CN115561016B

CN115561016B - Shallow surface layer order-preserving sampling recovery system for extra-terrestrial planet non-consolidated star soil

Info

Publication number: CN115561016B
Application number: CN202211273819.6A
Authority: CN
Inventors: 杨家峰; 李奚晗; 赵海峰; 袁子豪; 穆瑞楠; 王珂; 赵冲
Original assignee: Technology and Engineering Center for Space Utilization of CAS
Current assignee: Technology and Engineering Center for Space Utilization of CAS
Priority date: 2022-10-18
Filing date: 2022-10-18
Publication date: 2023-04-21
Anticipated expiration: 2042-10-18
Also published as: CN115561016A

Abstract

The invention relates to a shallow surface sequence-preserving sampling recovery system of extra-terrestrial planet non-consolidation star soil, which relates to the field of star soil sampling, wherein a mechanical arm is fixedly connected with a sampling drilling machine moving mechanism, a sampling drilling machine is movably arranged on the sampling drilling machine moving mechanism, one end of a sampling tube disc clamping mechanism is hinged with the other end of the mechanical arm, at least two sampling tube discs are arranged, the other end of the sampling tube disc clamping mechanism is detachably connected with any one of the sampling tube discs and can rotate below the sampling drilling machine or far away from the sampling drilling machine, a plurality of sampling tubes are detachably connected to each sampling tube disc, and the sampling drilling machine can clamp any sampling tube and sample. The sampling tube trays are replaceable, and a plurality of sampling tube trays can be carried in a sampling task so as to increase the number of the carried sampling tubes and meet the multi-place flexible sampling requirement of a large-span inspection range. The requirement on the control precision of the mechanical arm is reduced, and the system reliability is higher.

Description

Shallow surface layer order-preserving sampling recovery system for extra-terrestrial planet non-consolidated star soil

Technical Field

The invention relates to the field of star soil sampling, in particular to a shallow surface layer order-preserving sampling recovery system of extra-terrestrial planet non-consolidation star soil.

Background

The extraterrestrial planet detection has very important scientific, military and political significance, and the precious mineral resources owned by the extraterrestrial planet possibly provide a new direction for solving the problem of shortage of the earth resources, so that the extraterrestrial planet detection has become a research hotspot in the field of domestic and foreign spaceflight, and the extraterrestrial planet sampling is one of the important means of the extraterrestrial planet detection. The extra-earth planetary sampling can be roughly divided into shallow sampling and deep sampling, the shallow sampling mainly utilizes the sampling function tail end carried on the mechanical arm of the detection vehicle to excavate, pick up and drill extra-earth star soil and extra-earth star rock with depth of less than 1 meter, and the effect of the extra-earth star soil on the sampling function tail end is mainly reflected in the extrusion and friction of the extra-earth star soil on the surface of a mechanism; deep sampling requires a specially designed drill bit and a drill rod to drill extra-soil with the depth of more than 1 meter, and the effect of the extra-soil and the surface of the mechanism in the deep sampling process is mainly extrusion and friction, but because a large amount of heat is generated in the drilling process, the external force load of the sampling mechanism is severely changed, and the action process is more complex. Shallow sampling has higher flexibility, is more suitable for obtaining the extra-ground star soil sample with wider distribution range, and easily increases the compactness of structure, so as to realize integration of sampling and packaging, and can simplify task flow.

Moon is the only natural satellite of earth, is also the first step of human's extraterrestrial planet exploration, has important reference meaning to extraterrestrial planet sampling to the sampling and the detection of moon, and the country that accomplishes moon sampling return task at present has united states, soviet union and china.

In 1970, 9 months to 1976, 8 months, 3 unmanned lunar sampling return tasks are completed by utilizing lunar-16, lunar-20 and lunar-24 detectors successively, and the unmanned lunar sampling return task is carried back to about 330g of lunar soil sample. The lunar soil and lunar rock samples are drilled by the lunar-16 and lunar-20 detectors through the single-degree-of-freedom drilling arm and the hollow drilling pipe, and the lunar-24 detector samples through a drilling machine capable of moving along the guide rail.

Apollo plan is a series of manned lunar tasks realized in the United states from 1967 to 1972, and aims to realize manned lunar logging and field investigation of moon by human beings, a sampling tool is operated by an astronaut to collect lunar soil samples, the astronaut in the Apollo 11 sampling task knocks a sampling pipe into the lunar soil to finish the sampling process, other clamping tools and a string bag tool are also used for picking up small lunar rocks, apollo 15 task starts, the astronaut uses a handheld drilling sampling device combining rotation and vibration to drill an assembled drill rod into the lunar soil, and then the crowbar is used for pulling out the sampling pipe to recover the lunar soil.

The goddess Chang E detector five in China is simultaneously provided with a surface taking subsystem and a drilling subsystem, wherein the surface taking subsystem digs lunar soil and clamps moon rock by means of a beak-shaped shoveling tool; the drilling subsystem adopts a double-tube single-bag drilling coring scheme, and a coring soft bag is pulled from the inside of the sampling tube in the drilling process, so that samples are collected in the coring soft bag.

In the prior art, an apparatus capable of realizing automatic sampling includes:

1. the drilling sampling subsystem (DSS system) in the MRoSA2 project mainly oriented to spark sampling can realize connection sampling of a plurality of sampling pipes. According to the scheme, the sliding part is driven by the screw rod to translate along the sliding rail, and the drilling motor is arranged on the sliding part to drive the drill pipe main shaft to rotate, so that decoupling of downlink motion and rotation motion in the drilling and sampling process is realized. Ten sampling tubes are arranged in the tube disc, a through hole is reserved at the position of one sampling tube in the tube disc so that the sampling tube can drill downwards, when one sampling tube reaches the target depth, the clamp motor drives the clamp to clamp the drilling tube, the main shaft is disconnected with the drilling tube and moves upwards, the tube disc motor drives the tube disc to rotate, a new sampling tube is rotated below the main shaft, the main shaft moves downwards to be connected with the new sampling pipe, then the new sampling pipe is lifted for a small distance, the pipe disc rotates the through hole to the lower part of the main shaft again, so that the new drilling pipe is used for continuously drilling or is connected with the old drilling pipe, the connection of the new drilling pipe and the old drilling pipe is finished by means of the spiral groove of the pipe orifice of the drilling pipe, the pipe orifice is also provided with the conical surface for auxiliary positioning, and the locking spring is expanded in the pipe to be fixed after the connection is finished. A similar connection method is used between the main shaft and the drill pipe, but a wedge block capable of being actively driven is added, the wedge block can expand the C-shaped ring in a stretching way or release any contraction of the C-shaped ring, so that connection and disconnection between the main shaft and the drill pipe are completed, the wedge block is maintained in a locking state by a permanent magnet in a drilling state, and the wedge block is attracted by an electromagnetic solenoid to be switched to a disconnection state when disconnection is needed.

The technical problems of the scheme are as follows: 1. the disconnection between the main shaft and the sampling tube needs the clamp to clamp the sampling tube for auxiliary completion, and a locking device is not arranged between the tube disc and the sampling tube, so that the sampling tube cannot be recovered to the tube disc. 2. The sampling tube tray mechanism is connected with the drilling system, so that only one sampling tube tray can be carried, the replacement of the tube tray can not be realized, and the number of sampling tubes which can be carried in a task is limited. 3. The connection of the main shaft and the sampling tube is in a permanent magnet locking state, the permanent magnet is required to provide enough force to prop open the C-shaped ring, but when the permanent magnet attractive force is too large to cause disconnection, the electromagnetic solenoid can not attract the wedge block to move to a corresponding position, and in the drilling process, magnetic particles in the sample can be adsorbed on the permanent magnet to increase the risk of clamping the wedge block.

