A pyrotechnic actuated perforator for planetary profile exploration

Abstract

The present invention discloses a pyrotechnic actuated perforator for planetary profile exploration, which relates to the technical field of lunar regolith water ice sample sampling. It solves the problems that during the sampling process, the penetration of the perforating charge launched by the perforator into the lunar regolith water ice layer cannot meet the sampling space required by the sampler and the mass conditions of the overall load. At the same time, the leakage of combustion residues during the launch of the perforating charge will contaminate the in-situ lunar regolith water ice. The pyrotechnic actuated perforating charge consists of four major parts: a high-performance penetration projectile unit, a high-performance pyrotechnic actuation unit, a launch unit, and an interface unit. It can achieve the penetration perforation of high-strength lunar regolith water ice. For high-strength lunar regolith water ice materials, the penetration depth is >160 mm. It can achieve low-recoil clamping launch, the launch speed of the penetrator is >350 m / s, the bullet hole diameter is >15 mm, the launch recoil force is <5 N. It can achieve high-performance sealing of the combustion products of the driving gunpowder, and the pollutant leakage is <8.62×10-19 g. It can be stored in a low-temperature environment for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of lunar regolith water ice sample sampling, and particularly to a pyrotechnic actuated perforator for planetary profile exploration. Background Art

[0002] Since Watson et al. first proposed the possibility of water ice on the moon in 1961, evidence of water ice substances existing in the permanently shadowed areas of the lunar south pole has been found through various means such as ground-based remote sensing, spaceborne remote sensing, and ground-penetrating radar. During the process of sampling and detecting the lunar regolith water ice fabric in the polar regions of the moon, the impact drilling method is usually adopted to collect lunar regolith water ice samples. However, for the high-strength lunar regolith water ice fabric, the single impact drilling sampling method has low penetration efficiency and slow speed, and cannot meet the index requirements of low power consumption and fast speed for sampling and detection operations under polar environmental conditions. Therefore, the present invention proposes a low-power, high-efficiency, and pollution-free pyrotechnic actuated perforator for use in conjunction with sampling and detection tools. During the adoption process, the kinetic penetration method is used to penetrate and create holes in the high-strength lunar regolith water ice, providing a channel for the subsequent sampling and detection of the tool. At the same time, the crushing effect greatly reduces the strength of the lunar regolith water ice fabric, which is beneficial to the rapid sampling operation of the sampling tool. However, during the sampling process, the penetration and hole creation of the perforating cartridge fired by the perforator into the lunar regolith water ice layer cannot meet the sampling space and the mass conditions of the overall load required by the sampler. At the same time, the leakage of combustion residues during the launch of the perforating cartridge will pollute the in-situ lunar regolith water ice.

[0003] To sum up, in the design process of a perforator for penetrating and creating holes in the extremely low-temperature and high-strength lunar regolith water ice in the permanently shadowed pits in the polar regions of the moon, it is necessary to reasonably design according to the mechanical property parameters of the lunar regolith water ice and the sampling and detection requirements to achieve high-efficiency penetration perforation and lightweight and miniaturized design of the perforator. At the same time, it is necessary to avoid the pollution of the in-situ lunar regolith water ice sample by the combustion residues of the propellant and the problem of excessive mechanical disturbance to the flyer and robotic arm during the launch process through sealed anti-pollution design and low-recoil launch design. Summary of the Invention

[0004] Aiming at the perforating cartridge for penetrating and creating holes in the extremely low-temperature and high-strength lunar regolith water ice in the permanently shadowed pits in the polar regions of the moon, which needs to have the technical characteristics of low recoil during the perforation process, high efficiency of the perforation effect, and no pollution after perforation, the purpose of the present invention is to provide a pyrotechnic actuated perforator for planetary profile exploration.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A pyrotechnic actuated perforator for planetary profile detection, which includes: a penetration projectile 5, a clamping sleeve 6, a firing barrel 3 and high-energy gunpowder 4. The firing barrel 3 includes: a cavity part 15 and a tubular part 14 connected to the opening of the cavity part 15. A igniter 2 is installed at the bottom of the cavity part 15. The cavity part 15 is used to accommodate the high-energy gunpowder 4. A sealing piston 7 is provided at the opening of the cavity part 15. The sealing piston 7 is used to prevent the high-energy gunpowder 4 from entering the tubular part 14. The penetration projectile 5 is arranged in the tubular part 14, and is movably connected between the bottom of the penetration projectile 5 and the sealing piston 7. The tubular part 14 is installed in the clamping sleeve 6, and a multiplexing interface 11 connected to the control system is provided on the outer wall of the clamping sleeve 6.

[0007] The above-mentioned pyrotechnic actuated perforator for planetary profile detection further includes: a positioning ring 10. A plurality of the positioning rings 10 are installed in the tubular part 14. The inner diameter of each positioning ring 10 matches the outer diameter of the penetration projectile 5, and the penetration projectile 5 and the firing barrel 3 are coaxially arranged through the plurality of positioning rings 10.

[0008] The above-mentioned pyrotechnic actuated perforator for planetary profile detection further includes: a tail plug 1. The tail plug 1 is installed at the bottom of the cavity part 15. The tail plug 1 is used to prevent the high-energy gunpowder 4 from leaking from the bottom of the cavity part 15.

[0009] The above-mentioned pyrotechnic actuated perforator for planetary profile detection further includes: a sealing ring 9. The sealing ring 9 is provided between the firing barrel 3 and the sealing piston 7.

[0010] For the above-mentioned pyrotechnic actuated perforator for planetary profile detection, the outer diameter of the penetration projectile 5 is 15 mm, and the length of the penetration projectile 5 is 85 mm.

[0011] For the above-mentioned pyrotechnic actuated perforator for planetary profile detection, the length of the firing barrel 3 is 420 mm.

[0012] For the above-mentioned pyrotechnic actuated perforator for planetary profile detection, the inner diameter of the end of the tubular part 14 far from the cavity part 15 is smaller than the inner diameter of the end of the tubular part 14 connected to the cavity part 15, and the outer diameter of the end of the tubular part 14 far from the cavity part 15 is larger than the outer diameter of the end of the tubular part 14 connected to the cavity part 15. The outer wall of the tubular part 14 matches the inner wall of the clamping sleeve 6.

[0013] For the above-mentioned pyrotechnic actuated perforator for planetary profile detection, the penetration projectile 5 is in a bullet shape, and the penetration projectile 5 and the sealing piston 7 are movably connected through a plurality of shear pins 8.

[0014] The above-mentioned pyrotechnic actuated perforator for planetary profile detection, wherein a plurality of cavity spaces 13 are provided between the inner wall and the outer wall of the clamping sleeve 6, and the plurality of cavity spaces 13 are used for sound insulation and shock absorption during the perforation process.

[0015] The above-mentioned pyrotechnic actuated perforator for planetary profile detection, wherein the multiplexing interface 11 and the igniter 2 are connected by two detonating signal cables 12.

