Star catalogue anchoring device based on ultrasonic drilling devices arranged at multiple angles

Abstract

The utility model relates to the field of surface attachment of deep space exploration, in particular to a star catalogue anchoring device based on ultrasonic drilling devices arranged at multiple angles. A star catalogue anchoring device based on ultrasonic drilling devices arranged at multiple angles comprises supporting legs, an ultrasonic drilling anchoring mechanism and a multi-angle adjusting support, and the multiple supporting legs are evenly arranged at the bottom of a detector at intervals and connected with the detector through a connecting support. The supporting legs can rotate around the connecting ends of the supporting legs and the connecting support. The ultrasonic drilling and anchoring mechanism is used for drilling and anchoring on a star catalogue so as to fix the detector; and each supporting leg is detachably provided with the corresponding multi-angle adjusting support, and the multi-angle adjusting supports are used for adjusting the drilling angle of the ultrasonic drilling anchoring mechanism.

Description

Technical Field

[0001] This utility model relates to the field of surface attachment in deep space exploration, and in particular to a star surface anchoring device based on a multi-angle ultrasonic drill. Background Technology

[0002] Deep space exploration refers to space activities conducted by humans using unmanned or manned spacecraft to explore and study the Moon and outer space beyond. Planetary exploration is of great significance in studying the origin and evolution of the solar system, the search for extraterrestrial life, the search for habitable planets, the utilization value of celestial resources, and disaster prevention value. Planetary exploration has become one of the key development goals in the deep space exploration field for major spacefaring nations. With the advancement of orbital design and navigation control technology, advanced propulsion technology, and surface manipulation technology, planetary exploration has gradually evolved into in-situ exploration and sample return exploration. Anchoring technology plays a crucial role in planetary landing exploration missions. Reliable anchoring ensures the smooth progress of the exploration mission, assists in obtaining more complete information, and is one of the foundations for probes to carry out exploration missions on planetary surfaces. When anchoring and sampling on the planetary surface, reaction forces may cause the probe to detach from the planet, and rugged, irregular terrain may cause the probe to capsize. To address the problems of large reaction forces, small anchoring forces, and easy capsizing when existing probes are fixed on the planetary surface, a planetary surface anchoring device based on multi-angle ultrasonic drills is proposed. Utility Model Content

[0003] To overcome the shortcomings of the prior art, this utility model provides a star-table anchoring device based on a multi-angle ultrasonic drill.

[0004] A star surface anchoring device based on a multi-angle ultrasonic drill bit includes:

[0005] The device has multiple support legs, which are evenly spaced at the bottom of the detector and connected to the detector via a connecting bracket. The support legs can rotate around their connection end with the connecting bracket.

[0006] An ultrasonic drilling and anchoring mechanism is provided, which corresponds one-to-one with multiple support legs. The ultrasonic drilling and anchoring mechanism is used to drill and anchor on the star surface to fix the detector.

[0007] A multi-angle adjustment bracket is provided, which corresponds one-to-one with multiple ultrasonic drilling anchoring mechanisms. Each support leg is detachably equipped with the multi-angle adjustment bracket. The ultrasonic drilling anchoring mechanism is detachably connected to the corresponding multi-angle adjustment bracket. The multi-angle adjustment bracket is used to adjust the drilling angle of the ultrasonic drilling anchoring mechanism.

[0008] Furthermore, the support leg, the ultrasonic drilling anchoring mechanism, and the multi-angle adjustment bracket are all provided in threes, and the three support legs are evenly spaced at 120° intervals at the bottom of the detector.

[0009] Furthermore, the ultrasonic drilling and anchoring mechanism includes a first housing, a rotary impact ultrasonic drilling unit, and a drive assembly. The first housing is a hollow cylindrical structure. Both the rotary impact ultrasonic drilling unit and the drive assembly are installed inside the first housing. The impact ultrasonic drilling unit is slidably connected to the inner wall of the first housing, and the drive assembly is drivenly connected to the rotary impact ultrasonic drilling unit. Under the action of the drive assembly, the rotary impact ultrasonic drilling unit can move along the axial direction of the first housing until the drilling end of the rotary impact ultrasonic drilling unit extends out of the first housing, thereby realizing rotary impact drilling of the star surface.