2. The ROPEC drilling machine system adopts an 'One Bit-One Core' scheme, namely, a drilling pipe and a sample in the pipe are directly recovered together after a sampling process is finished, and a new sampling pipe is replaced, and the whole system is carried on a mechanical arm. The rotary actuator drives the gear set to provide rotation for the drill pipe, the whole drilling machine is arranged on the Z-shaped linear guide rail, and the motor drives the ball screw to enable the drilling machine to move downwards. The vibration actuator drives the cam to rotate through the motor, so that the driven piece vibration block generates high-frequency impact load on the output shaft of the spiral drill. During the drilling process, the sharp teeth on the preloading mechanism can penetrate into the lunar surface, so that the guide rail and the lunar surface are kept relatively static, and unnecessary deflection of the system during the drilling process is avoided. The rotary actuator, the vibration actuator and the lead screw guide rail are matched to complete the drilling process. After drilling sampling is completed, the double-layer eccentric pipe structure of the drilling pipe can shear the core at the tail end of the sampling pipe, the torsion-breaking executor enables the inner sleeve and the outer sleeve of the sampling pipe to rotate relatively, and the core is sheared and broken at the pipe orifice and stored in the sampling pipe. After the sampling is finished, the mechanical arm moves the drilling machine system to the sample buffer system and is in butt joint with the sample buffer system, the push rod actuator pushes out the sampling tube, the sampling tube is stored in the sample buffer system, a new drilling tube is replaced by the sample buffer system, the rear section of the push rod is a screw rod, and the push rod is ejected through motor driving.

The technical problems of the scheme are as follows: 1. the overall envelope volume is large. 2. When the sampling tube is replaced, the sampling tube needs to be in butt joint with a sample buffer system with higher complexity, and the reliability of the sample buffer system can influence the success rate of the whole sampling recovery process. The scheme also provides high requirements on the degree of freedom and control precision of the mechanical arm carrying the drilling machine system, so that the reliability of the whole sampling system is reduced.

Disclosure of Invention

The invention aims to solve the technical problems of increasing the number of the sampling tubes which can be carried and realizing the functions of automatically replacing and recovering the sampling tubes, and simultaneously ensuring the reliability and the compactness of the system.

The technical scheme for solving the technical problems is as follows: a shallow surface sequence-preserving sampling recovery system of an extraterrestrial planet non-consolidated star soil comprises a sampling drilling machine, a sampling tube disc clamping mechanism, a sampling drilling machine moving mechanism, a mechanical arm and a sampling tube,

one end of the mechanical arm is fixedly arranged, the other end of the mechanical arm is fixedly connected with the sampling drilling machine moving mechanism, the sampling drilling machine is movably arranged on the sampling drilling machine moving mechanism, one end of the sampling tube disc clamping mechanism is hinged with the other end of the mechanical arm, at least two sampling tube discs are arranged, the other end of the sampling tube disc clamping mechanism is detachably connected with any one of the sampling tube discs and can rotate to the position below the sampling drilling machine or away from the sampling drilling machine,

Each sampling tube disc is detachably connected with a plurality of sampling tubes, and the sampling drilling machine can clamp any sampling tube and sample the sampling tube.

The beneficial effects of the invention are as follows: the sampling drilling machine moving mechanism drives the sampling drilling machine to move up and down, the sampling drilling machine clamps the sampling pipe to rotate, the sampling is performed in a drilling mode, and the sequence information of the star soil sample can be stored while the star soil sample is stored in the sampling pipe. After the sampling is completed, the sampled sampling tube is put back into the sampling tube tray, and the sampling tube which is not sampled on the sampling tube tray is clamped. After all sampling tubes on the sampling tube tray are sampled, the mechanical arm puts down the sampling tube tray, and takes out a new sampling tube tray and sampling tubes to continue sampling. The sampling tube tray of sampling recovery system is removable, can carry a plurality of sampling tube trays in sampling task to increase the sampling tube quantity of carrying, guarantee that sampling tube quantity is abundant, with this many places flexible sampling demand of reply large-span inspection scope, avoid carrying more sampling tubes and with the too big of single sampling tube tray design. The shallow surface layer order-preserving sampling recovery system can realize automatic replacement and recovery of sampling pipes, and has a compact structure. Compared with the condition that the mechanical arm is required to operate every time the sampling tube is replaced by the ROPEC drilling machine system, the invention reduces the operation frequency of the mechanical arm, reduces the requirement on the control precision of the mechanical arm, and has higher system reliability.

On the basis of the technical scheme, the invention can be improved as follows.

Further, the sampling drilling machine comprises a drilling motor, a sampling pipe clamp and a drilling machine shell, the drilling machine shell is movably installed on the sampling drilling machine moving mechanism, the sampling pipe clamp is rotatably installed in the drilling machine shell, the drilling motor is fixedly connected with the drilling machine shell and is in transmission connection with the sampling pipe clamp to be used for driving the sampling pipe clamp to rotate, and the sampling pipe clamp can clamp any sampling pipe.

The beneficial effects of adopting the further scheme are as follows: the drilling motor drives the sampling tube clamp to rotate, and the sampling tube clamp clamps the sampling tube, so that the sampling tube can realize drilling sampling.

Further, the sampling tube clamp comprises an electric push rod, a drilling machine shaft assembly, a clamping sleeve, a sampling tube clamp palm, a sampling tube clamp push rod, a sampling tube clamp clamping finger and a spring,

the electric push rod comprises an electric push rod fixed end and an electric push rod telescopic end, the electric push rod fixed end is fixedly connected with the drilling machine shell, the electric push rod telescopic end is rotationally connected with the finger clamping sleeve and is provided with axial limit,

the drilling machine shaft assembly is rotatably arranged in the drilling machine shell and is in transmission connection with the drilling motor, the drilling machine shaft assembly is provided with a sampling tube circumferential limiting part for limiting the circumference of the sampling tube, the finger clamping sleeve is coaxially arranged in the drilling machine shaft assembly and can synchronously rotate,

One end of the sampling tube clamp palm is fixedly connected with the drilling machine shaft assembly, the other end of the sampling tube clamp palm extends into the clamping finger sleeve and is hinged with the middle parts of at least three clamping fingers of the sampling tube clamps,

one end of the sampling tube clamp ejector rod is fixedly connected with the other end of the sampling tube clamp palm, the other end of the sampling tube clamp ejector rod is provided with an ejector rod limiting part, a spring is sleeved on the sampling tube clamp ejector rod, one end of the spring is abutted with one end of at least three sampling tube clamp clamping fingers, the other end of the spring is abutted with the ejector rod limiting part, at least three sampling tube clamp fingers can clamp any sampling tube, and the ejector rod limiting part is axially limited to the sampling tube.

The beneficial effects of adopting the further scheme are as follows: the electric push rod drives the clamping finger sleeve to axially move, so that the clamping fingers of the sampling tube clamp are loosened or constrained and the sampling tube is clamped. The sampling tube circumferential limiting part of the drilling machine shaft assembly is used for limiting the circumference of the sampling tube and bearing the torque in the sampling process, and the clamping fingers of the sampling tube clamp are not easy to fail and have high reliability. Because the spring exerts elastic force to one end of the sampling tube clamp clamping finger, the sampling tube clamp clamping finger is also kept in a clamping state when not constrained by the clamping finger sleeve, but the clamping force is smaller, the sampling tube can be detached from or assembled into at least three sampling tube clamp clamping fingers under the action of external force, the sampling tube clamp clamping finger cannot fall off when not subjected to external force, and the clamping reliability of the sampling tube clamp finger is high.

Further, a clamping guide protrusion is arranged at one side of the other end of the clamping finger of the sampling tube clamp, which faces towards the axis of the sampling tube clamp palm, and a first guide inclined plane and a second guide inclined plane are respectively arranged at one side of the clamping guide protrusion, which faces towards and faces away from the sampling tube clamp palm.

The beneficial effects of adopting the further scheme are as follows: when the clamping fingers of the sampling tube clamp are not constrained by the clamping finger sleeve, if the sampling tube is arranged between the clamping fingers of the at least three sampling tube clamps, the clamping end parts of the sampling tube only need to push the at least three sampling tube clamp fingers under the action of external force, and the clamping end parts of the sampling tube push the first guide inclined planes, so that the clamping fingers of the at least three sampling tube clamps overcome the elastic opening of the spring, and after the clamping end parts of the sampling tube enter between the clamping fingers of the at least three sampling tube clamps, the clamping fingers of the at least three sampling tube clamps reset under the action of the elastic force of the spring and clamp the clamping end parts of the sampling tube. When the sampling tube is required to be disassembled, the second guide inclined plane is pushed by the sampling tube under the action of external force, so that at least three clamping fingers of the sampling tube clamp overcome the elastic opening of the spring, and after the sampling tube is separated, the at least three clamping fingers of the sampling tube clamp reset under the action of the elastic force of the spring to wait for the next clamping action.