[0016] Due to the adoption of the above technology, the positive effects of the present invention compared with the prior art are as follows:

[0017] (1) The present invention can achieve penetration perforation of high-strength lunar regolith water ice, and the penetration depth for high-strength lunar regolith water ice materials is > 160 mm;

[0018] (2) The present invention can achieve low-recoil clamping and launching, with the launching speed of the penetrator: > 350 m / s, the bullet hole diameter > 15 mm, and the launching recoil force < 5 N;

[0019] (3) The present invention can achieve high-efficiency sealing of the combustion products of the driving gunpowder, with pollutant leakage < 8.62×10 -19 g, and no accidental ignition occurs under long-term storage conditions, and it can be stored in a low-temperature environment for a long time.

[0020] (4) The present invention can achieve impact fragmentation of the high-strength lunar regolith water ice structure, reduce its mechanical strength, and greatly improve the efficiency of sampling and detection operations. Description of the Drawings

[0021] Figure 1 It is a front view schematic diagram of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0022] Figure 2 It is a structural schematic diagram of a top view of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0023] Figure 3 It is a composition diagram of a perforating cartridge system of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0024] Figure 4 It is a ballistic curve of a conical projectile of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0025] Figure 5 It is a ballistic curve of a pointed-ovoid projectile of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0026] Figure 6 It is a schematic diagram of the geometric structure of a penetrator of a pyrotechnic actuated perforator for planetary profile detection according to the present invention.

[0027] Figure 7 It is the ballistic deflection characteristic curve with different length-diameter ratios of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0028] Figure 8 It is the penetration depth prediction curve with different strength configurations at 350 m / s of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0029] Figure 9 It is the penetration depth prediction curve with different velocities of a gradient configuration of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0030] Figure 10 It is the P-t curve of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0031] Figure 11 It is the v-t curve of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0032] Figure 12 It is the P-L curve of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0033] Figure 13 It is the v-L curve of a pyrotechnic actuated perforator for planet profile exploration according to the present invention.

[0034] In the attached drawings: 1. Tail plug; 2. Igniter; 3. Launch barrel; 4. High-energy gunpowder; 5. Penetration projectile; 6. Clamping sleeve; 7. Sealing piston; 8. Shearing pin; 9. Sealing ring; 10. Positioning ring; 11. Reusable interface; 12. Initiation signal cable; 13. Cavity space; 14. Tubular part; 15. Cavity part. Detailed implementation manners

[0035] The present invention will be further described below in conjunction with the attached drawings and specific embodiments, but it is not intended to limit the present invention.

[0036] Please refer to Figures 1 to 13As shown in the figure, a percussion-actuated perforator for planetary profile exploration is shown, which includes: a penetration projectile 5, a clamping sleeve 6, a launch barrel 3, and high-energy gunpowder 4. The launch barrel 3 includes: a cavity part 15 and a tubular part 14 connected to the opening of the cavity part 15. A detonator 2 is installed at the bottom of the cavity part 15. The cavity part 15 is used to accommodate the high-energy gunpowder 4. A sealing piston 7 is provided at the opening of the cavity part 15. The sealing piston 7 is used to prevent the high-energy gunpowder 4 from entering the tubular part 14. The penetration projectile 5 is arranged in the tubular part 14. The bottom of the penetration projectile 5 is movably connected to the sealing piston 7. The tubular part 14 is installed in the clamping sleeve 6. A multiplexing interface 11 connected to the control system is provided on the outer wall of the clamping sleeve 6.

[0037] Furthermore, in a preferred embodiment, it further includes: a positioning ring 10. A plurality of positioning rings 10 are installed in the tubular part 14. The inner diameter of each positioning ring 10 matches the outer diameter of the penetration projectile 5. The penetration projectile 5 and the launch barrel 3 are coaxially arranged through the plurality of positioning rings 10.

[0038] Furthermore, in a preferred embodiment, it further includes: a tail plug 1. A tail plug 1 is installed at the bottom of the cavity part 15. The tail plug 1 is used to prevent the high-energy gunpowder 4 from leaking from the bottom of the cavity part 15.

[0039] Furthermore, in a preferred embodiment, it further includes: a sealing ring 9. A sealing ring 9 is provided between the launch barrel 3 and the sealing piston 7.

[0040] Furthermore, in a preferred embodiment, the outer diameter of the penetration projectile 5 is 15 mm, and the length of the penetration projectile 5 is 85 mm.

[0041] Furthermore, in a preferred embodiment, the length of the launch barrel 3 is 420 mm.

[0042] Furthermore, in a preferred embodiment, the inner diameter of the end of the tubular part 14 away from the cavity part 15 is smaller than the inner diameter of the end of the tubular part 14 connected to the cavity part 15. The outer diameter of the end of the tubular part 14 away from the cavity part 15 is larger than the outer diameter of the end of the tubular part 14 connected to the cavity part 15. The outer wall of the tubular part 14 matches the inner wall of the clamping sleeve 6.

[0043] Furthermore, in a preferred embodiment, the penetration projectile 5 is in the shape of a bullet head. The penetration projectile 5 and the sealing piston 7 are movably connected through a plurality of shear pins 8.

[0044] Furthermore, in a preferred embodiment, a plurality of cavity spaces 13 are provided between the inner wall and the outer wall of the clamping sleeve 6. The plurality of cavity spaces 13 are used for sound insulation and shock absorption during the perforation process.

[0045] Furthermore, in a preferred embodiment, the multiplexing interface 11 and the detonator 2 are connected by two detonation signal cables 12.

[0046] The above are only the preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention accordingly.

[0047] On the basis above, the present invention also has the following implementation manners:

[0048] In a further embodiment of the present invention, the technical requirements are as follows: during the process of sampling the lunar polar regolith water ice sample, first, the surface anhydrous low-strength regolith is removed by means of rapid drilling, and then a perforating charge is used to penetrate and create holes in the high-strength regolith water ice layer with rich water content, so as to provide a working space for the sampling tool to collect in-situ regolith water ice samples. To meet the sampling space required by the sampler and the mass conditions of the overall load, and at the same time to avoid the leakage of combustion residues during the launch process from polluting the in-situ regolith water ice, the technical requirements of the perforating charge are shown in Table 1.

[0049] Table 1 Technical Requirements Table of Perforating Charge

[0050]

[0051] In a further embodiment of the present invention, the composition and working principle of the pyrotechnic actuated perforating charge system: The pyrotechnic actuated perforating charge is composed of four major parts: a high-performance penetration projectile unit, a high-performance pyrotechnic actuating unit, a launch unit and an interface unit, as Figure 3 shown. The perforating charge can be clamped by a robotic arm or launched on a specific launch rack. The main control system of the flyer gives an ignition signal to the igniter 2 through the mechanical and electrical multiplexing interface 11. The diaphragm igniter 2 ignites the propellant to generate a large amount of high-pressure explosive gas to push the penetration projectile 5 to accelerate to the target speed in the launch barrel 3 and then launch. The penetration projectile 5 completes the penetration and hole creation of the lunar regolith water ice profile with its inertial speed.