[0010] The multi-angle adjustment bracket is detachably connected to the first housing.

[0011] Furthermore, the rotary impact ultrasonic drilling unit includes a second housing, a twist drill, an amplitude transformer, and a stack of piezoelectric ceramics;

[0012] The first housing has a plurality of sliding grooves arranged along its axial direction, and the outer wall of the second housing has a plurality of balls adapted to the sliding grooves, the balls being embedded in the sliding grooves;

[0013] The amplitude rod is disposed in the second housing, with a rotor at its front end and a double-ended bolt at its rear end, the double-ended bolt being connected to the drive end of the drive assembly.

[0014] The piezoelectric ceramic stack is installed at the rear end of the second housing;

[0015] The twist drill is installed at the front end of the second housing, and its rear end passes through the second housing and is connected to the rotor drive.

[0016] Furthermore, the aforementioned chute has three sections.

[0017] Furthermore, the drive assembly includes a drive motor, a reducer, a coupling, and a trapezoidal lead screw connected in sequence, with one end of the trapezoidal lead screw near the luffing rod passing through a double-ended bolt and being connected to the luffing rod for transmission.

[0018] Furthermore, the first housing is provided with two limiting members, which are respectively disposed at the front and rear of the inner wall of the first housing. The limiting members are used to restrict the movement of the second housing.

[0019] Furthermore, the limiting component is a limit switch, which is disposed on the inner wall of the front end of the first housing, and a collision block is provided on the outer wall of the rear end of the second housing.

[0020] Furthermore, the multi-angle adjustable bracket includes a fixing part and an adjusting part, both of which are clamp structures, and the adjusting part is rotatably connected to the fixing part. The adjusting part can rotate 360° around the connecting axis between itself and the fixing part; the fixing part is fixedly connected to the support leg, and the adjusting part is fixedly connected to the first housing.

[0021] Furthermore, the end of the support leg is provided with a universal support foot pad, which is fixed to the bottom of the support leg by a threaded connection.

[0022] The beneficial effects of this utility model are as follows: 1. The star-table anchoring device based on the multi-angle arrangement of ultrasonic drills described in this utility model can adjust the fixed angle of the ultrasonic drilling anchoring mechanism under the action of the multi-angle adjustment bracket, so that the ultrasonic drilling anchoring mechanism can be arranged in parallel, cross, or at a certain angle, to meet the needs of different drilling angles and drilling depths under complex terrain.

[0023] 2. The satellite surface anchoring device based on the multi-angle ultrasonic drill described in this utility model adopts universal support foot pads. The universal support foot pads are set at the bottom of the support legs. Utilizing the principle of three points forming a surface, they adapt to the complex terrain of the probe landing area and form a stable support.

[0024] 3. The star surface anchoring device based on the multi-angle ultrasonic drill described in this utility model adopts three support legs evenly arranged at 120° intervals. After drilling is completed, it forms a force-closed structure with a large anchoring force, which can achieve reliable anchoring on the star surface.

[0025] 4. The satellite surface anchoring device based on a multi-angle ultrasonic drill described in this utility model uses a rotary impact ultrasonic drill as the drilling anchoring mechanism. The rotary impact ultrasonic drill has a small reaction force during drilling, and the detector will not overturn or drift away from the satellite surface due to the reaction force during the drilling and anchoring process after landing.

[0026] 5. The star-table anchoring device based on a multi-angle ultrasonic drill described in this utility model uses a rotary impact ultrasonic drilling unit. The rotary impact ultrasonic drill has high drilling efficiency and good chip removal performance, avoiding the risk of borehole blockage during drilling. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a star surface anchoring device based on a multi-angle ultrasonic drill.

