月壤钻取采样钻进导向机构设计与分析
发布时间：2018-08-25 07:43
【摘要】：我国探月三期的主要目标之一是利用钻取采样装置获取不小于2米深度的月壤样品并返回地球,钻进导向机构作为钻取采样装置的重要组件,为多种输入工况下的钻具提供支撑和导向功能,其合理的设计是保证钻取采样装置顺利采样的关键。国内外对于特殊环境下的钻进导向机构研究甚少,如何设计出具有优良导向性能的导向机构仍是一个未知的问题。因此,研究钻进导向机构从构型到结构设计对保证钻具的钻进精度和提高钻取采样的可靠性具有重要意义。分析钻进导向机构的功能需求和技术指标,提取钻进导向机构的设计要素,设计其合理构型。针对构型中导轨副摩擦形式和接触类型的不同,提出多种设计方案并分析各方案的工作原理及优缺点。引入层次分析法建立导轨副的评价模型,采用定性和定量相结合的分析方法计算各方案的权重,为钻进导向机构构型方案的优选提供依据。针对优选出的钻进导向机构构型,提取关键结构参数,进行导向机构导向性能参数化研究。分析钻进导向机构力学边界条件和外界载荷等效方式,建立导向精度、钻具挠曲变形和赫兹接触应力的数学模型并给出相应的约束条件,得到钻进导向机构上述评价导向性能的指标与自身结构参数之间的关系,初步确定各参数的取值范围,为钻进导向机构的结构设计奠定理论基础。明确钻进导向机构的功能组成和导向机构在钻取采样任务全周期中的力学环境,对钻进导向机构的关键组成部件进行结构设计,并进行相应静力学分析和环境适应性分析。运用有限元分析方法模拟月壤钻取采样极限工况,分析钻进导向机构的刚度和强度并预计质量,进一步对钻进导向机构的强度和刚度进行校核。给出钻进导向机构力学条件并设置相关仿真参数,建立钻进导向机构的三维仿真模型。在多体动力学软件中模拟月面极限工况,对钻具施加不同方向的扰动力,得到导向机构各支撑处的接触力和钻机质心位移随时间变化的趋势,验证静力学模型中导向机构姿态的正确性并分析各平面的抗偏载能力。计算钻进导向机构的导向精度,对钻进导向机构在钻取采样任务中的导向性能进行评价,为取芯钻具及限幅机构等相关结构的设计分析提供理论参考。
[Abstract]:One of the main objectives of the third phase of lunar exploration in China is to obtain lunar soil samples at a depth of not less than 2 meters and return to earth by drilling sampling device. Drilling guidance mechanism is an important component of drilling sampling device. It provides support and guidance function for drilling tools under various input conditions, and its reasonable design is the key to ensure the sampling device to sample smoothly. There is little research on drilling steering mechanism in special environment at home and abroad. It is still an unknown problem how to design a guiding mechanism with good steering performance. Therefore, it is of great significance to study the drilling guide mechanism from configuration to structure design to ensure drilling accuracy and improve the reliability of drilling sampling. The function requirement and technical index of drilling guide mechanism are analyzed, the design elements of drilling guide mechanism are extracted, and its reasonable configuration is designed. Aiming at the different friction forms and contact types of guideway pairs in configuration, various design schemes are put forward and their working principles, advantages and disadvantages are analyzed. The analytic hierarchy process (AHP) is introduced to establish the evaluation model of the guideway pair. The weight of each scheme is calculated by combining qualitative and quantitative analysis method, which provides the basis for the optimal selection of the configuration scheme of the drilling guide mechanism. The key structural parameters are extracted for the optimized drilling guide mechanism configuration, and the parameterized research on the guiding performance of the guiding mechanism is carried out. The mechanical boundary conditions of drilling guide mechanism and the equivalent mode of external load are analyzed. The mathematical models of guidance accuracy, deflection of drilling tools and Hertz contact stress are established and the corresponding constraint conditions are given. The relationship between the above indexes for evaluating the steering performance of drilling guide mechanism and its own structural parameters is obtained, and the range of each parameter is preliminarily determined, which lays a theoretical foundation for the structural design of drilling guide mechanism. The function composition of drilling guide mechanism and the mechanical environment of guide mechanism in the whole period of drilling sampling task are defined. The key components of drilling guide mechanism are designed, and the corresponding statics analysis and environment adaptability analysis are carried out. The finite element analysis method is used to simulate the sampling limit condition of lunar soil drilling, and the stiffness and strength of drilling guide mechanism are analyzed and the quality is predicted, and the strength and stiffness of drilling guide mechanism are further checked. The mechanical conditions of drilling guide mechanism are given, and the simulation parameters are set up, and the 3D simulation model of drilling guide mechanism is established. In the software of multi-body dynamics, the limit working condition of lunar plane is simulated, and the disturbing force in different directions is applied to the drilling tool, and the contact force and the displacement of the center of mass of the drilling rig change with time, and the contact force at the support of the guiding mechanism is obtained. The correctness of the attitude of the steering mechanism in the static model is verified and the anti-bias ability of each plane is analyzed. The guiding accuracy of drilling guide mechanism is calculated, and the guiding performance of drilling guide mechanism in drilling sampling task is evaluated, which provides a theoretical reference for the design and analysis of related structures such as coring drilling tool and limiting mechanism.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V476.3