[0052] In a further embodiment of the present invention, the design of the penetration projectile 5 of the perforating charge: As Figure 4 and Figure 5 shown are the ballistic characteristic curves of penetration projectiles 5 with different geometric configurations penetrating dry sand target materials. According to the ballistic curves, it can be seen that the resistance of the penetration projectile 5 with a pointed-oval structure during penetration is much lower than that of the penetration projectile 5 with a conical structure. At the same speed cost, the oval penetration projectile 5 can reach a greater penetration depth, which will be beneficial for the sampler to achieve deeper sampling detection of the lunar regolith water ice profile. In this solution, the pointed-oval structure is selected for the penetration of the perforating charge, as Figure 6 shown. During the penetration process of the penetration projectile 5, due to the inhomogeneous characteristics of the lunar regolith water ice medium, a deflection moment will be generated on the penetration projectile 5, causing the ballistic trajectory to deflect. The deflection characteristic curves of the penetration projectile 5 during the penetration process under different length-diameter ratio parameters are as Figure 7 shown. According to Figure 7It can be seen that in order to suppress the ballistic deviation caused by the deflection moment and maximize the penetration depth, it is required that the length-diameter ratio L / D of the penetration projectile 5 > 5.

[0053] In a further embodiment of the present invention, according to the classical terminal ballistics theory, for a small-mass penetration projectile, the Forrestal penetration prediction formula can be used to predict the perforation depth of the perforating projectile, as shown in Equation (1).

[0054]

[0055] In the formula: P - penetration depth; N - ballistic coefficient; a - projectile diameter; ρ - target density; m - projectile mass; f c ' - uniaxial compressive strength; S - strength coefficient value;

[0056] In a further embodiment of the present invention, the S value is the strength coefficient value of the target material. For materials that conform to the Mohr-Coulomb yield criterion, the relationship between the S value and the uniaxial compressive strength of the target material can be approximately expressed by Equation (2).

[0057] S = 82.6(f c ' / 10 6 ) -0.544 (2)

[0058] In a further embodiment of the present invention, according to Equations (1) and (2), it can be seen that when the required penetration depth is constant, the smaller the diameter of the projectile, the lower the requirement for the launch velocity, which is more conducive to the overall lightweight design of the perforating projectile. In this project, a penetration hole with a diameter of 15 mm can meet the requirements of sampling detection. Therefore, the diameter D of the projectile is selected as 15 mm, and the projectile length L is selected as 85 mm. To ensure that the penetration projectile 5 does not fail during the process of penetrating and creating holes in the high-strength lunar regolith water ice and at the same time has a high launch kinetic energy, it is required that the penetration projectile 5 is made of a high-strength, high-toughness, and high-density material. Using a high-density nickel-tungsten alloy material can better meet the above requirements, and its material parameters are shown in Table 2. According to the geometric configuration of the penetration projectile 5, the mass of the penetration projectile 5 is approximately 200 g. Substituting the above parameters into Equation (1), the penetration depth curve in homogeneous lunar regolith structures with different strengths at a launch velocity of 350 m / s can be obtained as Figure 8 shown. Since the strength characteristics of the real lunar regolith water ice structure are gradient-distributed, it is assumed here that it is linearly gradient-varying with a change rate of 30 MPa / m, and the penetration depth prediction curves of the penetration projectile 5 at different launch velocities are calculated as Figure 9 shown. According to the data detected by NASA, the ultimate strength of the lunar regolith water ice in the permanently shadowed craters at the lunar south pole is 40 MPa. To meet the requirements of engineering coverage, this scheme is designed according to a target strength of 40 MPa. According to Figure 8 and Figure 9From the data in , it can be seen that at a speed of 350 / s, the penetration depth is approximately 168 mm, which basically meets the design requirements.

[0059] Table 2 Penetrating Projectile Material Parameter Table

[0060] Parameter Name Parameter Value Material Name Nickel-tungsten alloy <![CDATA[Density (kg / m 3 )]]> 18000 Young's Modulus (GPa) 619.5 Poisson's Ratio 0.28 Mohs Hardness (HM) 32 Yield Strength 1450 MPa

[0061] In a further embodiment of the present invention, to meet the coverage requirements, the penetration depths of penetrating projectiles 5 with different masses at different launch speeds, as well as their corresponding charge amounts, total masses, envelopes, and launch kinetic energy parameters, are matched. The matching results are shown in Table 3, and the specific matching process will be carried out in the following analysis.

[0062] Table 3 40MPa Lunar Regolith Water Ice Penetrating Projectile Parameter Table

[0063]

[0064]

[0065] In a further embodiment of the present invention, the design of the high-performance pyrotechnic actuation unit for the perforating projectile: The high-performance pyrotechnic actuation perforating unit consists of two parts, an insensitive high-energy propellant and a diaphragm igniter 2. As the energy module of the entire pyrotechnic actuation perforating projectile, on the one hand, it is required to have a high energy ratio to reduce the charge amount requirement, thereby meeting the lightweight requirement of the system; on the other hand, it is required to have extremely high safety to ensure that no accidental ignition actuation or failure occurs during long-term storage in the space environment. To meet the above requirements, this solution selects and designs the high-energy gunpowder 4 and igniter 2 of the perforating projectile here. In this solution, an insensitive propellant with high burning rate, high gunpowder force, and excellent long-term storage performance is selected as the high-energy gunpowder 4 of the perforating projectile. The main components and energy characteristic numbers of the propellant are shown in Tables 4 and 5 respectively. When the geometric and mass parameters of the penetrating projectile 5 are completely determined, its launch speed is determined by two parameter values, the length of the launch barrel 3 of the perforating projectile and the launch chamber pressure. The launch chamber pressure of the perforating projectile depends on the total charge amount of the perforating projectile. According to the motion characteristics of the projectile in the ballistic trajectory, the relationship between time t and projectile velocity and the relationship between the travel length L of the projectile in the chamber and the chamber velocity are obtained as shown in Equations (3) and (4). The chamber pressure value of the perforating projectile increases with the increase of the charge amount. Excessive chamber pressure is not conducive to the safety of the perforating projectile during the launch process. Therefore, when the required launch speed is known, the launch chamber pressure requirement can be reduced by appropriately increasing the length parameter of the launch barrel 3, thereby improving the safety of the perforating projectile system. Due to the limitation of the carrying size of the flyer, the length of the perforating projectile is tentatively set at 420 mm.

