【摘要】：我國探月三期的主要目標(biāo)之一是利用鉆取采樣裝置獲取不小于2米深度的月壤樣品并返回地球,鉆進導(dǎo)向機構(gòu)作為鉆取采樣裝置的重要組件,為多種輸入工況下的鉆具提供支撐和導(dǎo)向功能,其合理的設(shè)計是保證鉆取采樣裝置順利采樣的關(guān)鍵。國內(nèi)外對于特殊環(huán)境下的鉆進導(dǎo)向機構(gòu)研究甚少,如何設(shè)計出具有優(yōu)良導(dǎo)向性能的導(dǎo)向機構(gòu)仍是一個未知的問題。因此,研究鉆進導(dǎo)向機構(gòu)從構(gòu)型到結(jié)構(gòu)設(shè)計對保證鉆具的鉆進精度和提高鉆取采樣的可靠性具有重要意義。分析鉆進導(dǎo)向機構(gòu)的功能需求和技術(shù)指標(biāo),提取鉆進導(dǎo)向機構(gòu)的設(shè)計要素,設(shè)計其合理構(gòu)型。針對構(gòu)型中導(dǎo)軌副摩擦形式和接觸類型的不同,提出多種設(shè)計方案并分析各方案的工作原理及優(yōu)缺點。引入層次分析法建立導(dǎo)軌副的評價模型,采用定性和定量相結(jié)合的分析方法計算各方案的權(quán)重,為鉆進導(dǎo)向機構(gòu)構(gòu)型方案的優(yōu)選提供依據(jù)。針對優(yōu)選出的鉆進導(dǎo)向機構(gòu)構(gòu)型,提取關(guān)鍵結(jié)構(gòu)參數(shù),進行導(dǎo)向機構(gòu)導(dǎo)向性能參數(shù)化研究。分析鉆進導(dǎo)向機構(gòu)力學(xué)邊界條件和外界載荷等效方式,建立導(dǎo)向精度、鉆具撓曲變形和赫茲接觸應(yīng)力的數(shù)學(xué)模型并給出相應(yīng)的約束條件,得到鉆進導(dǎo)向機構(gòu)上述評價導(dǎo)向性能的指標(biāo)與自身結(jié)構(gòu)參數(shù)之間的關(guān)系,初步確定各參數(shù)的取值范圍,為鉆進導(dǎo)向機構(gòu)的結(jié)構(gòu)設(shè)計奠定理論基礎(chǔ)。明確鉆進導(dǎo)向機構(gòu)的功能組成和導(dǎo)向機構(gòu)在鉆取采樣任務(wù)全周期中的力學(xué)環(huán)境,對鉆進導(dǎo)向機構(gòu)的關(guān)鍵組成部件進行結(jié)構(gòu)設(shè)計,并進行相應(yīng)靜力學(xué)分析和環(huán)境適應(yīng)性分析。運用有限元分析方法模擬月壤鉆取采樣極限工況,分析鉆進導(dǎo)向機構(gòu)的剛度和強度并預(yù)計質(zhì)量,進一步對鉆進導(dǎo)向機構(gòu)的強度和剛度進行校核。給出鉆進導(dǎo)向機構(gòu)力學(xué)條件并設(shè)置相關(guān)仿真參數(shù),建立鉆進導(dǎo)向機構(gòu)的三維仿真模型。在多體動力學(xué)軟件中模擬月面極限工況,對鉆具施加不同方向的擾動力,得到導(dǎo)向機構(gòu)各支撐處的接觸力和鉆機質(zhì)心位移隨時間變化的趨勢,驗證靜力學(xué)模型中導(dǎo)向機構(gòu)姿態(tài)的正確性并分析各平面的抗偏載能力。計算鉆進導(dǎo)向機構(gòu)的導(dǎo)向精度,對鉆進導(dǎo)向機構(gòu)在鉆取采樣任務(wù)中的導(dǎo)向性能進行評價,為取芯鉆具及限幅機構(gòu)等相關(guān)結(jié)構(gòu)的設(shè)計分析提供理論參考。
[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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V476.3

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