[0028] Figure 2 This is a schematic diagram of the ultrasonic drilling and anchoring mechanism of this utility model;

[0029] Figure 3 This is a schematic diagram of the ultrasonic drilling and anchoring mechanism of this utility model;

[0030] Figure 4 This is a schematic diagram of the ultrasonic drilling and anchoring mechanism of this utility model. Detailed Implementation Plan

[0031] The following section describes the present invention in further detail with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of protection of the invention.

[0032] like Figure 1-4 As shown, a star surface anchoring device based on a multi-angle ultrasonic drill includes:

[0033] The support leg 4 is provided in multiples, and the multiple support legs 4 are evenly spaced at the bottom of the detector 1 and connected to the detector 1 through the connecting bracket 3. The support leg 4 can rotate around its connection end with the connecting bracket 3.

[0034] An ultrasonic drilling and anchoring mechanism 2 is provided in a one-to-one correspondence with multiple support legs 4. The ultrasonic drilling and anchoring mechanism 2 is used to drill and anchor on the star surface to fix the detector 1.

[0035] A multi-angle adjustment bracket 5 is provided, which corresponds one-to-one with multiple ultrasonic drilling anchoring mechanisms 2. Each support leg 4 is detachably equipped with the multi-angle adjustment bracket 5. The ultrasonic drilling anchoring mechanism 2 is detachably connected to the corresponding multi-angle adjustment bracket 5. The multi-angle adjustment bracket 5 is used to adjust the drilling angle of the ultrasonic drilling anchoring mechanism 2.

[0036] In this invention, three of each of the following components are provided: the support leg 4, the ultrasonic drilling and anchoring mechanism 2, and the multi-angle adjustment bracket 5. The three support legs 4 are evenly spaced at 120° intervals at the bottom of the probe 1 to ensure the stability of the probe 1 when fixed on the satellite surface. In one embodiment, a connecting bracket 3 is provided at the bottom of the probe 1, and a fixing bracket is provided at the top of the support leg 4. The fixing bracket is connected and fixed to the connecting bracket 3 by bolts to fix the support leg 4 to the bottom of the probe 1. Simultaneously, the support leg 4 can rotate around its fixed end with the connecting bracket 3 to facilitate folding and unfolding. Furthermore, a universal support foot pad 6 is provided at the end of the support leg 4. The universal support foot pad 6 is fixed to the bottom of the support leg 4 by a threaded connection. The universal support foot pad 6 includes a ball joint structure, allowing the rotation angle of the universal support foot pad 6 to adapt to changes in the terrain of the landing area of ​​the probe 1.

[0037] As an embodiment of this utility model, the ultrasonic drilling and anchoring mechanism 2 includes a first housing, a rotary impact ultrasonic drilling unit, and a drive assembly. The first housing is a hollow cylindrical structure. The rotary impact ultrasonic drilling unit and the drive assembly are both installed inside the first housing. The impact ultrasonic drilling unit is slidably connected to the inner wall of the first housing, and the drive assembly is drivenly connected to the rotary impact ultrasonic drilling unit. Under the action of the drive assembly, the rotary impact ultrasonic drilling unit can move along the axial direction of the first housing until the drilling end of the rotary impact ultrasonic drilling unit extends out of the first housing, so as to realize rotary impact drilling on the star surface.

[0038] The multi-angle adjustment bracket 5 is detachably connected to the first housing.

[0039] In this invention, the first housing consists of a drilling housing 2-1 and a motor housing 2-2, which are detachably connected by bolts and a flange. A first front cover 2-3 is detachably installed at the front end of the drilling housing 2-1. The first front cover 2-3 is used to shield rock debris and dust generated during drilling, preventing interference with the normal operation of the ultrasonic drilling anchoring mechanism 2. A through hole is provided on the first front cover 2-3 for the drilling end of the rotary impact ultrasonic drilling unit to pass through. In order to achieve a lightweight outer shell structure, a strip-shaped notch 2-4 is provided on the drilling housing 2-1.

[0040] As an embodiment of the present invention, the rotary impact ultrasonic drilling unit includes a second housing 2-1-19, a twist drill 2-1-18, an amplitude transformer 2-1-5, and a piezoelectric ceramic stack 2-1-2.