[0066]

[0067]

[0068] In the formula:

[0069] S—the inner cavity area of the launch barrel 3; P—the ballistic chamber pressure value; m—the mass of the penetration projectile body 5; φ—the mass correction coefficient of the penetration projectile body 5, taking a value of 1 to 1.3; t—the time counted from the start of static combustion; v—the warhead velocity at any instant;

[0070] In a further embodiment of the present invention, according to the Bravin interior ballistic calculation empirical formula, the gas state, and the basic equation of energy conversion, the basic equation of interior ballistics can be obtained, as shown in Equation (5). Substituting Equation (3) and Equation (4) into Equation (5), Equation (6) can be obtained. Substituting the parameters of the high-energy gunpowder 4 and the geometric structure parameters of the launch barrel 3, and using the fourth-order Runge-Kutta method for iteration, it can be calculated that when the charge of the high-energy gunpowder 4 is 24 g, the launch requirement of 350 m / s for the penetration projectile body 5 can be satisfied.

[0071]

[0072]

[0073] In the formula: L φ —the reduced diameter length of the free volume of the chamber; L0—the length of the acceleration section; f—the powder force; ω—the charge of the propellant; θ—θ = k - 1, where k is the adiabatic index of the gas; △—the loading density; δ m —the powder density; α—the residual volume of the combustion chamber; ψ—the powder charge coefficient;

[0074] Table 4 Main components of the propellant

[0075] Nitrocellulose (%) Nitroglycerin (%) Other Additives (%) Moisture Content (%) 63.5±2 34±2 2％ ≤0.5

[0076] Table 5 Energy characteristic numbers of the propellant

[0077]

[0078] In a further embodiment of the present invention, according to the requirements of GJB344A-2005 "General Specification for Insensitive Electric Initiators", the igniter 2 should have high safety, anti-static, anti-stray current resistance, dielectric withstand voltage, and the reliability should be ≥0.999. Therefore, in this solution, the igniter 2 uses a double-bridge ignition circuit with high reliability, which adopts triple protection measures of current, voltage, and power to avoid accidental actuation and ignition during long-term storage. Its detailed performance parameters are shown in Table 6.

[0079] Table 6 Performance parameter table of the igniter

[0080]

[0081] In a further embodiment of the present invention, the design of the perforating charge launching barrel 3: The launching barrel 3 is the main body of the entire perforating charge system, mainly composed of three parts: an equal-strength launching tube made of high-strength alloy, a clamping sleeve 6, and a sealing piston 7. The sealing piston 7 and the launching barrel 3 together form a closed combustion chamber to seal the combustion residues of the high-energy gunpowder 4 in the launching barrel 3, effectively avoiding a large amount of leakage of the combustion residues of the propellant to the in-situ lunar soil. During the launching process, the high-pressure gas generated by the deflagration of the high-energy gunpowder 4 pushes the sealing piston 7 and then accelerates the perforating charge to the target launching speed. The launching barrel 3, as a recoil body, flies away in the opposite direction of the launch with the sealed combustion residues to balance the launching recoil force. To ensure that the perforating charge can be smoothly separated from the elastic interface of the robotic arm during the launching process, it is required that the overall shape of the perforating charge is an equal-diameter body. Therefore, during the design process of the perforating charge, a porous composite material structure is adopted to wrap the non-equal-diameter launching barrel 3 into an equal-diameter body. The wrapped porous composite material structure isolates the launching barrel 3 from the clamping interface of the robotic arm, and can effectively absorb the impact and vibration energy during the launching process, reducing the mechanical disturbance to the robotic arm.

[0082] In a further embodiment of the present invention, to meet the high-pressure resistance characteristics of the launching barrel 3, in this design, the aviation ultra-high-strength steel 40CrNi2SiMoVA is proposed to be selected as the material for the launching barrel 3, and its tensile strength σb = 1860 MPa, σr0.2 = 1515 MPa. According to the matching result of Equation 6 and the charge parameters, the internal ballistic curve of the perforating charge can be solved by the fourth-order Runge-Kutta method as Figures 10 to 13 shown. To meet the lightweight requirement of the system, according to the change value of the chamber pressure of the launching barrel 3, the corresponding equal-strength design of the launching barrel 3 is carried out, and the geometric parameters of the launching barrel 3 can be calculated by Equation (7) and Equation (8).

[0083]

[0084] r2 = ar1 (8)

[0085] In the formula: a - the ratio coefficient of the inner and outer diameters of the launching barrel 3; σ r0.2 - the allowable value of the material of the launching barrel 3; P - the chamber pressure of the launching barrel 3; r1 - the inner diameter of the launching barrel 3, 15 mm; r2 - the outer diameter of the launching barrel 3;

[0086] In a further embodiment of the present invention, according to the P-L data of the internal ballistics, the corrected structural parameters of the launching barrel 3 are shown in Table 7.

[0087] Table 7 Theoretical dimension table of the launching barrel

[0088]

[0089] In a further embodiment of the present invention, the design of the perforating charge reuse interface 11: The perforating charge is launched by a robotic arm and carried in the perforating charge compartment of the flyer. When performing perforating operations, the collaborative robotic arm needs to hold and transfer the perforating charge through the clamping interface, and establish a communication relationship between the main control system of the flyer and the perforating charge through the electrical reuse interface 11. In this solution, an interface method of combining mechanical and electrical reuse interface 11 is adopted. The robotic arm holds the perforating charge in an elastic soft clamping manner. The total mass of the perforating charge is 1.24 kg, and the maximum static friction coefficient value between the elastic clamping piece and the perforating charge clamping sleeve 6 is 0.5. Therefore, under lunar gravity conditions, it is required that the clamping force of the elastic clip on the perforating charge is greater than 5 N. To ensure a certain design margin, the clamping force of the elastic clip in this solution is designed to be 10 N. During the launch of the penetration projectile 5, the rest of the perforating charge will separate from the clamping interface of the robotic arm and fly away in the opposite direction of the launch to balance the recoil force during the launch of the penetration projectile 5. During the whole process, the recoil force on the robotic arm is only the friction force of the clamping interface, which is expected to be less than 5 N and the action time is less than 1 ms.

[0090] In a further embodiment of the present invention, the design result of the perforating charge system: According to the above design results, the parameter results of the perforating charge are shown in Table 8.

[0091] Table 8 Statistical table of the mass of each functional component of the perforating charge

[0092]

[0093]

[0094] In a further embodiment of the present invention, to further verify the penetration ability of the perforating charge and the accuracy of the theoretical model calculation, it is analyzed by numerical simulation. The target used in the simulation is 40 MPa high-strength lunar regolith water ice, and the penetration projectile 5 is made of high-strength nickel-tungsten alloy material. The specific parameters are shown in Table 9 and Table 10.