Further, the sampling tube fixture further comprises an electric push rod connecting shaft and two connecting shaft mounting bearings, one end of the electric push rod connecting shaft is provided with a connecting shaft limiting protrusion, one end of the electric push rod connecting shaft is rotatably connected with the telescopic end of the electric push rod through two connecting shaft mounting bearings, two connecting shaft mounting bearings are respectively connected with two axial ends of the connecting shaft limiting protrusion in a supporting mode, and the other end of the electric push rod connecting shaft is fixedly connected with the finger clamping sleeve.

The beneficial effects of adopting the further scheme are as follows: the electric push rod connecting shaft is connected with the telescopic end of the electric push rod through two connecting shaft mounting bearings, so that only axial push-pull force is transmitted, torque is not transmitted, and the electric push rod is prevented from being damaged mechanically. The electric push rod connecting shaft drives the finger clamping sleeve to axially move.

Further, the sampling tube tray comprises a sampling tube tray chassis and a plurality of tube tray sampling tube clamping assemblies, the other end of the sampling tube tray clamping mechanism is detachably connected with the sampling tube tray chassis, the plurality of tube tray sampling tube clamping assemblies are arranged at intervals along the circumferential direction and are fixed on the sampling tube tray chassis, and the tube tray sampling tube clamping assemblies are detachably connected with the sampling tubes.

The beneficial effects of adopting the further scheme are as follows: the sampling tube disk clamping assembly is used for keeping and limiting the sampling tubes, and the sampling tube disk clamping mechanism clamps the sampling tube disk chassis.

Further, the pipe dish sampling pipe centre gripping subassembly includes pipe dish jack catch base, spiral cover and at least three pipe dish jack catch, pipe dish jack catch base with sampling pipe dish chassis fixed connection, pipe dish jack catch base has at least three along radial claw guide way that sets up, at least three pipe dish jack catch one-to-one slip set up in the claw guide way, every pipe dish jack catch has the claw guide pillar, the spiral cover rotatable install in on the pipe dish jack catch base, and have at least three involute spout that sets up along circumference interval, the spiral cover still has be used for right the spacing spiral cover limit part of sampling pipe circumference, at least three in the extension of guide pillar jack catch one-to-one is in the involute spout.

The beneficial effects of adopting the further scheme are as follows: after the sampling pipe is put into the spiral cover, the sampling pipe is driven by the sampling drilling machine to rotate under the limiting action of the limiting part of the spiral cover, so that the spiral cover synchronously rotates along with the sampling pipe, and the claw guide post guides downwards at the involute chute to enable the pipe disc claw to slide along the claw guide groove, so that the pipe disc claw can clamp or loosen the sampling pipe. The tube plate sampling tube clamping assembly does not need to use an electric driving part, so that space waste is reduced, control difficulty is reduced, and reliability of the tube plate sampling tube clamping assembly is improved.

Further, the sampling tube tray clamping mechanism comprises a rocker arm and a clamping head assembly, one end of the rocker arm is hinged to the other end of the mechanical arm, the other end of the rocker arm is rotatably connected with the clamping head assembly, and the clamping head assembly is detachably connected with one of the sampling tube trays.

The beneficial effects of adopting the further scheme are as follows: the sampling pipe is replaced by the rocker arm matched with the sampling drilling machine, and the clamping head assembly can rotate, so that sampling pipes at different positions on the sampling pipe tray or vacant positions for accommodating the sampling pipes can be rotated to the position right below the sampling pipe clamp of the sampling drilling machine.

Further, the clamping head assembly comprises a clamping motor, a driving block, a clamping pushing block, a clamping mechanism shell, clamping jaws and clamping jaw limiting parts,

the clamping mechanism shell with the other end of rocking arm rotates to be connected, the centre gripping motor with clamping mechanism shell fixed connection, and its output shaft with drive block fixed connection, the drive block the centre gripping ejector pad with the clamping jaw all is located in the clamping mechanism shell, the drive block with centre gripping ejector pad threaded connection, the centre gripping ejector pad with clamping mechanism shell is along axial sliding connection, the clamping jaw is at least three, at least three the clamping jaw is followed the circumference interval setting of centre gripping ejector pad is in on the centre gripping ejector pad, and with the clamping ejector pad is along radial sliding connection and axial spacing, the upper portion of clamping mechanism shell is round platform shape tube-shape, and the lateral wall is equipped with the clamping jaw spacing groove of at least three bar, the clamping jaw spacing piece is at least three, every the clamping jaw with one of one end fixed connection of spacing piece, every the other end one-to-one of clamping jaw spacing piece stretches out the clamping jaw spacing groove to have spacing portion.

The beneficial effects of adopting the further scheme are as follows: the clamping motor drives the driving block to rotate, so that the clamping pushing block moves along the axial direction of the clamping pushing block, and at least three clamping jaws are opened or closed under the guiding action of the clamping mechanism shell and the clamping jaw limiting piece, so that the sampling tube disc is loosened or clamped. The clamping and loosening mechanism adopts a common clamping mode of at least three clamping jaws, has self-centering property, is simple and reliable in mechanism, and can complete clamping and loosening actions by means of driving of a single clamping motor.

Further, shallow top layer order-preserving sampling recovery system still includes sampling tube dish encapsulation box 6, sampling tube dish encapsulation box includes box body, lid and lid driving motor, lid driving motor be fixed in on the box body and with the lid transmission is connected, one of them lateral wall of box body has the box body open, lid driving motor can drive the lid is opened or is sealed the box body is uncovered, the bottom surface of box body has dodges the mouth, and is otherwise sampling tube dish holds in fixed setting in the sampling tube dish encapsulation box.

The beneficial effects of adopting the further scheme are as follows: when the sampling tube tray is replaced, the box cover is driven by the box cover driving motor to open, the sampling tube tray clamping mechanism is matched with the mechanical arm to place the sampling tube tray into a reserved space of the box body, the avoidance opening is used for avoiding the sampling tube tray clamping mechanism, so that the sampling tube tray is stably placed into the box body through the opening of the box body, then the sampling tube tray clamping mechanism loosens the sampling tube tray, the sampling tube tray is left in the box body, the box cover is driven by the box cover driving motor to close, and packaging recovery of the sampling tube tray is completed. When the new sampling tube tray is replaced, the sampling tube tray clamping mechanism clamps the new sampling tube tray from the avoiding opening below the sampling tube tray packaging box, and takes the new sampling tube tray out to complete replacement.

The invention aims at the use scene that the multi-place flexible sampling is carried out on the surface of the outer planet of the earth along with the detection vehicle, the mechanical arm is the mechanical arm of the detection vehicle, or the whole sampling body is integrally carried on the detection vehicle body, and the sampling recovery work is carried out on the surface layer star soil of the outer planet of the earth. The sample types aimed by the invention are mainly non-consolidated star soil, the compressive strength is 1ksi to 2.9ksi, the pore ratio range is 0.75 to 1.0, the particle size distribution is 42 mu m to 400 mu m, the diameter distribution range of sampling tubes is 20mm to 80mm, the sampling depth range is 10mm to 50mm, and the number of the sampling tubes which can be carried by a single task is 20 to 50. The drilling and sampling type sampling method adopted by the invention can collect the extra-earth planet shallow layer star soil and save the layer sequence information, and has important significance for subsequent research.

The invention can meet the sampling task requirements of automatically installing sampling pipes, drilling samples, recovering the sampling pipes and samples in the pipes to the sampling pipe tray in situ and replacing the sampling pipes, and also designs a replaceable sampling pipe tray which can carry a plurality of sampling pipe trays in a single task to increase the number of the sampling pipes, and meanwhile, the invention can not cause the envelope volume of the single sampling pipe tray to be too large, and ensures the compactness and the light weight of the mechanism on the premise.

Drawings

FIG. 1 is a schematic diagram of a shallow surface layer order-preserving sampling recovery system of an extraterrestrial planet non-consolidated star soil in a drilling sampling state;

FIG. 2 is a schematic diagram of a shallow surface layer order-preserving sampling recovery system of the extraterrestrial planet non-consolidated star soil in the state of an up-sampling drilling machine;

FIG. 3 is a schematic diagram of a shallow surface layer sequence preserving sampling recovery system for extra-terrestrial planet non-consolidated star soil in a state of recovering and replacing a sampling tube;

FIG. 4 is a block diagram of the sample tube held by the sample drilling machine of the present invention;

FIG. 5 is an internal structural view of the sample rig of the present invention;

FIG. 6 is an enlarged view of a portion of the attachment structure of the clamping fingers of the sampling tube clamp of the present invention;

FIG. 7 is a block diagram of a sampling tube tray of the present invention;

FIG. 8 is a block diagram of a screw cap according to the present invention;

FIG. 9 is a mounting block diagram of the pipe tray gripper of the present invention;

FIG. 10 is a block diagram of a sampling tube tray clamping mechanism of the present invention;

FIG. 11 is an internal block diagram of the sample tube tray clamping mechanism of the present invention;

FIG. 12 is a block diagram of a sample tube tray enclosure of the present invention.

