【作者】 王鑫；

【导师】 李笑；

【作者基本信息】 哈尔滨工业大学 ， 机械设计及理论， 2012， 硕士

【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。更多还原

【Abstract】 This article comes from China’s3r dLunar Exploration Programme.Because ofthe low gravity of the lunar surface, the drill sampling device can not afford enoughdrilling pressure,which is essencial for the drilling process. In order to solve theproblem,based on the overall design requirements of the drilling&coring device oflunar soil, this paper puts forward a penetrating driving device, which is light,low-power,and has high-reiability.Based on the fully understanding of the extraterrestrial sampling techniques,this paper compares the advantages and the disadvantages of a variety of programswhich can provide the penetrating pressure for the drilling mechine, the rope-drivingpenetrating mechanism program is chosen as the research target.Combined with the overall configuration of the lander, the layout of the ropedrive penetrating mechanism device is completed. For the key points of the ropedrive designing, i.e. the drive reel of the penetrating mechanis m, the paper putsforward three design proposals, design is. According to the friction Euler’s formulafor flexible body, a mathematical model is established based on the friction betweenthe wire rope and the winding reel.Combined with the load forecast experimentresults, the related parametres of the penetrating system are designed in detail. Thenaccomplishes the structural design of the three design proposals, and anslyses theimit working ability, working feasibility, luanr environment adaptation ability andthe advantages and disadvantages of the proposals. Finally the control system anddata acquisition for the penetrating device is completed.The capacity and the reliability of the penetrating device is the key factor toensure the completion of the lunar soil drilling and coring and lunar soil samplingtask. In order to analyze the penetrating drive characteristics of the system,thetesting bed for the penetrating driving system is designed and set up, and a series oftests are conducted for the analysis of the system.The equivalent coeffic ient of friction between the rope and drive wheel iscalculated based on the test results. Then Analyzes the relationship between thepenetrating driving force and the relevant parameters, such as the penetrating rate，the penetrating preload and the winding round number of the wire rope. Comparedthe experiment results of deformation with the ideal assumption conditions, andcombined with the fitting data results, proposed the correct calculation formula forpenetrating driving force under multi-round winding conditions, and the referencecorrect distortion coefficient, which meets the actual situation,verifies thecorrectness of the mathematical model. Then accomplishes the testing experiments for the working force stability and repeatability of the device, tests the mechanicalperformance of the wire rope which was the transmission parts of the penetratingmechanis m, and the change of the mechanical properties under high-lowtemperature environments. Finally this paper provides a theoretical reference anddesign guidance for the lunar drilling and sampling system.更多还原