月壤钻探取芯进尺驱动装置设计与研究
发布时间：2018-07-24 20:24
【摘要】：本文来源于我国探月工程三期的攻关项目，，以月面深层钻探采样任务为背景，为解决由于月面低重力的特殊工作环境造成钻取采样装置无法依靠自身重力顺利完成钻探任务这一技术难题，结合月壤钻探取芯装置的总体设计要求，提出了功耗小、质量轻、可靠度高的进尺驱动装置技术方案。 在充分了解国内外天体探测采样技术的基础上，对比可在月面特殊工作环境下，为钻机提供进尺压力多种方案的可行性及优缺点，确定了本课题研究的绳驱式月壤钻探取芯进尺方案。 为分析依靠钢丝绳与卷筒摩擦力传动方案的力学关系，完成相关参数的分析计算，基于柔韧体摩擦传动欧拉公式，建立了钢丝绳多圈缠绕数学模型。结合着陆器的整体构型完成了绳驱式进尺驱动装置的布局，对绳驱机构的设计关键点，即进尺驱动卷筒提出三套设计方案。根据钻取采样负载预估试验结果，对三套进尺驱动方案进行详细结构设计，完成数据采集及控制系统的设计及搭建。 为完成对本课题所设计的进尺驱动装置特性研究，设计并搭建了进尺驱动试验测试台，针对三套进尺驱动装置进行了大量的试验及分析。 结合试验结果，依据柔韧体摩擦欧拉公式，辨识出钢丝绳与驱动卷筒的当量摩擦系数。分析进尺速率、进尺预紧力及钢丝绳缠绕圈数等进尺相关参数与进尺驱动力之间的关系。将实际测量变形量与理想假设条件对比，结合数据拟合结果，提出钢丝绳多圈缠绕时，进尺驱动力的修正计算公式，及满足实际情况的参考变形量系数，并验证了数学模型的正确性。对三套装置极限工作能力、工作力载稳定性及可重复性进行试验验证，分析方案优缺点。测试了进尺传动部件钢丝绳的机械性能，及高低温环境下机械性能的变化情况。为探月工程三期月面自动深层的工程实施，完成钻取采样装置的详细设计提供理论参考及设计指导。
[Abstract]:This paper comes from the key project of the third phase of the lunar exploration project in China, and takes the sampling task of deep drilling on the lunar surface as the background. In order to solve the technical problem that the drilling sampling device can not successfully complete the drilling task by its own gravity due to the special working environment of low gravity on the lunar surface, combined with the overall design requirements of the coring device for lunar soil drilling, a low power consumption and light mass are put forward. The technical scheme of the driving device with high reliability. On the basis of fully understanding the sampling technology of celestial body detection at home and abroad, the feasibility, merits and demerits of various schemes for drilling rig under the special working environment of lunar surface can be compared. In this paper, the project of rope-driven lunar soil drilling is determined. In order to analyze the mechanical relationship between steel wire rope and drum friction transmission scheme and complete the analysis and calculation of related parameters, a mathematical model of multi-ring winding of wire rope was established based on the Euler formula of flexible body friction transmission. Combined with the overall configuration of the lander, the layout of the rope drive driving device is completed, and three sets of design schemes are put forward for the key point of the rope drive mechanism, that is, the driving drum of the rope drive. According to the test results of sampling load prediction, the structure of three driving schemes is designed in detail, and the design and construction of data acquisition and control system are completed. In order to study the characteristics of the driving device designed in this paper, a test bench is designed and built, and a large number of tests and analyses are carried out for three sets of driving devices. According to the Euler formula of flexible body friction, the equivalent friction coefficient between wire rope and driving drum is identified. The relationship between the driving force and the relative parameters of the feed speed, the pretightening force and the winding coil number of the wire rope is analyzed. By comparing the actual measured deformation with the ideal hypothetical conditions and combining with the data fitting results, a modified formula for calculating the driving force of the ruler and the coefficient of the reference deformation to meet the actual situation are put forward when the wire rope is wound in multiple circles. The correctness of the mathematical model is verified. The limit working ability, working load stability and repeatability of the three sets of devices are tested and verified, and the advantages and disadvantages of the scheme are analyzed. The mechanical properties of wire rope and the change of mechanical properties in high and low temperature environment were tested. This paper provides theoretical reference and design guidance for the implementation of the automatic deep lunar surface engineering in the third phase of lunar exploration project and the completion of the detailed design of the drilling sampling device.
【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】：2012
【分类号】：P184;V476.3;P634
[Abstract]:This paper comes from the key project of the third phase of the lunar exploration project in China, and takes the sampling task of deep drilling on the lunar surface as the background. In order to solve the technical problem that the drilling sampling device can not successfully complete the drilling task by its own gravity due to the special working environment of low gravity on the lunar surface, combined with the overall design requirements of the coring device for lunar soil drilling, a low power consumption and light mass are put forward. The technical scheme of the driving device with high reliability. On the basis of fully understanding the sampling technology of celestial body detection at home and abroad, the feasibility, merits and demerits of various schemes for drilling rig under the special working environment of lunar surface can be compared. In this paper, the project of rope-driven lunar soil drilling is determined. In order to analyze the mechanical relationship between steel wire rope and drum friction transmission scheme and complete the analysis and calculation of related parameters, a mathematical model of multi-ring winding of wire rope was established based on the Euler formula of flexible body friction transmission. Combined with the overall configuration of the lander, the layout of the rope drive driving device is completed, and three sets of design schemes are put forward for the key point of the rope drive mechanism, that is, the driving drum of the rope drive. According to the test results of sampling load prediction, the structure of three driving schemes is designed in detail, and the design and construction of data acquisition and control system are completed. In order to study the characteristics of the driving device designed in this paper, a test bench is designed and built, and a large number of tests and analyses are carried out for three sets of driving devices. According to the Euler formula of flexible body friction, the equivalent friction coefficient between wire rope and driving drum is identified. The relationship between the driving force and the relative parameters of the feed speed, the pretightening force and the winding coil number of the wire rope is analyzed. By comparing the actual measured deformation with the ideal hypothetical conditions and combining with the data fitting results, a modified formula for calculating the driving force of the ruler and the coefficient of the reference deformation to meet the actual situation are put forward when the wire rope is wound in multiple circles. The correctness of the mathematical model is verified. The limit working ability, working load stability and repeatability of the three sets of devices are tested and verified, and the advantages and disadvantages of the scheme are analyzed. The mechanical properties of wire rope and the change of mechanical properties in high and low temperature environment were tested. This paper provides theoretical reference and design guidance for the implementation of the automatic deep lunar surface engineering in the third phase of lunar exploration project and the completion of the detailed design of the drilling sampling device.
【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】：2012
【分类号】：P184;V476.3;P634
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