In the drawings, the list of components represented by the various numbers is as follows:

1. sampling a drilling machine; 101. an electric push rod; 102. a drill main shaft; 103. a sampling tube; 104. drilling a motor; 105. a spindle end cap; 106. clamping finger sleeve; 107. a spindle rear cover; 108. an electric push rod connecting shaft; 109. a sampling tube clamp palm; 110. sliding the push block; 111. a sampling tube clamp ejector rod; 112. clamping fingers of a sampling tube clamp; 1121. the card guide is convex;

2. A sampling tube tray; 201. a sampling tube tray chassis; 202. a tube tray claw base; 203. screwing the cover; 204. pipe disc clamping jaws; 2041. a claw guide post; 205. a ball;

3. a sampling tube tray clamping mechanism; 301. a rocker arm; 302. clamping the motor; 303. a driving block; 304. clamping the pushing block; 305. a clamping mechanism housing; 306. a clamping jaw; 307. clamping jaw limiting parts;

4. a sampling drill moving mechanism;

5. a mechanical arm;

6. the sampling tube tray encapsulates the cartridge.

Detailed Description

The principles and features of the present invention are described below with examples given for the purpose of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1-12, the embodiment provides a shallow surface layer order-preserving sampling recovery system of extra-earth planet non-consolidated star soil, which comprises a sampling drilling machine 1, a sampling tube plate 2, a sampling tube plate clamping mechanism 3, a sampling drilling machine moving mechanism 4, a mechanical arm 5 and a sampling tube 103,

one end of the mechanical arm 5 is fixedly arranged, the other end of the mechanical arm is fixedly connected with the sampling drilling machine moving mechanism 4, the sampling drilling machine 1 is movably arranged on the sampling drilling machine moving mechanism 4, one end of the sampling tube disc clamping mechanism 3 is hinged with the other end of the mechanical arm 5, the number of the sampling tube discs 2 is at least two, the other end of the sampling tube disc clamping mechanism 3 is detachably connected with any one of the sampling tube discs 2 and can rotate to the position below the sampling drilling machine 1 or away from the sampling drilling machine 1,

Wherein, each sampling tube tray 2 is detachably connected with a plurality of sampling tubes 103, and the sampling drilling machine 1 can clamp any sampling tube 103 and sample.

In this embodiment, the sampling drill moving mechanism 4 drives the sampling drill 1 to move up and down, the sampling drill 1 clamps the sampling tube 103 to rotate, and samples are taken in a drilling mode, and the sequence information of the star soil sample can be saved while the star soil sample is saved in the sampling tube 103. After the sampling is completed, the sampled sampling tube 103 is put back into the sampling tube tray 2, and the sampling tube 103 which has not been sampled on the sampling tube tray 2 is held. After all sampling tubes 103 on the sampling tube tray 2 are sampled, the mechanical arm 5 puts down or stores the sampling tube tray 2 into the sampling tube tray packaging box 6, and takes out the new sampling tube tray 2 and sampling tubes 103 to continue sampling. The sampling tube tray 2 of the sampling recovery system is replaceable, and a plurality of sampling tube trays 2 can be carried in a sampling task so as to increase the number of the carried sampling tubes 103, ensure that the number of the sampling tubes 103 is sufficient, and meet the multi-place flexible sampling requirement of a large-span inspection range, and avoid the overlarge design of a single sampling tube tray for carrying more sampling tubes 103. The shallow surface layer order-preserving sampling recovery system can realize automatic replacement and recovery of sampling pipes, and has a compact structure. Compared with the mechanical arm operation required for replacing the sampling tube 103 every time of the ROPEC drilling machine system, the mechanical arm system has the advantages that the operation frequency of the mechanical arm 5 is reduced, the requirement on the control precision of the mechanical arm 5 is lowered, and the system reliability is higher.

The sampling pipe 103 can be realized by an existing sampling pipe, a pipe orifice at the lower end of the sampling pipe is provided with a cutting edge, and when the sampling drilling machine moving mechanism 4 moves downwards with the sampling drilling machine 1 and the sampling drilling machine 1 drives the sampling pipe 103 to rotate, the cutting edge can drill into the star soil. The sampling tube 103 has a lumen inside for receiving the star soil. As shown in fig. 5 to 7, the upper end of the sampling tube 103 is provided with a clamping part with a necking structure, and the sampling drilling machine 1 clamps the clamping part so as to drive the sampling tube 103 to move. And, as shown in fig. 7, the side wall of the upper end of the sampling tube 103 is provided with a sampling tube bulge, and the sampling tube bulge is used for being clamped with the sampling drilling machine 1 to realize circumferential limit, so that the sampling drilling machine 1 and the sampling tube 103 transmit torque, and the sampling tube 103 is driven to rotate around the axis of the sampling tube 103. In one embodiment, the sampling tube protrusion is located on the lower sidewall of the grip.

The shallow surface layer order-preserving sampling recovery system of the extra-terrestrial planet non-consolidation star soil can be independently assembled and integrally installed on a detection vehicle; alternatively, the mechanical arm 5 directly uses the existing mechanical arm on the probe vehicle, the sampling tube tray clamping mechanism 3 and the sampling drill moving mechanism 4 are fixed on the mechanical arm of the probe vehicle, and the sampling tube tray packaging box 6 is fixed on the probe vehicle.

In one specific embodiment, the sampling drilling machine moving mechanism 4 comprises a guide rail, a sliding block is slidably arranged on the guide rail, the sliding block is in threaded transmission with a screw rod, the screw rod is driven by a screw rod motor, and the sampling drilling machine 1 is fixedly connected with the sliding block, so that the sampling drilling machine can linearly and reciprocally slide along the guide rail. The other end of the mechanical arm 5 is fixedly connected with the guide rail. Alternatively, the sampling rig movement mechanism 4 may employ other available linear reciprocating mechanisms.

As shown in fig. 1-3 and 12, the working steps of the shallow surface order preserving sampling recovery system mainly include drilling sampling, up-sampling drilling machine 1, recovery and replacement of sampling tubes 103 and recovery or replacement of sampling tube trays 2.

In the drilling and sampling process, the mechanical arm 5 moves other mechanisms except the sampling tube tray packaging box 6 to the sampling task position, the sampling drilling machine moving mechanism 4 drives the sampling drilling machine 1 to move downwards, and the sampling drilling machine 1 provides rotation for the sampling tube 103 to sample.

After the sampling is completed, the sampling drill moving mechanism 4 drives the sampling drill 1 to ascend, and the sampling pipe 103 is pulled out of the star soil on the surface of the outer planet of the earth.

The sampling tube tray clamping mechanism 3 rotates around the hinge shaft of the sampling tube tray clamping mechanism and the mechanical arm 5, so that the sampling tube tray 2 is moved to the lower part of the sampling drilling machine 1, and the sampling drilling machine 1 is matched with the sampling tube tray 2 to start to recover and replace the sampling tube 103; after the replacement of the sampling tube 103 is completed, the sampling tube tray clamping mechanism 3 removes the sampling tube tray 2 from the descending path of the sampling drilling machine 1, and starts the next round of working flow.

On the basis of the technical scheme, the sampling drilling machine 1 comprises a drilling motor 104, a sampling pipe clamp and a drilling machine shell, wherein the drilling machine shell is movably installed on the sampling drilling machine moving mechanism 4, the sampling pipe clamp is rotatably installed in the drilling machine shell, the drilling motor 104 is fixedly connected with the drilling machine shell and is in transmission connection with the sampling pipe clamp for driving the sampling pipe clamp to rotate, and the sampling pipe clamp can clamp any sampling pipe 103.

The drilling motor 104 drives the sampling tube clamp to rotate, and the sampling tube clamp clamps the sampling tube 103, so that the sampling tube 103 can realize drilling sampling.