[0041] The first housing is provided with a plurality of sliding grooves 2-9-3 arranged along its axial direction, and the outer wall of the second housing 2-1-19 is provided with a plurality of rollers 2-1-14 adapted to the sliding grooves 2-9-3, and the rollers 2-1-14 are embedded in the sliding grooves 2-9-3;

[0042] The amplitude rod 2-1-5 is disposed inside the second housing 2-1-19, with a rotor 2-1-7 at its front end and a double-headed bolt 2-1-4 at its rear end. The double-headed bolt 2-1-4 is connected to the drive end of the drive assembly.

[0043] The piezoelectric ceramic stack 2-1-2 is installed at the rear end of the second housing 2-1-19;

[0044] The twist drill 2-1-18 is installed at the front end of the second housing 2-1-19, and its rear end passes through the second housing 2-1-19 and is connected to the rotor 2-1-7 for transmission.

[0045] In this invention, the interior of the drilling housing 2-1 is provided with three sliding grooves 2-9-3. The rollers 2-1-14 are fixed to the second housing 2-1-19 via roller shafts 2-1-6 and snap rings 2-1-13, which is existing technology, and this invention does not limit the specific connection structure. The rollers 2-1-14 are arranged in pairs, with two rollers 2-1-14 distributed along the axial direction of the second housing 2-1-19, corresponding to three sets. The three sets of rollers 2-1-14 are distributed circumferentially along the second housing 2-1-19. Through the interaction of the sliding grooves 2-9-3 and the rollers 2-1-14, the second housing 2-1-19 moves axially along the first housing. The three sliding grooves 2-9-3 are evenly spaced circumferentially along the lead screw nut 2-1. The front end of the second housing 2-1-19 is provided with an end cap 2-1-17, and the rear end is provided with a second front cover 2-1-12 and a rear cover 2-1-11 respectively. The piezoelectric ceramic stack 2-1-2 is fixed between the front cover 2-1-12 and the rear cover 2-1-11 under the joint action of the front cover 2-1-12 and the rear cover 2-1-11, and the piezoelectric ceramic stack 2-1-2 is fixed by the clamping bolt 2-1-1. The rotor 2-1-7 has a free mass block 2-1-8 inside. The amplitude transformer 2-1-5 has a helical groove. The large spring 2-1-15 is connected to the bottom of the rotor 2-1-7. The rotor 2-1-7 is pressed against the front end face of the amplitude transformer 2-1-5 by the large spring 2-1-15. A copper sleeve 2-1-9 and a bearing 2-1-10 are coaxially fitted at the front end of the rotor 2-1-7 to achieve a transmission connection with the twist drill 2-1-18. A small spring 2-1-16 is provided inside the copper sleeve 2-1-9. It should be noted that the connection structure between the amplitude transformer 2-1-5 and the rotor 2-1-7, and the connection structure between the rotor 2-1-7 and the twist drill 2-1-18 in this utility model are existing technologies and will not be described in detail here. When the rotary impact ultrasonic drilling unit of this utility model starts working, the piezoelectric ceramic stack 2-1-2 converts the high-frequency electrical signal into a small-amplitude high-frequency mechanical vibration. The vibration is amplified by the amplitude transformer 2-1-5, causing the twist drill 2-1-18 to perform a rotary impact feed motion.

[0046] As an embodiment of the present invention, the drive assembly includes a drive motor 2-5, a reducer 2-6, a coupling 2-7 and a trapezoidal lead screw 2-8 connected in sequence. The end of the trapezoidal lead screw 2-8 near the amplitude rod 2-1-5 passes through a double-ended bolt 2-1-4 and is connected to the amplitude rod 2-1-5 for transmission.

[0047] In this invention, the drive assembly is installed inside the motor housing 2-2. The trapezoidal lead screw 2-8 has an angular contact ball bearing 2-9-1 along its axial direction. A lead screw nut 2-9 is located at the rear end of the housing 2-1. The trapezoidal lead screw 2-8 passes through the lead screw nut 2-9 and a double-acting bolt, and is connected to the amplitude transformer 2-1-5 for transmission. The drive assembly of this invention is prior art; its specific connection structure and working principle will not be described in detail here.