本文编号：2202222
[Abstract]:One of the main objectives of the third phase of lunar exploration in China is to obtain lunar soil samples at a depth of not less than 2 meters and return to earth by drilling sampling device. Drilling guidance mechanism is an important component of drilling sampling device. It provides support and guidance function for drilling tools under various input conditions, and its reasonable design is the key to ensure the sampling device to sample smoothly. There is little research on drilling steering mechanism in special environment at home and abroad. It is still an unknown problem how to design a guiding mechanism with good steering performance. Therefore, it is of great significance to study the drilling guide mechanism from configuration to structure design to ensure drilling accuracy and improve the reliability of drilling sampling. The function requirement and technical index of drilling guide mechanism are analyzed, the design elements of drilling guide mechanism are extracted, and its reasonable configuration is designed. Aiming at the different friction forms and contact types of guideway pairs in configuration, various design schemes are put forward and their working principles, advantages and disadvantages are analyzed. The analytic hierarchy process (AHP) is introduced to establish the evaluation model of the guideway pair. The weight of each scheme is calculated by combining qualitative and quantitative analysis method, which provides the basis for the optimal selection of the configuration scheme of the drilling guide mechanism. The key structural parameters are extracted for the optimized drilling guide mechanism configuration, and the parameterized research on the guiding performance of the guiding mechanism is carried out. The mechanical boundary conditions of drilling guide mechanism and the equivalent mode of external load are analyzed. The mathematical models of guidance accuracy, deflection of drilling tools and Hertz contact stress are established and the corresponding constraint conditions are given. The relationship between the above indexes for evaluating the steering performance of drilling guide mechanism and its own structural parameters is obtained, and the range of each parameter is preliminarily determined, which lays a theoretical foundation for the structural design of drilling guide mechanism. The function composition of drilling guide mechanism and the mechanical environment of guide mechanism in the whole period of drilling sampling task are defined. The key components of drilling guide mechanism are designed, and the corresponding statics analysis and environment adaptability analysis are carried out. The finite element analysis method is used to simulate the sampling limit condition of lunar soil drilling, and the stiffness and strength of drilling guide mechanism are analyzed and the quality is predicted, and the strength and stiffness of drilling guide mechanism are further checked. The mechanical conditions of drilling guide mechanism are given, and the simulation parameters are set up, and the 3D simulation model of drilling guide mechanism is established. In the software of multi-body dynamics, the limit working condition of lunar plane is simulated, and the disturbing force in different directions is applied to the drilling tool, and the contact force and the displacement of the center of mass of the drilling rig change with time, and the contact force at the support of the guiding mechanism is obtained. The correctness of the attitude of the steering mechanism in the static model is verified and the anti-bias ability of each plane is analyzed. The guiding accuracy of drilling guide mechanism is calculated, and the guiding performance of drilling guide mechanism in drilling sampling task is evaluated, which provides a theoretical reference for the design and analysis of related structures such as coring drilling tool and limiting mechanism.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V476.3
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