Based on the technical scheme, the sampling tube clamp can adopt the existing clamping structures such as a mechanical arm and the like; or,

optionally, the sampling tube clamp comprises an electric push rod 101, a drilling machine shaft assembly, a clamping finger sleeve 106, a sampling tube clamp palm 109, a sampling tube clamp push rod 111, a sampling tube clamp clamping finger 112 and a spring,

the electric push rod 101 comprises an electric push rod fixed end and an electric push rod telescopic end, the electric push rod fixed end is fixedly connected with the drilling machine shell, the electric push rod telescopic end is rotationally connected with the finger-clamping sleeve 106 and has axial limit,

The drill shaft assembly is rotatably arranged in the drill housing and is in transmission connection with the drilling motor 104, the drill shaft assembly is provided with a sampling tube circumferential limiting part for limiting the circumference of the sampling tube 103, the clamping finger sleeve 106 is coaxially arranged in the drill shaft assembly and can synchronously rotate,

one end of the sampling tube clamp palm 109 is fixedly connected with the drill shaft assembly, the other end extends into the clamping finger sleeve 106 and is hinged with the middle parts of at least three sampling tube clamp clamping fingers 112,

one end of the sampling tube clamp ejector rod 111 is fixedly connected with the other end of the sampling tube clamp palm 109, the other end of the sampling tube clamp ejector rod 111 is provided with an ejector rod limiting part, a spring is sleeved on the sampling tube clamp ejector rod 111, one end of the spring is abutted with one end of at least three sampling tube clamp clamping fingers 112, the other end of the spring is abutted with the ejector rod limiting part, at least three sampling tube clamp clamping fingers 112 can clamp any sampling tube 103, and the ejector rod limiting part is axially limited to the sampling tube 103.

The electric push rod 101 drives the clamping finger sleeve 106 to axially move, so that the clamping fingers 112 of the sampling tube clamp are loosened or the clamping fingers 112 of the sampling tube clamp are restrained and the sampling tube 103 is clamped. The sampling tube circumferential limiting part of the drilling machine shaft assembly circumferentially limits the sampling tube 103 and bears the torque in the sampling process, and the sampling tube clamp finger 112 is not easy to fail and has high reliability. Since the spring applies an elastic force to one end of the sampling tube clamp finger 112, the sampling tube clamp finger 112 is also maintained in a clamped state when not constrained by the clamping finger sleeve 106, but the clamping force is small, the sampling tube 103 can be detached from or assembled into the sampling tube clamp finger 112 from at least three sampling tube clamp fingers 112 under the action of an external force, the sampling tube clamp finger 112 cannot fall off when not subjected to the external force, and the clamping reliability of the sampling tube clamp finger 112 is high.

The sampling tube circumferential limiting part is a protrusion or a groove which is matched with the protrusion of the sampling tube and can be in circumferential abutting limiting.

Specifically, the drilling shaft assembly may be an integrally formed structure, or, as shown in fig. 5, the drilling shaft assembly includes a drilling spindle 102 and a spindle rear cover 107 that are coaxially disposed and fixedly connected, and the drilling spindle 102 has the sampling tube circumferential limit portion.

The clamping finger sleeve 106 is coaxially arranged in the drilling machine shaft assembly and can synchronously rotate, specifically, a plurality of sleeve extension rods extending upwards are arranged around the clamping finger sleeve 106, the sleeve extension rods slidably penetrate through the main shaft rear cover 107, so that the clamping finger sleeve can axially move, and the main shaft rear cover 107 limits the clamping finger sleeve in the circumferential direction and can drive the clamping finger sleeve to synchronously rotate.

Optionally, a spindle end cover 105 is also fixedly connected to the drill housing, and the drill shaft assembly rotatably passes through the spindle end cover 105 through a bearing.

Optionally, the sampling tube fixture further comprises a sliding push block 110, the sliding push block 110 is sleeved on the sampling tube fixture ejector rod 111, and one end of the spring is abutted with one end of at least three sampling tube fixture clamping fingers 112 through the sliding push block 110.

Wherein the sampling tube clamp fingers 112 may be three, four, five or more. In one embodiment, at least three of the sampling tube holder fingers 112 are evenly distributed circumferentially about the axis of the sampling tube holder palm 109. Specifically, as shown in fig. 6, the sampling tube clamp finger 112 has an L-shaped structure, wherein the middle portion is bent, one end of the middle portion is located between the spring and the end surface of the other end of the sampling tube clamp palm 109, and the outer side wall of the other end of the sampling tube clamp finger 112 is used for abutting against and being folded by the inner wall of the finger sleeve 106.

On the basis of any one of the above schemes, as shown in fig. 6, a clamping guide protrusion 1121 is provided on a side of the other end of the sampling tube clamp clamping finger 112 facing the axis of the sampling tube clamp palm 109, and a first guiding inclined plane and a second guiding inclined plane are provided on a side of the clamping guide protrusion 1121 facing and facing away from the sampling tube clamp palm 109, respectively.

When the sampling tube clamp clamping fingers 112 are not constrained by the clamping finger sleeve 106, if the sampling tube 103 is installed between the at least three sampling tube clamp clamping fingers 112, the sampling tube 103 only needs to be pushed between the at least three sampling tube clamp clamping fingers 112 under the action of external force, and the clamping end of the sampling tube 103 pushes the first guide inclined plane, so that the at least three sampling tube clamp clamping fingers 112 overcome the elastic opening of the spring, and after the clamping end of the sampling tube 103 enters between the at least three sampling tube clamp clamping fingers 112, the at least three sampling tube clamp clamping fingers 112 reset under the action of the elastic force of the spring and clamp the clamping end of the sampling tube 103. When the sampling tube 103 needs to be disassembled, the sampling tube 103 pushes the second guide inclined plane under the action of external force, so that at least three sampling tube clamp clamping fingers 112 overcome the spring elasticity and open, and after the sampling tube 103 is separated, the at least three sampling tube clamp clamping fingers 112 reset under the action of the spring elasticity to wait for the next clamping action.

Preferably, the lower side of the clamping part of the sampling tube 103 is provided with a sampling tube inclined surface which is matched with the first guiding inclined surface and can be abutted against the first guiding inclined surface, so that the sampling tube 103 is convenient to be pulled out of the clamping finger 112 of the sampling tube clamp downwards.

On the basis of any one of the above schemes, the sampling tube fixture further comprises an electric push rod connecting shaft 108 and two connecting shaft mounting bearings, one end of the electric push rod connecting shaft 108 is provided with a connecting shaft limiting protrusion, one end of the electric push rod connecting shaft 108 is rotatably connected with the telescopic end of the electric push rod through two connecting shaft mounting bearings, two connecting shaft mounting bearings are respectively abutted with two ends of the connecting shaft limiting protrusion in the axial direction, and the other end of the electric push rod connecting shaft 108 is fixedly connected with the finger clamping sleeve 106.

The electric push rod connecting shaft 108 is connected with the telescopic end of the electric push rod through two connecting shaft mounting bearings, so that only axial push-pull force is transmitted, torque is not transmitted, and the electric push rod 101 is prevented from being damaged mechanically. The electrical push rod connecting shaft 108 drives the finger sleeve 106 to axially move.

In one specific embodiment, the sampling rig 1 operates on the following principle: the drilling motor 104 drives the drilling machine main shaft 102 to rotate through a gear set, the drilling machine main shaft 102 transmits torque to the sampling tube 103 through a sampling tube circumferential limit part and a sampling tube bulge on the outer wall of the sampling tube 103, the drilling machine main shaft 102 is rotationally connected with the main shaft end cover 105 through thrust ball bearings and is centered, the electric push rod 101 is connected with the electric push rod connecting shaft 108 through two thrust ball bearings (in the embodiment, the connecting shaft mounting bearings are thrust ball bearings), only axial movement is transmitted, rotation is not transmitted, the clamping sleeve 106 is fixedly connected with the electric push rod connecting shaft 108 through nuts, the sampling tube clamp palm 109 is fixedly connected with the main shaft rear cover 107 through threads, the sampling tube clamp clamping finger 112 is hinged with the sampling tube clamp palm 109 through a pin shaft, the sampling tube clamp finger 112 can rotate around a pin to complete the opening and closing actions, the sampling tube clamp push rod 111 is fixedly connected with the sampling tube clamp palm 109 through threads, the sliding push block 110 can slide along the sampling tube clamp push rod 111 and is pre-tightened through springs, the sliding push block 110 is in point contact with the upper end of each sampling tube clamp finger 112, and the rotation angle of each sampling tube clamp finger 112 is kept synchronous. When the drilling motor 104 drives the drill main shaft 102 to rotate, the clamping sleeve 106, the main shaft rear cover 107, the electric push rod connecting shaft 108, the sampling tube clamp palm 109, the sampling tube clamp push rod 111, the sampling tube clamp clamping finger 112 and the sampling tube 103 all keep synchronous rotation with the drill main shaft 102.