[0095] Table 9 Mechanical property parameter table of lunar regolith water ice

[0096] Parameter Name Parameter Value Constitutive Model Johnson cook model <![CDATA[Density (kg / m 3 )]]> 1800 Young's Modulus (MPa) 1000 Poisson's Ratio 0.4 Specific Heat Capacity at Constant Pressure (J / kg·K) 654 Uniaxial Compressive Strength (MPa) 40 Yield Stress (MPa) 8.3 Hardening Strength (MPa) 200 Strain Rate Coefficient 0.02 Hardening Coefficient 0.808 Temperature Coefficient 0.9

[0097] Table 10 Mechanical property parameter table of the penetration projectile material

[0098] Parameter Name Parameter Value Material Name YG6 <![CDATA[Density (kg / m 3 )]]> 15000 Young's Modulus (GPa) 619.5 Poisson's Ratio 0.28 Specific Heat Capacity at Constant Pressure (J / kg·K) 176

[0099] In a further embodiment of the present invention, during the numerical simulation process, the mechanical calibration of the penetration target material is first carried out using the uniaxial compressive test data of simulated lunar regolith water ice, and then a simulation model is established according to the penetration simulation requirements. The force model of the penetration effect has high symmetry. Therefore, to reduce the calculation scale, a 1 / 2 finite element model is used for calculation and analysis. During the simulation test process, preprocessing operations such as geometric modeling and mesh generation are first performed using Workbench software, and then the processed geometric model is imported into the LS-DYNA calculator for solution operation.

[0100] In a further embodiment of the present invention, according to the design results of the perforating charge, a total of 2 groups of penetration simulation tests are planned. The penetration depths of the penetration projectile 5 under different launch velocity conditions are calculated respectively, and the simulation results and theoretical calculation results are shown in Table 11.

[0101] Table 11 Simulation test matrix table

[0102] Serial Number Penetrating Projectile Mass Penetrating Projectile Diameter Velocity Simulated Penetration Depth Theoretical Penetration Depth 1 200g 15 mm 350 m / s 198 mm 170 mm 2 200g 15 mm 400 m / s 238 mm 208 mm

[0103] In a further embodiment of the present invention, to verify the feasibility of the principle of the pyrotechnic actuated perforating charge scheme, a pyrotechnic actuated penetration effect test system is built. The pyrotechnic actuated penetration projectile is vertically hung about 500 mm above the soil at the upper and lower ends of the protective wooden board with cotton thread, and the projectile is driven by pyrotechnics to penetrate the clay object at high speed. During this process, the penetration situation is recorded by high-speed photography. The mass of the penetration projectile is 215 g, and the size of the penetration projectile is

[0104] In a further embodiment of the present invention, the charge amount of the pyrotechnic actuated high-energy gunpowder 4 is changed, and three penetration tests are carried out respectively. All 3 test pieces work normally, and no obvious deformation or damage is found on the shell after the test. The penetration ballistic trajectory and the formed hole state, the penetration speed and depth data. When the penetration speeds are 114.3 m / s, 132.7 m / s, and 118.4 m / s respectively, the penetration depths are 450 mm, 520 mm, and 400 mm respectively.

[0105] In a further embodiment of the present invention, a caliber light gas gun is used, and the pressure regulating gas energy storage is used to increase the speed, and the penetration projectile is accelerated to 260 - 550 m / s and penetrates into the simulated lunar regolith target. The penetration process is recorded by a high-speed camera system. Using GUA-1A simulated lunar regolith with a particle size of 0.1 - 1 mm as the raw material, adding water and freezing at -20 °C to prepare a lunar regolith water ice sample with a water content of 5%, to form a penetration target with a strength of about 4 MPa.

[0106] In a further embodiment of the present invention, the penetration projectile has a diameter of 30 mm, a length of 150 mm, and a mass of 250 g. Penetration tests are carried out at three speeds of 260 m / s, 482.6 m / s, and 550 m / s, and the maximum penetration depth is 585 mm.

[0107] In a further embodiment of the present invention, according to the dynamic modeling analysis of the firearm firing process, it can be known that when the rifle is fixed and fired, the attitude characteristics of the bullet at the moment of leaving the muzzle are determined by three factors: the performance characteristics of the rifle itself, the local atmospheric characteristics at the firing location, and the gravity characteristics. In this solution, the working environment of the perforating projectile is in a vacuum state, and at the same time, the velocity direction of the penetration projectile body 5 can be considered to be consistent with the local gravity direction. Therefore, it is considered that the launch attitude of the penetration projectile body 5 is only related to the structural characteristics of the perforating projectile. According to the bullet / gun interaction model in internal ballistics and combined with the results of high-speed camera recording during the firing test, when only affected by the structural characteristics of the gun, the attitude deflection angle of the bullet during the firing process will be less than 0.2°.

[0108] In a further embodiment of the present invention, after the core drill removes the low-strength dry lunar soil on the surface layer, the robotic arm will transfer and align the perforating projectile to the pre-drilled hole drilled by the core drill. The muzzle distance of the perforating projectile from the sampling detection point is about 450 mm. When receiving the ignition signal from the main control system, the high-energy gunpowder 4 of the perforating projectile is ignited to push the penetration projectile body 5 to launch. According to the bullet / gun interaction model in internal ballistics, it is assumed that the deflection angle of the attitude of the penetration projectile body 5 when leaving the muzzle is 0.2°. According to the calculation results, when the penetration projectile body 5 enters the pre-drilled hole, the deviation of its axis from the original axis is about 1.5 mm, and the diameter of the pre-drilled hole is 5 mm larger than the diameter of the penetration projectile body 5, with a cavity margin of about 2.5 mm on one side. Therefore, the penetration projectile body 5 can smoothly enter the pre-drilled hole.

[0109] In a further embodiment of the present invention, there will be a small amount of bound water in the high-energy gunpowder 4 during storage. The mass of the bound water accounts for ≤0.5% of its own moisture content. From this, it is estimated that the maximum moisture mass of the high-energy gunpowder 4 itself is about 0.12 g. The high-energy gunpowder 4 is mainly nitrocellulose and nitroglycerin, and water substances will be produced during the deflagration process. Therefore, the element conservation method is used in this article to estimate the maximum amount of water produced by the propellant during deflagration.

[0110] Simplified equation for the combustion reaction of nitrocellulose:

[0111] C 12 H 17 (ONO2)3O7 → 8.5H2O + other substances (1)

[0112] 459 8.5×18

[0113] 24 g×65.5% 5.240 g

[0114] C 12 H 14 (ONO2)6O7 → 7H2O + other substances (2)

[0115] 642 7×18

[0116] 24g×61.5% 2.897g

[0117] The combustion reaction equation of nitroglycerin:

[0118] 4C3H5N3O9 → 10H2O + 12CO2 + O2 + 6N2 (3)

[0119] 4×227 10×18 12×44 32 6×28

[0120] 24g×36% 1.713g

[0121] 24g×32% 1.523g

[0122] In a further embodiment of the present invention, according to the above calculation, it can be obtained that the mass of water in the combustion products of the high - energy gunpowder 4 is between 4.610 and 6.953 g.