[0048] As an embodiment of this utility model, a limiting member is provided inside the first housing. Two limiting members are provided, respectively disposed at the front and rear parts of the inner wall of the first housing. The limiting member is used to restrict the movement of the second housing 2-1-19. Specifically, the limiting member is a limit switch 2-9-2, which is disposed on the inner wall of the front end of the first housing. A collision block 2-9-3 is provided on the outer wall of the rear end of the second housing 2-1-19.

[0049] In this invention, the limiting component is used to limit the movement distance of the second housing 2-1-19. Specifically, the limiting switch 2-9-2 of this invention is model YBLXW-5 / 11G1. Two limiting switches 2-9-2 are provided and are located at the front and rear ends of the drilling housing 2-1. When the second housing 2-1-19 moves to the limiting component at the front end of the drilling housing 2-1, the anchoring drilling of the rotary impact ultrasonic drilling unit stops. When the second housing 2-1-19 moves to the limiting component at the rear end of the drilling housing 2-1, the unanchoring retraction of the rotary impact ultrasonic drilling unit stops. The limiting component can realize stable control of the feed and retraction during the anchoring and unanchoring processes of the rotary impact ultrasonic drilling unit.

[0050] In this utility model, the collision block 2-9-3 is integrally formed and installed on the lead screw nut 2-9. When the second housing 2-1-19 moves to the collision block 2-9-3 and collides with the collision switch, the second housing 2-1-19 is locked, thus achieving the limit.

[0051] As an embodiment of this utility model, the multi-angle adjustable bracket 5 includes a fixing part 5-1 and an adjusting part 5-2. Both the fixing part 5-1 and the adjusting part 5-2 are clamp structures, and the adjusting part 5-2 is rotatably connected to the fixing part 5-1. The adjusting part 5-2 can rotate 360° around the connecting axis between itself and the fixing part 5-1. The fixing part 5-1 is fixedly connected to the support leg 4, and the adjusting part 5-2 is fixedly connected to the first housing.

[0052] In this invention, the clamp structure is easy to disassemble and also has the advantages of good fixing effect and low implementation cost. The rotating connection structure between the adjusting part 5-2 and the fixing part 5-1 realizes the adjustment of the fixing angle of the ultrasonic drilling anchoring mechanism 2. The multi-angle adjusting bracket 5 can arrange the ultrasonic drilling anchoring mechanism 2 and the support leg 4 in parallel, cross, or at a certain angle for anchoring at different drilling angles.

[0053] The working principle of the star table anchoring device of this utility model is as follows:

[0054] After landing, due to the complex and unpredictable terrain of the star surface, probe 1 will tilt to a certain extent. By adjusting the connecting support 3, probe 1 will be kept horizontal with the star surface.

[0055] When the rotary impact ultrasonic drilling unit starts working, the piezoelectric ceramic stack 2-1-2 converts the high-frequency electrical signal into a small-amplitude high-frequency mechanical vibration. The vibration is amplified by the amplitude transformer 2-1-5, causing the twist drill 2-1-18 to perform a rotary impact feed motion. At the same time, the drive motor 2-5 in the feed unit transmits power to the trapezoidal lead screw 2-8 through the coupling 2-7, and then to the rotary impact ultrasonic drilling unit through the lead screw nut 2-9.

[0056] When the twist drill 2-1-18 drills into the satellite surface to the predetermined depth, the drive motor 2-5 and the twist drill 2-1-18 stop working. At this time, the three twist drills 2-1-18 that have drilled into the satellite surface and the three support legs 4 of the detector 1 form a closed structure, which makes the detector 1 stably anchored on the satellite surface.

[0057] When detector 1 needs to detach from the satellite table, drive motor 2-5 rotates in the opposite direction, twist drill 2-1-18 stops working, and when collision block 2-9-3 on lead screw nut 2-9 collides with limit switch 2-9-2 located above, the rotary impact ultrasonic drilling unit stops retracting. At this time, twist drill 2-1-18 leaves the satellite table, the anchoring force closed structure fails, and the anchoring is released.

