蠕动掘进式潜入器潜入特性研究

发布时间：2018-06-06 04:32

本文选题：月壤剖面 + 潜入式探测　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：本课题来源于我国载人航天预先研究项目“月面人机联合探测方案研究”。项目要求能够在月面预定深度处针对月壤剖面化学成分、机械力学特性、温度场分布等科学目标长期地实施探测任务。针对该探测任务，，在调研国内外地外天体探测相关资料的基础上，提出了蠕动掘进潜入式探测系统方案。探测系统由蠕动掘进式潜入器本体和月表设备组成。在月表设备的辅助下，蠕动掘进式潜入器利用蠕动运动的原理对月壤实施下潜。潜入到预定深度后，利用内置的探测仪器对科学目标进行探测。本课题重点对蠕动掘进式潜入器潜入特性开展了研究。建立了蠕动掘进式潜入器运动模型。利用土力学中地基沉陷的理论，分析获得了负载与月壤沉陷量的关系。将月壤沉陷量带入运动模型中，考虑蠕动掘进式潜入器的构型约束条件，计算获得了蠕动掘进式潜入器极限潜入深度。以极限潜入深度为指标，评估了蠕动掘进式潜入器的潜入能力。利用摩尔库伦破坏准则、朗肯被动土压力理论，建立了掘进头切削原生月壤的负载模型。参考螺旋输送及螺旋挤压理论，建立了排壤螺旋输送月壤负载模型。掘进头切削、螺旋排壤负载模型分别为掘进头、排壤螺旋的结构设计以及动力参数匹配提供理论基础。利用离散元仿真手段，分析了月壤颗粒在缓存区的填充特性。以填充特性为基础，建立了缓存区月壤堆积负载模型，此模型可指导缓存区结构设计以及蠕动掘进式潜入器蠕动行程的选择。研制了蠕动掘进式潜入器试验样机，开发了蠕动掘进式潜入器潜入特性试验系统。开展了掘进头切削负载特性试验、排壤螺旋输土负载特性试验，试验结果验证了掘进头切削负载、排壤螺旋输土负载理论模型的正确性；开展了缓存区填充及负载特性试验，测量了缓存区月壤堆积对主掘进单元产生的附加阻力矩，利用附加阻力矩分析了缓存区负载特性；此外，还开展了定姿单元的定姿能力测试试验，获得了定姿单元的定位能力。
[Abstract]:This topic comes from our country manned spaceflight advance research project "lunar plane man-machine joint exploration program research". The project requires that a long-term exploration mission be carried out against the scientific objectives of the lunar soil profile, such as chemical composition, mechanical properties, temperature field distribution, and so on, at a predetermined depth on the lunar surface. On the basis of investigating the relative data of the extraneous objects at home and abroad, the scheme of creep tunneling submersible detection system is put forward. The detection system is composed of creep excavator body and monthly surface equipment. With the aid of lunar surface equipment, the peristaltic tunneling device is used to submerge the lunar soil by the principle of peristaltic motion. After diving to a predetermined depth, use the built-in detector to detect scientific targets. In this paper, the characteristics of creep tunneling submersible are studied, and the motion model of creep submersible is established. Based on the theory of foundation subsidence in soil mechanics, the relationship between the load and the amount of lunar soil subsidence is obtained. Taking the lunar soil subsidence into the motion model and considering the configuration constraint conditions of the creep diver, the limit depth of creep diver is calculated. Based on the limit depth of penetration, the penetration capacity of peristaltic excavator is evaluated. Based on the Moore Coulomb failure criterion and Rankine's theory of passive earth pressure, a load model for cutting primary lunar soil at the heading head is established. According to the theory of spiral transport and screw extrusion, the load model of lunar soil was established. The cutting model and the load model provide the theoretical basis for the structural design and dynamic parameter matching of the heading head and the soil drainage screw respectively. The filling characteristics of lunar soil particles in buffer region were analyzed by discrete element simulation. Based on the filling characteristics, a lunar soil accumulation load model in the buffer area is established, which can guide the design of the cache structure and the selection of creep stroke of the creep tunneling diver. A prototype of the creep tunneling submersible is developed. A creep tunneling submersible characteristic test system is developed. The cutting load characteristic test of heading head and the load characteristic test of drainage soil spiral transport are carried out. The experimental results verify the correctness of the theoretical model of cutting load and soil transport load of excavating head, the filling of buffer area and the load characteristic test are carried out. The additional resistance moment of lunar soil accumulation to the main heading unit in the buffer area is measured, and the load characteristics of the buffer area are analyzed by using the additional resistance moment. In addition, the attitude determination ability test of the attitude determination unit is carried out, and the positioning ability of the attitude determination unit is obtained.
【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】：2014
【分类号】：P184.58

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