[0123] In a further embodiment of the present invention, the types of charges in the igniter 2 include: lead styphnate, lead azide, and black powder. The H element in lead styphnate mainly exists in the lead styphnate molecule and a small amount of volatile components. Among them, the maximum mass of water generated by the combustion reaction is about 0.9238 mg, and the maximum mass ratio of the volatile components is about 0.03%. The maximum mass of water calculated is about 0.0048 mg. The H element in lead azide mainly exists in a small amount of volatile components, and the maximum mass ratio is about 0.03%. The maximum mass of water calculated is about 0.018 mg. The H element in black powder mainly exists in a small amount of volatile components, and the maximum mass ratio is about 1%. The maximum mass of water calculated is about 3 mg. After calculation, the maximum mass of water in the combustion products of the igniter 2 is about 4 mg.

[0124] In a further embodiment of the present invention, according to the above calculation results, it shows that about 7 g of water will be generated during the launch of the pyrotechnic actuated perforating projectile. Therefore, it is necessary to use the sealing piston 7 to seal the combustion products to avoid leakage interfering with the detection accuracy. The existing mature technology for sealing pyrotechnics can achieve a leakage rate ≤ 5×10 -7 Pa·m 3 / s·MPa. The working environment of the perforating projectile is a vacuum state. With a chamber pressure value of 450 MPa, the leakage rate ≤ 2.25×10 -3 Pa·m 3 / s before the piston moves into place. Since the piston movement time is about 2 ms, the total leakage amount ≤ 4.5×10-6 Pa·m 3 , substituting the cavity volume value of the launch barrel 3, the total leakage of water substance can be calculated to be approximately 8.62×10 -19 g, and it can be almost considered that there is no leakage of water substance during the launch process.

[0125] In a further embodiment of the present invention, to further verify the sealing performance of the piston during the launch of the perforating charge, autodyn is used in this solution to simulate and analyze the strength when the piston body impacts the mouth of the launch barrel 3 during the launch process. According to the simulation results, during the process of the piston body impacting the mouth of the launch barrel 3, the launch barrel 3 does not suffer from strength failure, and the piston body can fly away in the opposite direction of penetration together with the launch barrel 3.

[0126] In a further embodiment of the present invention, the stress state during the penetration of the penetrator 5 is usually described by the spherical cavity expansion theory. The spherical cavity expansion theory holds that the tunnel cavity after the penetrator penetrates is formed because during the forward movement of the tip of the penetrator, after the velocity exchange of the projectile-target material, the target material expands spherically dynamically at a certain speed. During the expansion process, the materials around the penetrator are squeezed against each other. Since the distances of the points of the target material from the axis of the penetrator are different and the radii are different, the stress levels at each point are different. At this time, different regions centered on the axis of the penetrator will be formed due to the different macroscopic deformation behaviors of the target material.

[0127] In a further embodiment of the present invention, for the target material, the boundary of different response regions is the range of propagation of the corresponding stress wave, c is the plastic wave velocity, and cd is the elastic wave velocity. In the elastic region, the stress-strain relationship of the target material is within the elastic range, and after the penetration process ends, the above deformation can be restored. In the plastic region, the stress level of the target material exceeds its yield limit or failure strength, and at this time, the target material will undergo irreversible damage. The Drucker-Prager Cap model can be used to describe the lunar regolith water ice material. When yielding occurs, its shear strength will rapidly decay. When the stress value reaches the ultimate compaction pressure of the lunar regolith water ice, the shear strength of the lunar regolith water ice will be 0. Therefore, this sub-region in the plastic region is called the crushing zone. For the lunar regolith water ice target material, the propagation speed of its plastic wave is about 5 times the cavity expansion speed, and the calculated diameter of the plastic region is 75 mm. Since the strength of the lunar regolith water ice target material in the crushing zone is extremely low, this will be beneficial for further collecting in-situ lunar regolith water ice samples using tools in the later stage.

[0128] In a further embodiment of the present invention, to study the thermal disturbance generated by the penetration process on lunar soil water ice, a finite element numerical simulation method was adopted to conduct a simulation test on the thermodynamic effects during the penetration process. The average temperature on the lunar surface in the Antarctic is 40K, and the critical value for the volatilization of lunar soil water ice is 150K. The temperature rise generated by the penetration effect in the pore-forming area is less than 85K. The thermal disturbance generated by the penetration effect cannot cause the lunar soil water ice to volatilize and escape. Therefore, it can be considered that the penetration hole formation will not damage the in-situ characteristics of the lunar soil water ice.

[0129] In a further embodiment of the present invention, the high-speed camera results in the air gun penetration simulation test of the simulated lunar soil sample are consistent with the results deduced from the cavity expansion theoretical model. The density of the simulated lunar soil water ice used in the test is 1.8 g / cm. The sputtering speed and kinetic energy during the penetration test were analyzed through the high-speed camera results as shown in Table 12. According to the data results in the table, the speed and the energy carried by the sputtering materials are at a relatively low level.

[0130] Table 12 Average particle kinetic energy of penetration sputtering materials of simulated lunar soil water ice

[0131] Sample Code Projectile Mass Projectile Kinetic Energy Particle Sputtering Velocity Average Particle Kinetic Energy HIT-VRS-2D 250g 2812.5J 7 m / s 0.176J HIT-VRS-2W 250g 3200J 6 m / s 0.130J HIT-VRS-3W 250g 3698J 10.9 m / s 0.405J

[0132] In a further embodiment of the present invention, in the high-speed camera results of the vertical penetration test with pyrotechnic actuation, during the penetration test, the maximum flying speed of large-sized clay particles is approximately 6.19 m / s, and the scattering diameter is approximately 3.9 m.

[0133] In a further embodiment of the present invention, according to the analysis results of the cavity expansion model in the classical terminal ballistics theory, the sputtering phenomenon during the penetration process is mainly caused by the free surface effect generated when the reflected tensile stress wave propagates to the surface of the target material. Therefore, the sputtering phenomenon will occur during the cratering stage of the penetration process. Before the perforating charge enters and forms a crater during perforation, a pre-drilled hole will be made. Therefore, the stress tensile wave generated by the penetration effect has been greatly attenuated when it propagates to the lunar soil surface, and the generated sputtering materials are also reduced.

[0134] In a further embodiment of the present invention, the key technology for low recoil, high efficiency, and pollution-free penetration hole formation (HIT): The perforating charge for penetrating and forming holes in the extremely low-temperature and high-strength lunar soil water ice in the permanently shadowed craters in the lunar polar regions needs to have the technical characteristics of low recoil during the perforation process, high efficiency of the perforation effect, and pollution-free after the perforation is completed.

[0135] In a further embodiment of the present invention, during the launching process, the robotic arm elastically and softly clamps the perforating charge. During the launching process of the penetration projectile 5, the rest of the perforating charge will separate from the clamping interface of the robotic arm and fly away in the opposite direction of the launch to balance the recoil force during the launching process of the penetration projectile 5. During the whole process, the recoil force on the robotic arm is only the clamping force of the clamping interface, which is expected to be less than 5 N and the acting time is less than 1 ms.