Before the drilling sampling process starts, the electric push rod 101 pushes the electric push rod connecting shaft 108 and the clamping finger sleeve 106 to move downwards, so that the clamping finger sleeve 106 restrains the sampling tube clamp clamping fingers 112 in a furled state, and the end face of the sampling tube clamp ejector rod 111 and the clamping part at the upper end of the sampling tube 103 are clamped together by the sampling tube clamp clamping fingers 112, so that the drilling process starts. During the process of recovering and replacing the sampling tube 103, the electric push rod 101 pulls the electric push rod connecting shaft 108 and the clamping finger sleeve 106 to move upwards, the clamping finger sleeve 106 is separated from the sampling tube clamp clamping finger 112, the sliding push block 110 provides an upward pushing force for one end of the sampling tube clamp clamping finger 112 under the action of a spring, so that the sampling tube clamp clamping finger 112 still keeps a natural collecting state under the condition of being not constrained by the clamping finger sleeve 106, but the clamping force on the sampling tube 103 is very small, and at the moment, when the sampling tube disc 2 provides a downward pulling force for the sampling tube 103 (the sampling tube disc 2 clamps the lower end of the sampling tube 103, the sampling drilling machine moving mechanism 4 drives the sampling drilling machine 1 to move upwards), the sampling tube 103 can be smoothly separated, and the sampling tube clamp clamping finger 112 still returns to the natural collecting state under the action of the spring after the separation. When the clamping part of the new sampling tube 103 moves upwards, all the sampling tube clamp clamping fingers 112 can be jacked up to be in an open state through the first guide inclined plane at the lower end of the sampling tube clamp clamping fingers 112, and after the new sampling tube 103 contacts with the bottom surface of the sampling tube clamp ejector rod 111, the sampling tube clamp clamping fingers 112 are naturally folded again to prepare for entering the next working cycle.

On the basis of any one of the above schemes, the sampling tube tray 2 includes a sampling tube tray chassis 201 and a plurality of tube tray sampling tube clamping assemblies, the other end of the sampling tube tray clamping mechanism 3 is detachably connected with the sampling tube tray chassis 201, a plurality of tube tray sampling tube clamping assemblies are circumferentially arranged at intervals and fixed on the sampling tube tray chassis 201, and the tube tray sampling tube clamping assemblies are detachably connected with the sampling tubes 103.

The sampling tube holder assembly is used for keeping and limiting the sampling tube 103, and the sampling tube holder mechanism 3 holds the sampling tube holder chassis 201.

Based on any of the above schemes, alternatively, the tube disc sampling tube clamping assembly may employ a mechanical gripper or other assembly that can be used for clamping; or,

optionally, the tube disc sampling tube clamping assembly includes a tube disc jaw base 202, a screw cap 203 and at least three tube disc jaws 204, the tube disc jaw base 202 is fixedly connected with the sampling tube disc base 201, the tube disc jaw base 202 has at least three jaw guide grooves arranged along a radial direction, at least three tube disc jaws 204 are slidably arranged in the jaw guide grooves in a one-to-one correspondence manner, each tube disc jaw 204 has a jaw guide post 2041, the screw cap 203 is rotatably mounted on the tube disc jaw base 202 and has at least three involute slide grooves arranged along a circumferential direction at intervals, the screw cap 203 further has a screw cap limiting portion for circumferentially limiting the sampling tube 103, and at least three jaw guide posts 2041 are correspondingly extended into the at least three involute slide grooves.

After the sampling tube 103 is placed into the spiral cover 203, under the limiting action of the spiral cover limiting part, the sampling tube 103 is driven by the sampling drilling machine 1 to rotate, so that the spiral cover 203 rotates synchronously, the claw guide post 2041 guides downwards in the involute chute to enable the tube disc claw 204 to slide along the claw guide groove, and therefore the tube disc claw 204 can clamp or unclamp the sampling tube 103. The tube plate sampling tube clamping assembly does not need to use an electric driving part, so that space waste is reduced, control difficulty is reduced, and reliability of the tube plate sampling tube clamping assembly is improved.

Wherein the pipe tray gripper 204 may be three, four or more, in one embodiment the pipe tray gripper 204 is three. In one embodiment, at least three jaw guide slots are evenly distributed circumferentially about the pipe disk jaw base 202.

The spiral cover limiting part is a protrusion or a groove which is matched with the cutting edge of the sampling tube and can be circumferentially abutted and limited.

Optionally, the rotary cover 203 further has at least three arc grooves, the arc grooves are coaxial with the rotation axis of the rotary cover 203, the radius of each arc groove is equal to the distance from the arc groove to the rotation axis of the rotary cover 203, and the at least three arc grooves are arranged in one-to-one correspondence with the at least three involute sliding grooves and are communicated with one end part of the corresponding involute sliding groove, which is close to the rotation axis of the rotary cover 203.

In one embodiment, at least three of the involute slots are evenly distributed around the circumference of the screw cap 203.

Optionally, a latch 205 is also fixed to the side of each pipe tray claw 204 facing the rotation axis of the screw cap 203.

In one specific embodiment, the principle and operation of the tube disc sampling tube clamping assembly is as follows: the sampling tube tray chassis 201 is fixedly connected with the tube tray claw base 202 through screws, the spiral cover 203 is connected with the tube tray claw base 202 through two thrust ball bearings to restrict axial freedom degrees, only relative rotation occurs, the tube tray claw 204 can slide radially along claw guide grooves on the tube tray claw base 202, involute sliding grooves and circular arc grooves on the bottom surface of the spiral cover 203 are matched with claw guide posts 2041 on the tube tray claw 204 to form sliding groove sliding blocks, when the claw guide posts 2041 slide along the involute sliding grooves, the tube tray claw 204 translates radially along the claw guide grooves, and when the claw guide posts 2041 slide in the circular arc grooves, the tube tray claw 204 does not move radially. The collision beads 205 are fixedly connected with the pipe disc clamping jaws 204 through threaded connection.

During drilling and sampling, the claw guide column 2041 of the pipe disc claw 204 is in the circular arc groove of the spiral cover 203, the pipe disc claw 204 is radially limited and cannot move along the radial direction, the pipe disc claw 204 is in a locking state, and the collision bead 205 clamps the groove near the pipe orifice of the sampling pipe 103, so that the unused sampling pipe 103 is kept fixed. After the sampling pipe is recovered and replaced, the sampling drilling machine moving mechanism 4 controls the sampling drilling machine 1 to enable the sampling pipe 103 to be in contact with the vacant rotary cover 203 and rotate the sampling pipe 103, torque is transmitted through the cutting edge of the sampling pipe 103 and the rotary cover limiting part in the rotary cover 203 to enable the rotary cover 203 to synchronously rotate, the claw guide post 2041 of the pipe disk claw 204 slides along the involute chute of the rotary cover 203, the pipe disk claw 204 moves inwards along the claw guide slot of the pipe disk claw base 202, when the claw guide post 2041 slides into the circular arc slot from the involute chute, the pipe disk claw 204 is subjected to radial limiting, the sampling pipe 103 is locked, at the moment, the clamping sleeve 106 and the sampling pipe clamp clamping finger 112 are in a disconnecting state, and the sampling drilling machine 1 moves upwards to leave the sampling pipe 103 containing a sample in the sampling pipe disk 2, so that recovery is completed. When the new sampling tube 103 is replaced, the clamping finger sleeve 106 and the clamping finger 112 of the sampling tube clamp are in a constraint state, the sampling tube 103 is clamped, then the sampling tube 103 and the spiral cover 203 are rotated, the claw guide pillar 2041 slides into the involute chute from the circular arc groove of the spiral cover 203, the tube disc claw 204 moves outwards along the radial direction, the new sampling tube 103 is loosened, and the next working cycle is started.

On the basis of any one of the above schemes, the sampling tube tray clamping mechanism 3 comprises a rocker 301 and a clamping head assembly, one end of the rocker 301 is hinged to the other end of the mechanical arm 5, the other end of the rocker 301 is rotatably connected with the clamping head assembly, and the clamping head assembly is detachably connected with one of the sampling tube trays 2.

