brush off the lunar soil temporarily stored in the spiral groove of the drill bit. Without additional mechanisms, the fixed-point acquisition of lunar soil is achieved. Attached Figure Description

[0018] Figure 1 This is an isometric view of a lunar permafrost sampling device; Figure 2 This is an isometric drawing of the feed mechanism; Figure 3 It is a rotary impact mechanism isometric Figure 1 ; Figure 4 At this time, the rotary impact mechanism isometric Figure 2 ; Figure 5 This is a cross-sectional view of a rotary impact mechanism; Figure 6 It is an isometric drawing of the drill string assembly; Figure 7 This is a sectional view of the drill string assembly; Figure 8 It is an isometric drawing of the brushing mechanism. Detailed Implementation

[0019] The present invention will be described in conjunction with the accompanying drawings.

[0020] like Figure 1 As shown, a drilling and sampling device suitable for lunar permafrost includes a mounting frame 1, a feeding mechanism 2, a rotary impact mechanism 3, a follower cable 4, a drill assembly 5, and a brushing mechanism 6.

[0021] Mounting frame 1 provides support and connection for the entire sampling device, mounting the drilling and sampling device onto the main structure of the detector and connecting it to the feed mechanism 2. The feed mechanism 2 is connected to the rotary impact mechanism 3, providing power and positional constraints during the drilling and sampling process. The follower cable 4 is connected to both the rotary impact mechanism 3 and the feed mechanism 2, providing electrical connection during the movement of the rotary impact mechanism 3. The drill assembly 5 is connected to the rotary impact mechanism 3, enabling drilling of lunar soil and temporary sample storage. The brushing mechanism 6 is connected to the feed mechanism 2 and contacts the drill assembly 5, brushing lunar soil temporarily stored in the spiral grooves of the drill assembly 5 to obtain lunar soil.

[0022] like Figure 2 As shown, the feed mechanism 2 includes a feed drive mechanism 2-1, a wire rope pulley 2-2, a feed guide rail 2-3, an upper feed trigger switch 2-4, an upper feed pulley 2-5, a wire rope 2-6, a lower feed trigger switch 2-7, and a lower feed pulley 2-8. The feed drive mechanism 2-1 and the wire rope pulley 2-2 are mounted on the feed guide rail 2-3. The upper feed trigger switch 2-4 and the upper feed pulley 2-5 are mounted 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 mounted 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 pulley 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.

[0023] like Figures 3-5As shown, the rotary impact mechanism 3 includes an impact drive motor 3-1, an upper housing 3-2, a rotary drive motor 3-3, a middle housing 3-4, a conductive slip ring 3-5, a downward force sensor 3-6, an upward force 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 feed drive mechanism 2-1 and the wire rope pulley 2-2 are mounted on the feed guide rail 2-3. The upper feed trigger switch 2-4 and the upper feed pulley 2-5 are mounted on 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 mounted on 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 pulley 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.

[0024] like Figure 6 As shown, the drill assembly 5 includes a drill rod 5-1, a sampling auger section 5-2, and a drill bit 5-3; the drill rod 5-1 is connected to the spline shaft 3-17, the sampling auger 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 auger section 5-2.

[0025] like Figure 8 As shown, 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.

[0026] The rotary impact mechanism 3 is mounted on the feed guide rail 2-3 of the feed mechanism 2 via guide rail pulley 3-8. The wire rope 2-6 is connected to the lower tension sensor 3-6 and the upper tension sensor 3-7 respectively, and the wire rope 2-6 can drive the rotary impact mechanism 3 to move linearly along the feed guide rail 2-3. The drill assembly 5 is connected to the spline shaft 3-17 in the rotary impact mechanism 3 via drill rod 5-1 to achieve rotary motion. The housing 6-1 of the sampling mechanism 6 is connected to the feed pulley 2-8 of the feed mechanism 2, and the drill assembly 5 passes through the drill sleeve 6-2 in the sampling mechanism 6. The follower cable 4 is connected to the rotary impact mechanism 3 and the feed mechanism 2 respectively to realize the electrical connection during the movement of the rotary impact mechanism 3, and finally connects to the control system of the drilling and sampling device.

[0027] The drill bit 5-3 in drill assembly 5 is made of YG6x material, which is high-strength and high-hardness, to achieve drilling and breaking of lunar permafrost. The sampling spiral section 5-2 is made of GH4169 material, which has good low-temperature adaptability and high wear resistance. The drill rod 5-1 is made of titanium alloy TA7 to achieve a lightweight design, and the surface is treated with micro-arc oxidation to further improve wear resistance.

[0028] Rotary drilling function implementation: During lunar surface drilling and sampling, the rotary drive motor 3-3 drives the fixed rotary pinion 3-16, which in turn drives 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 kinematic pair, which can transmit torque while allowing axial relative movement between the two. The spline shaft 3-17 is fixedly connected to the drill string assembly 5, thereby driving the rotary motion of the drill string assembly 5.