[0136] In a further embodiment of the present invention, combined with the cavity expansion theoretical model of the penetration process, the test results of the penetration test and numerical simulation test of the simulated lunar soil are used to analyze the influence laws of the penetration resistance characteristics and penetration hole formation characteristics of the penetration projectile 5 on the simulated lunar soil water ice target material during the penetration process of the penetration projectile 5; the projectile shape characteristics and length-diameter ratio characteristics of the penetration projectile 5 are optimized to reduce the penetration resistance of the penetration projectile 5 and the ballistic deflection during the penetration process, so as to maximize the penetration and perforation efficiency of the perforating charge. To reduce the load requirement when the robotic arm clamps the perforating charge, an equal-strength structure design is adopted in the design of the launch tube. Therefore, in this solution, a porous structure clamping sleeve 6 is formed by winding a lightweight composite on the surface of the metal launch tube 3, and the perforating charge is enveloped into a cylindrical structure, so that the launch tube 3 can be separated smoothly during the launch process. The composite porous clamping sleeve 6 has certain energy absorption and vibration isolation characteristics, and can effectively reduce the disturbance generated by the strong vibration during the launch process to the robotic arm.

[0137] In a further embodiment of the present invention, in order to reduce the large-area leakage of the combustion residues generated during the combustion of the high-energy propellant, a sealed piston 7 is adopted in the design, and a closed combustion chamber is jointly formed with the launch tube 3. The high-energy and high-pressure gas generated by the deflagration of the high-energy propellant pushes the sealed piston 7 and then pushes the perforating charge to accelerate to the target launch speed. The penetration projectile 5 relies on the inertial speed out of the barrel to complete the penetration and hole formation of the lunar soil water ice; the sealed piston 7 will remain in the launch tube 3 due to the blocking effect of the shoulder at the mouth of the launch tube 3, seal the combustion residues in the launch tube 3, and fly away from the sampling and detection point with the launch tube 3, thus effectively avoiding the leakage pollution of the combustion residues.

[0138] In a further embodiment of the present invention, during the test, the clamping tool is installed as follows: protective walls are erected on the left and right sides of the concrete target. A rack is arranged near the protective wall. The upper end of the rack is connected to the perforator through a clamping arm rod. The open end of the barrel 3 of the perforator is vertically downward, and the distance between the open end and the upper surface of the concrete target is 500 mm. The igniter 2 of the perforator is connected to the detonator through a multiplexing interface 11. Strain gauges are adhered to the clamping arm rod, and the strain gauges are connected to the data acquisition system. A protective net is erected outside the protective wall, and a protective net is also erected above the perforator. At least one high-speed camera system is erected outside the protective net to photograph the test process. The concrete target material is proportioned, cast and cured according to the geotechnical test specifications. Standard specimens are cut with a special tool, and their uniaxial compressive strength is tested on a uniaxial compression testing machine.

[0139] In a further embodiment of the present invention, the detonation signal cable is used to transmit the ignition and launch signal, so that the high-energy propellant deflagrates to generate high-energy and high-pressure detonation gas to push the penetration projectile 5 to accelerate and penetrate the concrete target for perforation; the barrel 3 together with the positioning sleeve flies away in the opposite direction to offset most of the recoil force during the launch process. During the launch process, the launch speed of the penetration projectile 5, the recoil speed of the barrel 3, and the sputtering state of the target debris during the penetration process are recorded by a high-speed camera device; the mechanical disturbance amount during the launch process is measured by the strain gauges pasted on the arm rod. The charge of the high-energy propellant is loaded according to the internal ballistics calculation results.

[0140] In a further embodiment of the present invention, when the pyrotechnic actuated perforating projectile works, it is clamped and launched by the elastic gripper at the end of the robotic arm. The mass of the pyrotechnic actuated perforating projectile system is about 1.3 kg. Under the low-gravity condition of 1 / 6g on the lunar surface, the minimum clamping capacity of the gripper needs to be ≥2 N. Considering the safety margin μ = 2.5, the maximum clamping capacity of the elastic gripper is designed to be about 5 N. Due to the existence of the reaction force of the clamping force, the launch process will cause a certain mechanical disturbance to the robotic arm. In order to study the disturbance during the launch process, in this test, a 0.6 m long arm rod is fixedly connected to the launch support through bolts. The perforating projectile is clamped at the end of the arm rod through an elastic clamping interface. The maximum clamping force of the gripper on the perforating projectile can be changed by adjusting the pre-tightening of the spring. Before the test, a standard mass block will be used to adjust the clamping force of the gripper to about 5 N, so as to simulate the disturbance caused to the robotic arm rod by the clamping action to the greatest extent during the launch process.

[0141] In a further embodiment of the present invention, in order to achieve the efficient and low-recoil launch of the pyrotechnic actuated perforating projectile, and at the same time effectively seal the combustion products of the high-energy propellant 4, a launch mode of self-balancing recoil by the launch barrel 3 is adopted. It mainly consists of a launch barrel 3, a high-strength penetration projectile body 5 and an elastic clamping interface. During the launch process, the high-pressure and high-energy explosion-generated gas produced by the detonation of the high-energy propellant 4 pushes the penetration projectile body 5 through a piston to accelerate and complete the penetration of the lunar regolith water ice surface; the launch barrel 3 flies away in the opposite direction of the launch of the penetration projectile body 5 to balance the recoil force of the launch of the penetration projectile body 5; the sealing piston 7 seals the residual gas from the combustion of the high-energy propellant 4 inside the launch barrel 3 and flies away from the perforation target point together with the launch barrel 3.

[0142] In a further embodiment of the present invention, the pyrotechnic actuated perforating projectile consists of four major parts: a high-efficiency penetration projectile body 5 unit, a high-efficiency pyrotechnic actuation unit, a launch unit and an interface unit. The perforating projectile can be clamped by a robotic arm or launched on a specific launch rack. The main control system of the flyer provides an ignition signal to the igniter 2 through the mechanical and electrical multiplexing interface. The partition igniter 2 ignites the propellant to generate a large amount of high-pressure explosion-generated gas to push the penetration projectile body 5 to accelerate to the target speed in the launch barrel 3 and then launch. The penetration projectile body 5 completes the penetration and hole-making of the lunar regolith water ice profile at its inertial speed.

[0143] In a further embodiment of the present invention, the launch barrel 3 is the main body of the entire perforating projectile system, mainly consisting of a high-strength alloy equal-strength launch tube, a clamping sleeve 6 and a sealing piston 7. The sealing piston 7 and the launch barrel 3 together form a closed combustion chamber to seal the combustion residues of the high-energy propellant 4 in the launch barrel 3, effectively avoiding the large leakage of the combustion residues of the propellant to the in-situ lunar regolith. During the launch process, the high-pressure gas generated by the detonation of the high-energy propellant 4 pushes the sealing piston 7 and then pushes the perforating projectile to accelerate to the target launch speed. The launch barrel 3, as a recoil body, flies away in the opposite direction of the launch together with the sealed combustion residues to balance the launch recoil force. To ensure that the perforating projectile can be smoothly separated from the elastic interface of the robotic arm during the launch process, it is required that the overall shape of the perforating projectile is an equal-diameter body. Therefore, in the design process of the perforating projectile, a porous composite material structure is adopted to wrap the non-equal-diameter launch barrel 3 into an equal-diameter body. The wrapped porous composite material structure isolates the launch barrel 3 from the robotic arm clamping interface, and can effectively absorb the impact and vibration energy during the launch process, reducing the mechanical disturbance to the robotic arm.