The sampling tube 103 is replaced by the rocker 301 in cooperation with the sampling rig 1, and the clamping head assembly is rotatable, so that the sampling tubes 103 at different positions on the sampling tube tray 2 or the empty spaces for accommodating the sampling tubes 103 can be rotated to the position right below the sampling tube clamp of the sampling rig 1.

Specifically, the bottom surface of the sampling tube tray 2 may be provided with a tube tray clamping portion for clamping by the clamping head assembly, and the tube tray clamping portion may be columnar or block-shaped with a necking structure.

Specifically, the rocker 301 is in driving connection with a rocker motor, which drives the rocker 301 to swing.

On the basis of any one of the above solutions, the clamping head assembly comprises a clamping motor 302, a driving block 303, a clamping push block 304, a clamping mechanism housing 305, clamping jaws 306 and clamping jaw limiting members 307,

the clamping mechanism housing 305 is rotationally connected with the other end of the rocker arm 301, the clamping motor 302 is fixedly connected with the clamping mechanism housing 305, an output shaft of the clamping motor is fixedly connected with the driving block 303, the clamping pushing block 304 and the clamping jaw 306 are all located in the clamping mechanism housing 305, the driving block 303 is in threaded connection with the clamping pushing block 304, the clamping pushing block 304 is axially and slidably connected with the clamping mechanism housing 305, the clamping jaws 306 are at least three, the clamping jaws 306 are circumferentially arranged on the clamping pushing block 304 at intervals along the clamping pushing block 304, the clamping jaws are radially and slidably connected with the clamping pushing block 304 and axially limited, the upper portion of the clamping mechanism housing 305 is in a circular-table-shaped cylinder shape, the side wall of the clamping mechanism housing 305 is provided with at least three strip-shaped clamping jaw limiting grooves, each clamping jaw 306 is fixedly connected with one end of one clamping jaw limiting piece 307, and the other end of each clamping jaw limiting piece 307 extends out of the clamping jaw limiting groove in a one-to-one correspondence mode, and the clamping jaw limiting portion is arranged on the side of the clamping jaw limiting piece.

The clamping motor 302 drives the driving block 303 to rotate, so that the clamping pushing block 304 moves along the axial direction of the driving block, and at least three clamping jaws 306 are opened or closed under the guiding action of the clamping mechanism shell 305 and the clamping jaw limiting piece 307, so that the sampling tube disc 2 is loosened or clamped. The clamping and loosening actions can be completed by means of driving the single clamping motor 302.

Wherein, the clamping pushing block 304 is slidably connected with the clamping mechanism housing 305 along the axial direction. Specifically, the side wall of the clamping pushing block 304 is provided with a pushing block protrusion or a pushing block groove, the inner wall of the clamping mechanism housing 305 is provided with a housing groove or a housing protrusion, the pushing block protrusion is slidably connected with the housing groove, or the pushing block groove is slidably connected with the housing protrusion, or the clamping pushing block 304 is in key connection with the clamping mechanism housing 305.

Wherein at least three clamping jaws 306 are arranged at intervals along the circumferential direction of the clamping push block 304 and are slidably connected to the clamping push block 304 in the radial direction. Specifically, as shown in fig. 11, at least three clamping jaws 306 are uniformly distributed along the circumferential direction of the clamping push block 304, the upper end of the clamping push block 304 is provided with a disc-shaped protrusion, the clamping jaws 306 are provided with clamping jaw grooves matched with the disc-shaped protrusion, and the clamping jaw grooves are in sliding fit with the disc-shaped protrusion and realize axial limiting.

The upper portion of the clamping mechanism housing 305 is a circular truncated cone-shaped cylinder, and specifically, the diameter of the upper end of the circular truncated cone-shaped cylinder is smaller than that of the lower end.

The width of the clamping jaw limiting part is larger than that of the clamping jaw limiting groove, and the clamping jaw limiting groove is prevented from being penetrated in the using process.

Wherein the clamping jaw 306 may be three, four or more.

In one specific embodiment, the principle and operation of the sampling tube tray clamping mechanism 3 is: the rocker 301 can rotate around the hinge shaft with the mechanical arm 5, an additional rotary driving module is arranged between the rocker 301 and the clamping mechanism housing 305, the clamping mechanism housing 305 can be controlled to rotate around the central shaft of the clamping mechanism housing 305, and the clamping mechanism housing 305 and the sampling tube tray 2 are coaxially arranged, so that the sampling tube tray 2 rotates around the central shaft of the clamping mechanism housing 305. The clamping motor 302 is fixedly connected with the clamping mechanism shell 305 through screws, the driving block 303 is fixedly connected with the clamping motor 302, the clamping push block 304 is in threaded fit with the driving block 303, the clamping push block 304 is in key slot connection with the clamping mechanism shell 305, the clamping push block 304 can only axially slide along the clamping mechanism shell 305, the clamping jaw 306 can move along the top plane of the clamping push block 304, and meanwhile, the movement direction and range of the clamping jaw can be limited by the clamping jaw limiting piece 307 on the clamping jaw 306.

Before the whole sampling and recycling task flow starts, the clamping motor 302 drives the driving block 303 to rotate, the clamping pushing block 304 moves upwards, the clamping jaw 306 is restrained by the round table-shaped cylindrical closing-in at the upper part of the clamping mechanism shell 305 to be close to the middle, and the columnar bulge at the bottom surface of the sampling tube tray chassis 201 is clamped, so that the sampling tube tray 2 and the sampling tube tray clamping mechanism 3 maintain a locking state. At the beginning of the drilling sampling process, the swing arm 301 rotates, moving the sampling tube tray 2 out of the down-stream path of the sampling rig 1. After the lifting process of the drilling machine is finished, the rocker 301 reversely rotates to move the corresponding empty space of the sampling tube tray 2 to the position below the sampling drilling machine 1, when the sampling tube 103 containing the sample is recovered, the rocker 301 controls the clamping mechanism shell 305 to rotate around the axis of the rocker to drive the sampling tube tray 2 to rotate, the new sampling tube 103 is aligned to the sampling drilling machine 1, the sampling drilling machine 1 further clamps the new sampling tube 103, and the replacement of the sampling tube 103 is completed. When all sampling tubes 103 are sampled, the clamping motor 302 drives the driving block 303 to rotate reversely, the clamping pushing block 304 and the clamping jaw 306 move downwards, the clamping jaw limiting part 307 of the clamping jaw 306 is constrained by the clamping mechanism shell 305, and the clamping jaw 306 moves downwards and simultaneously moves outwards along the radial direction to loosen the sampling tube tray chassis 201, so that the whole sampling tube tray 2 can be replaced.

On the basis of any one of the above schemes, the shallow surface layer order-preserving sampling recovery system further comprises a sampling tube tray packaging box 6, the sampling tube tray packaging box 6 comprises a box body, a box cover and a box cover driving motor, the box cover driving motor is fixed on the box body and is in transmission connection with the box cover, one side wall of the box body is provided with a box body opening, the box cover driving motor can drive the box cover to be opened or closed the box body opening, the bottom surface of the box body is provided with an avoidance opening, and the rest of sampling tube trays 2 are accommodated in the fixed sampling tube tray packaging box 6.

In the sampling process, one sampling tube tray 2 is clamped by the sampling tube tray clamping mechanism 3, and the rest sampling tube trays 2 are contained in the fixedly arranged sampling tube tray packaging box 6. When changing sampling tube dish 2, lid driving motor drive lid is opened, sampling tube dish fixture 3 cooperates arm 5 to put into the reservation vacancy of box body with sampling tube dish 2, dodge the mouth and be used for dodging sampling tube dish fixture 3, just it is with sampling tube dish 2 through box body uncovered steady the putting into the box body, sampling tube dish fixture 3 loosens sampling tube dish 2 afterwards, leave sampling tube dish 2 in the box body, lid driving motor drive lid is closed, accomplish the encapsulation recovery of sampling tube dish 2. When the new sampling tube tray 2 is replaced, the sampling tube tray clamping mechanism 3 clamps the new sampling tube tray 2 from the avoiding opening below the sampling tube tray packaging box 6, and takes out the new sampling tube tray 2 to complete replacement.

