月壤鉆探取芯進(jìn)尺驅(qū)動裝置設(shè)計與研究
發(fā)布時間：2018-07-24 20:24
【摘要】：本文來源于我國探月工程三期的攻關(guān)項目，，以月面深層鉆探采樣任務(wù)為背景，為解決由于月面低重力的特殊工作環(huán)境造成鉆取采樣裝置無法依靠自身重力順利完成鉆探任務(wù)這一技術(shù)難題，結(jié)合月壤鉆探取芯裝置的總體設(shè)計要求，提出了功耗小、質(zhì)量輕、可靠度高的進(jìn)尺驅(qū)動裝置技術(shù)方案。 在充分了解國內(nèi)外天體探測采樣技術(shù)的基礎(chǔ)上，對比可在月面特殊工作環(huán)境下，為鉆機提供進(jìn)尺壓力多種方案的可行性及優(yōu)缺點，確定了本課題研究的繩驅(qū)式月壤鉆探取芯進(jìn)尺方案。 為分析依靠鋼絲繩與卷筒摩擦力傳動方案的力學(xué)關(guān)系，完成相關(guān)參數(shù)的分析計算，基于柔韌體摩擦傳動歐拉公式，建立了鋼絲繩多圈纏繞數(shù)學(xué)模型。結(jié)合著陸器的整體構(gòu)型完成了繩驅(qū)式進(jìn)尺驅(qū)動裝置的布局，對繩驅(qū)機構(gòu)的設(shè)計關(guān)鍵點，即進(jìn)尺驅(qū)動卷筒提出三套設(shè)計方案。根據(jù)鉆取采樣負(fù)載預(yù)估試驗結(jié)果，對三套進(jìn)尺驅(qū)動方案進(jìn)行詳細(xì)結(jié)構(gòu)設(shè)計，完成數(shù)據(jù)采集及控制系統(tǒng)的設(shè)計及搭建。 為完成對本課題所設(shè)計的進(jìn)尺驅(qū)動裝置特性研究，設(shè)計并搭建了進(jìn)尺驅(qū)動試驗測試臺，針對三套進(jìn)尺驅(qū)動裝置進(jìn)行了大量的試驗及分析。 結(jié)合試驗結(jié)果，依據(jù)柔韌體摩擦歐拉公式，辨識出鋼絲繩與驅(qū)動卷筒的當(dāng)量摩擦系數(shù)。分析進(jìn)尺速率、進(jìn)尺預(yù)緊力及鋼絲繩纏繞圈數(shù)等進(jìn)尺相關(guān)參數(shù)與進(jìn)尺驅(qū)動力之間的關(guān)系。將實際測量變形量與理想假設(shè)條件對比，結(jié)合數(shù)據(jù)擬合結(jié)果，提出鋼絲繩多圈纏繞時，進(jìn)尺驅(qū)動力的修正計算公式，及滿足實際情況的參考變形量系數(shù)，并驗證了數(shù)學(xué)模型的正確性。對三套裝置極限工作能力、工作力載穩(wěn)定性及可重復(fù)性進(jìn)行試驗驗證，分析方案優(yōu)缺點。測試了進(jìn)尺傳動部件鋼絲繩的機械性能，及高低溫環(huán)境下機械性能的變化情況。為探月工程三期月面自動深層的工程實施，完成鉆取采樣裝置的詳細(xì)設(shè)計提供理論參考及設(shè)計指導(dǎo)。
[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.
【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】：2012
【分類號】：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.
【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】：2012
【分類號】：P184;V476.3;P634
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