[0058] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A star anchor device based on a multi-angle arrangement of ultrasonic drills, characterized by, The utility model relates to a kind of star probe, including: Support leg is equipped with multiple, multiple The support leg is evenly spaced in the bottom of detector, and is connected with the detector by connecting support, the support leg can rotate around its connection end with the connecting support; Ultrasonic wave drilling anchoring mechanism is arranged one by one with multiple The support leg, the ultrasonic wave drilling anchoring mechanism is used to drill anchoring in star table, to fix the detector; Multi-angle adjusting support is arranged one by one with multiple The ultrasonic wave drilling anchoring mechanism, each The support leg is detachably mounted with the multi-angle adjusting support, the ultrasonic wave drilling anchoring mechanism and corresponding The multi-angle adjusting support can be detachably connected, the multi-angle adjusting support is used to adjust the drilling angle of the ultrasonic wave drilling anchoring mechanism.

2. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 1, characterized in that, The support leg, the ultrasonic wave drilling anchoring mechanism, the multi-angle adjusting support are all equipped with three, and three The support leg is evenly spaced in the bottom of detector 120 °.

3. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 2, characterized in that, The ultrasonic wave drilling anchoring mechanism includes first shell, rotary impact ultrasonic wave drilling unit and drive assembly, the first shell is hollow cylinder structure, the rotary impact ultrasonic wave drilling unit and the drive assembly are all installed in the first shell, wherein, the impact ultrasonic wave drilling unit is slidably connected with the inner wall of the first shell, the drive assembly is drivingly connected with the rotary impact ultrasonic wave drilling unit;Under the action of drive assembly, the rotary impact ultrasonic wave drilling unit can be moved to the rotary impact ultrasonic wave drilling unit along the axial direction of the first shell Drilling end extends out of the first shell, to realize rotary impact drilling to star table; The multi-angle adjusting support is detachably connected with the first shell.

4. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 3, characterized in that, The rotary impact ultrasonic wave drilling unit includes second shell, twist drill, amplitude rod, piezoelectric ceramic stack; The first shell is provided with a plurality of sliding grooves along the axial direction thereof, and the outer wall of the second shell is provided with a plurality of rolling balls matched with the sliding grooves, and the rolling balls are embedded in the sliding grooves. The amplitude rod is arranged in the second shell, the front end of the amplitude rod is provided with a rotor, and the rear end of the amplitude rod is provided with a double-headed bolt, and the double-headed bolt is drivingly connected with the driving end of the drive assembly. The piezoelectric ceramic stack is installed at the rear end of the second shell. The twist drill is installed at the front end of the second shell, and the rear end of the twist drill penetrates through the second shell and is drivingly connected with the rotor.

5. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 4, characterized in that, The sliding groove is provided with three.

6. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 4, characterized in that, The drive assembly includes a driving motor, a speed reducer, a coupling and a trapezoidal screw connected in sequence, and one end of the trapezoidal screw near the amplitude rod penetrates through the double-headed bolt and is drivingly connected with the amplitude rod.

7. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 4, characterized in that, The first shell is provided with a limiting piece, the limiting piece is provided with two, and is arranged at the front and rear of the inner wall of the first shell respectively, and the limiting piece is used to limit the movement of the second shell.

8. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 7, characterized in that, The limiting piece is a limit switch arranged on the inner wall of the front end of the first shell, and the rear end of the second shell is provided with a collision block.

9. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 3, characterized in that, The multi-angle adjusting support comprises a fixing part and an adjusting part, both of which are in the form of a clamp structure, and the adjusting part is rotationally connected with the fixing part, and the adjusting part can rotate 360 degrees around the connecting shaft thereof with the fixing part; the fixing part is fixedly connected with the support leg, and the adjusting part is fixedly connected with the first shell.

10. A star anchor based on a multi-angle arrangement of ultrasonic drills according to claim 1, characterized in that, The end of the support leg is provided with a universal support foot pad, which is fixed at the bottom of the support leg through threaded connection.

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