In one embodiment, the plurality of coupon disc packages 6 is provided, and all of the coupon discs 2 are received in the plurality of coupon disc packages 6 in a one-to-one correspondence.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. The shallow surface sequence-preserving sampling and recycling system for the extra-terrestrial planet non-consolidated star soil is characterized by comprising a sampling drilling machine (1), a sampling tube tray (2), a sampling tube tray clamping mechanism (3), a sampling drilling machine moving mechanism (4), a mechanical arm (5) and a sampling tube (103),

one end of the mechanical arm (5) is fixedly arranged, the other end of the mechanical arm is fixedly connected with the sampling drilling machine moving mechanism (4), the sampling drilling machine (1) is movably arranged on the sampling drilling machine moving mechanism (4), one end of the sampling tube disc clamping mechanism (3) is hinged with the other end of the mechanical arm (5), at least two sampling tube discs (2) are arranged, the other end of the sampling tube disc clamping mechanism (3) is detachably connected with any one of the sampling tube discs (2) and can rotate to the position below the sampling drilling machine (1) or away from the sampling drilling machine (1),

wherein, each sampling tube disc (2) is detachably connected with a plurality of sampling tubes (103), and the sampling drilling machine (1) can clamp any sampling tube (103) for sampling;

The sampling drilling machine (1) comprises a drilling motor (104), a sampling pipe clamp and a drilling machine shell, wherein the drilling machine shell is movably arranged on the sampling drilling machine moving mechanism (4), the sampling pipe clamp is rotatably arranged in the drilling machine shell, the drilling motor (104) is fixedly connected with the drilling machine shell and is in transmission connection with the sampling pipe clamp for driving the sampling pipe clamp to rotate, and the sampling pipe clamp can clamp any sampling pipe (103);

the sampling tube clamp comprises an electric push rod (101), a drilling machine shaft assembly, a clamping finger sleeve (106), a sampling tube clamp palm (109), a sampling tube clamp ejector rod (111), a sampling tube clamp clamping finger (112) and a spring,

the electric push rod (101) comprises an electric push rod fixed end and an electric push rod telescopic end, the electric push rod fixed end is fixedly connected with the drilling machine shell, the electric push rod telescopic end is rotationally connected with the finger clamping sleeve (106) and is provided with axial limit,

the drilling machine shaft assembly is rotatably arranged in the drilling machine shell and is in transmission connection with the drilling motor (104), the drilling machine shaft assembly is provided with a sampling tube circumferential limiting part for circumferentially limiting the sampling tube (103), the finger clamping sleeve (106) is coaxially arranged in the drilling machine shaft assembly and can synchronously rotate,

One end of the sampling tube clamp palm (109) is fixedly connected with the drilling machine shaft assembly, the other end of the sampling tube clamp palm extends into the clamping finger sleeve (106) and is hinged with the middle parts of at least three sampling tube clamp clamping fingers (112),

one end of the sampling tube clamp ejector rod (111) is fixedly connected with the other end of the sampling tube clamp palm (109), the other end of the sampling tube clamp ejector rod (111) is provided with an ejector rod limiting part, a spring is sleeved on the sampling tube clamp ejector rod (111), one end of the spring is abutted with one end of at least three sampling tube clamp clamping fingers (112), the other end of the spring is abutted with the ejector rod limiting part, at least three sampling tube clamp clamping fingers (112) can clamp any sampling tube (103), and the ejector rod limiting part is axially limited to the sampling tube (103).

2. The shallow surface sequence preserving sampling recovery system of extra-terrestrial planet non-consolidated star soil according to claim 1, wherein one side of the other end of the sampling tube clamp clamping finger (112) facing towards the axis of the sampling tube clamp palm (109) is provided with a clamping guide protrusion (1121), and one side of the clamping guide protrusion (1121) facing towards and facing away from the sampling tube clamp palm (109) is provided with a first guide inclined plane and a second guide inclined plane respectively.

3. The shallow surface sequence preserving sampling recovery system of the extra-terrestrial planet non-consolidation star soil according to claim 1, wherein the sampling tube fixture further comprises an electric push rod connecting shaft (108) and two connecting shaft mounting bearings, one end of the electric push rod connecting shaft (108) is provided with a connecting shaft limiting protrusion, one end of the electric push rod connecting shaft (108) is rotatably connected with the telescopic end of the electric push rod through the two connecting shaft mounting bearings, the two connecting shaft mounting bearings are respectively abutted with two axial ends of the connecting shaft limiting protrusion, and the other end of the electric push rod connecting shaft (108) is fixedly connected with the finger-clamping sleeve (106).

4. The shallow surface sequence preserving sampling recovery system of an extra-terrestrial planet non-consolidated star soil according to claim 1, wherein the sampling tube tray (2) comprises a sampling tube tray chassis (201) and a plurality of tube tray sampling tube clamping assemblies, the other end of the sampling tube tray clamping mechanism (3) is detachably connected with the sampling tube tray chassis (201), the plurality of tube tray sampling tube clamping assemblies are arranged at intervals along the circumferential direction and are fixed on the sampling tube tray chassis (201), and the tube tray sampling tube clamping assemblies are detachably connected with the sampling tubes (103).

5. The shallow surface sequence preserving sampling and recycling system of extra-terrestrial planet non-consolidated star soil according to claim 4, wherein the pipe-disc sampling pipe clamping assembly comprises a pipe-disc clamping jaw base (202), a spiral cover (203) and at least three pipe-disc clamping jaws (204), the pipe-disc clamping jaw base (202) is fixedly connected with the sampling pipe-disc base (201), the pipe-disc clamping jaw base (202) is provided with at least three clamping jaw guide grooves which are arranged in the radial direction, at least three pipe-disc clamping jaws (204) are correspondingly and slidingly arranged in the clamping jaw guide grooves one by one, each pipe-disc clamping jaw (204) is provided with a clamping jaw guide pillar (2041), the spiral cover (203) is rotatably arranged on the pipe-disc clamping jaw base (202) and is provided with at least three involute sliding grooves which are arranged at intervals in the circumferential direction, and the spiral cover (203) is also provided with a spiral cover limiting part which is used for limiting the circumference of the sampling pipe (103) and is correspondingly stretched into the at least three involute sliding grooves one by one.

6. The shallow surface sequence preserving sampling recovery system of the extra-terrestrial planet non-consolidated star soil according to claim 1, wherein the sampling tube disc clamping mechanism (3) comprises a rocker arm (301) and a clamping head assembly, one end of the rocker arm (301) is hinged with the other end of the mechanical arm (5), the other end of the rocker arm (301) is rotatably connected with the clamping head assembly, and the clamping head assembly is detachably connected with one of the sampling tube discs (2).

7. The shallow surface sequence preserving and sampling and recycling system of extra-terrestrial planet non-consolidated star soil according to claim 6, wherein the clamping head assembly comprises a clamping motor (302), a driving block (303), a clamping pushing block (304), a clamping mechanism shell (305), clamping jaws (306) and clamping jaw limiting pieces (307),

the clamping mechanism comprises a clamping mechanism shell (305), a clamping motor (302) and a driving block (303), wherein the clamping mechanism shell (305) is rotationally connected with the other end of a rocker arm (301), an output shaft of the clamping motor (302) is fixedly connected with the clamping mechanism shell (305), the driving block (303), the clamping pushing block (304) and clamping jaws (306) are both positioned in the clamping mechanism shell (305), the driving block (303) is in threaded connection with the clamping pushing block (304), the clamping pushing block (304) is in sliding connection with the clamping mechanism shell (305) along the axial direction, the clamping jaws (306) are at least three, the clamping jaws (306) are arranged on the clamping pushing block (304) along the circumferential direction at intervals, the clamping pushing block (304) are in sliding connection along the radial direction and are axially limited, the upper part of the clamping mechanism shell (305) is in a round table shape, the side wall of the clamping jaw limiting groove is provided with at least three clamping jaw limiting parts (307), each clamping jaw (307) is in sliding connection with one clamping jaw (307) at one end, and the clamping jaw (307) is in the limiting groove is in the limiting connection with one clamping jaw (307).

8. The shallow surface sequence preserving sampling recovery system of extra-terrestrial planet non-consolidated star soil according to any one of claims 1-7, further comprising a sampling tube tray packaging box (6), wherein the sampling tube tray packaging box (6) comprises a box body, a box cover and a box cover driving motor, the box cover driving motor is fixed on the box body and is in transmission connection with the box cover, one side wall of the box body is provided with a box body opening, the box cover driving motor can drive the box cover to open or close the box body opening, the bottom surface of the box body is provided with an avoidance opening, and the rest of sampling tube trays (2) are accommodated in the sampling tube tray packaging box (6) which is fixedly arranged.