[0029] In the feed mechanism 2, the feed drive mechanism 2-1 winds the wire rope 2-6 via the wire rope pulley 2-2, enabling the winding and unwinding of the wire rope 2-6. The wire rope 2-6 passes over the upper feed pulley 2-5 and the lower feed pulley 2-8, and then connects to the upper tension sensor 3-7 and the lower tension sensor 3-6 in the rotary impact mechanism 3. Driven by the wire rope 2-6, the guide pulley 3-8 in the rotary impact mechanism 3 moves along the feed guide rail 2-3. The rotary impact mechanism 3 is fixedly connected to the drill string assembly 5. Under the rotation of the drive mechanism 2-1, the wire rope 2-6 drives the linear motion of the drill string assembly 5. An upper feed trigger switch 2-4 and a lower feed trigger switch 2-7 are designed at the initial and final positions of the linear motion to calibrate the drilling position and stop the machine upon reaching the target position.

[0030] Rotary impact drilling function implementation: The rotary impact drilling function's drill bit assembly 5's rotary function and feed linear motion function are consistent with the aforementioned rotary drilling function implementation scheme. When encountering high-hardness lunar rock or high-strength water-bearing lunar soil, the impact drive motor 3-1 drives the impact pinion 3-9, which is fixed to it, to rotate the impact gear 3-10 along the central axis. The impact gear 3-10 is fixed to the impact roller 3-11, which is in surface contact with the impact cam 3-13. An impact compression spring 3-12 is installed between the impact cam 3-13 and the upper housing 3-2 of the rotary impact mechanism. 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 impact cam 3-13, under the action of the impact spring 3-12, the impact cam 3-13 moves downward and converts the elastic potential energy into kinetic energy, striking the impact pad 3-14. The impact pad 3-14 is connected to the drill assembly 5 through the spline shaft 3-17, and finally realizes the transfer of impact energy to the drilling target through the drill bit 5-3, realizing rotary impact drilling.

[0031] Impact drilling function implementation: The impact drilling function is a combination of the linear motion of the drill string assembly 5 along the feed guide rails 2-3 and the impact motion of the drill string assembly 5. Its implementation scheme is similar to that of the rotary impact drilling function, the difference being that the drill string assembly 5 does not have rotary motion.

[0032] Controlled temperature drilling function implemented: like Figure 7 As shown, the drill string temperature sensor 5-3-a is installed inside the drill string assembly 5, close to the drill bit cutting edge 5-3-b, and coated with thermal grease. When the temperature rises too high during drilling, the drill string temperature sensor 5-3-a feeds the temperature measurement value back to the drilling sampling device control system, which adjusts the rotation speed of the rotary drive motor 3-3 to control the rotation speed of the drill string assembly 5, thereby achieving real-time temperature rise control during drilling.

[0033] Controllable pressure drilling function is achieved: The upper tension sensor 3-7 is connected to the middle housing 3-4 of the rotary impact mechanism and the upper end of the wire rope 2-6, while the lower tension sensor 3-6 is connected to the lower end of the middle housing 3-4 of the rotary impact mechanism and the lower end of the wire rope 2-6. The drilling pressure of the drill assembly 5 during drilling is calculated by measuring the tension difference between the upper and lower ends of the wire rope 2-6. During drilling, the difference measured by the lower tension sensor 3-6 and the upper tension sensor 3-7 is fed back to the control system, and real-time closed-loop control of the drilling pressure is achieved through the current conditions of the feed drive mechanism 2-1.

[0034] Fixed-point sampling function implementation: The drill pipe 5-1, sampling spiral section 5-2, and drill bit 5-3 are fixedly connected. The cutting edge 5-3-b of the drill bit cuts and breaks up the lunar regolith. The sampling spiral section 5-2 has a deep groove design, and through the drilling speed control of the drill assembly 5, the lunar regolith is always kept in a compressed flow state within the sampling spiral section 5-2, which samples the debris from the lunar regolith. The drill pipe 5-1 has a shallow groove design, which enables the spiral transport and discharge of the lunar regolith to the lunar surface.

[0035] Once the drilling reaches the designated sampling depth, the feed drive mechanism 2-1 drives the wire rope wheel 2-2 to wind the wire rope 2-6, driving the drill assembly 5 upward. Simultaneously, the rotary drive motor 3-3 drives the drill assembly 5 to rotate, thus achieving the upward movement of the drilling assembly 5. 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 contact position. Under the action of the rotary motion of the drill assembly 5, the brush wheel 6-3 passively rotates according to the worm gear transmission principle, and simultaneously brushes off lunar soil under the action of the brush bristles, achieving the targeted sampling of lunar soil at the target depth.

[0036] The parts of this invention not described in detail are well-known to 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 lunar soil; 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).

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 pulley (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 pulley (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 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.

4. A drilling and sampling device suitable for lunar permafrost according to claim 3, 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).

5. A drilling and sampling device suitable for lunar permafrost according to claim 4, 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 feed 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. 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 drive the impact gear (3-10) to rotate 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 strikes 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 (5-3) and pushing the drill assembly (5) to perform impact motion.

6. A drilling and sampling device suitable for lunar permafrost according to claim 5, 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.

7. A drilling and sampling device suitable for lunar permafrost according to claim 6, 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.

8. A drilling and sampling device suitable for lunar permafrost according to claim 7, 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 rotary motion 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.

9. A drilling and sampling device suitable for lunar permafrost according to claim 8, 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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