[0144] In a further embodiment of the present invention, the perforating charge is launched by a robotic arm. The perforating charge is carried in the perforating charge compartment of the flyer. When performing the perforating operation, it is necessary for the collaborative robotic arm to clamp and transfer the perforating charge through the clamping interface, and establish a communication relationship between the main control system of the flyer and the perforating charge through the electrical multiplexing interface 11. In this solution, an interface method of the mechanical and electrical multiplexing interface 11 is adopted. The robotic arm clamps the perforating charge in an elastic soft clamping manner. The total mass of the perforating charge is 1.24 kg, and the maximum static friction coefficient value between the elastic clamping piece and the perforating charge clamping sleeve 6 is 0.5. Therefore, under the lunar gravity condition, it is required that the clamping force of the elastic clip on the perforating charge is greater than 5 N. To ensure a certain design margin, the clamping force of the elastic clip is designed to be 10 N during the test process. During the launch of the penetrator 5, the rest of the perforating charge will separate from the clamping interface of the robotic arm and fly away in the opposite direction of the launch to balance the recoil force during the launch of the penetrator 5. During the whole process, the recoil force on the robotic arm is only the friction force of the clamping interface, which is expected to be less than 5 N and the action time is less than 1 ms.

[0145] In a further embodiment of the present invention, to verify the penetration performance and sealing performance of the perforating charge, on the one hand, the penetration performance of the penetrator 5 of the pyrotechnic actuated perforating charge and the temperature rise state of the projectile and lunar soil during the penetration process are preliminarily verified by means of numerical simulation. The LS-DYNA software is suitable for the dynamic analysis of materials. During the test process, the LS-DYNA software is used to perform numerical analysis on the penetration perforation process; the penetration perforation test is carried out in a special target chamber for pyrotechnic actuated penetration perforation test.

[0146] In a further embodiment of the present invention, during the numerical simulation process, first, the mechanical calibration of the penetration target material is carried out by using the uniaxial compressive test data of the simulated lunar soil water ice, and then the simulation model is established according to the penetration simulation requirements. The force model of the penetration action has high symmetry. Therefore, to reduce the calculation scale, a 1 / 2 finite element model is used for calculation and analysis. During the simulation test process, first, the Workbenck software is used for pre-processing operations such as geometric modeling and mesh generation, and then the processed geometric model is imported into the LS-DYNA calculator for solution operation.

[0147] In a further embodiment of the present invention, to study the thermal disturbance generated by the penetration process on the lunar soil water ice, a method of finite element numerical simulation is used to carry out a simulation test on the thermodynamic effect during the penetration process. The average temperature on the lunar surface in Antarctica is 40 K, and the critical value of the lunar soil water ice volatilization is 150 K. The temperature rise generated by the penetration action in the pore-forming area is less than 85 K. The thermal disturbance generated by the penetration effect cannot cause the lunar soil water ice to volatilize and escape. Therefore, it can be considered that the penetration hole formation will not destroy the in-situ characteristics of the lunar soil water ice.

[0148] In a further embodiment of the present invention, to further verify the sealing performance of the piston during the launch of the perforating charge, a simulation analysis was conducted on the strength of the piston body when it impacts the muzzle of the launch barrel 3 during the launch process. According to the simulation results, during the process of the piston body impacting the muzzle of the launch barrel 3, the launch barrel 3 did not experience strength failure, and the piston body could fly away in the opposite direction of penetration together with the launch barrel 3.

[0149] In a further embodiment of the present invention, to verify the reliability of the perforating charge ignition and at the same time determine whether the structural strength of the launch barrel 3 meets the requirements, a preliminary ignition test was carried out in an explosion test tower. 24 g of propellant was loaded into the charge cavity of the pyrotechnic actuated perforating charge, the firing wire was connected, and 2 A of direct current was used for ignition. The state of the penetrator type perforator after ignition was recorded. After the perforating charge completed the ignition test, its structural form remained in good integrity, and the sealing piston 7 was not extruded from the launch barrel 3 under the action of high-pressure gas, effectively sealing the combustion residue.

[0150] In a further embodiment of the present invention, due to site conditions, it is difficult to conduct penetration perforation tests using real simulated lunar regolith water ice materials under limited conditions. Therefore, the target material used in this test is a concrete material with strength characteristics similar to those of lunar regolith water ice materials. Before conducting the penetration perforation test, standard samples were cut from the cured target material using standard tools, and a universal testing machine was used to test their uniaxial compressive strength. The average uniaxial compressive strength value obtained from the test was 31.97 MPa.

[0151] In a further embodiment of the present invention, the test fixture was arranged, and the pyrotechnic actuated perforating charge was clamped on the support assembly with an elastic clamp. The lower end of the penetrator type perforator was approximately 560 mm away from the concrete surface. The firing wire was connected, and 2 A of direct current was used for ignition. The penetration situation of the penetrator type perforator was recorded using high-speed photography, and the penetration speed of the penetrator type perforator was calculated. After the test, the launch speed of the projectile could be calculated based on the results of high-speed photography. According to the test results in Table 17, when the charge amount of the perforating charge was 28 g, the speed of the penetration projectile 5 reached 353.13 m / s, meeting the design requirements. According to the test results, for a target material with a strength of 32 MPa, its penetration depth reached 240.82 mm, far higher than the theoretical penetration depth of 180 mm. Therefore, it can be considered that the result of the theoretical prediction is on the low side. Therefore, for a lunar regolith water ice material with a strength of 40 MPa, its actual penetration depth will also be higher than the theoretical penetration depth of 168 mm.

[0152] In a further embodiment of the present invention, during the test process, silicone was used to make a reverse mold of the penetration trajectory. According to the results of the reverse mold of the trajectory, the trajectory deflected less during the penetration of the pyrotechnic actuated perforating charge.

[0153] In a further embodiment of the present invention, after the test is completed, the penetration projectile 5 is taken out and it is found that the shape of the projectile has not changed. Therefore, this material meets the penetration and perforation requirements of high-strength lunar regolith water ice.

[0154] In a further embodiment of the present invention, when the pyrotechnic actuated perforating projectile works, it is clamped and launched by the elastic gripper at the end of the robotic arm. The mass of the pyrotechnic actuated perforating projectile system is about 1.3 kg. Under the low-gravity condition of 1 / 6g on the lunar surface, the minimum clamping capacity of the gripper needs to be ≥2 N. Considering a safety margin μ = 2.5, the maximum clamping capacity of the designed elastic gripper is about 5 N. Due to the existence of the reaction force of the clamping force, the launch process will cause a certain mechanical disturbance to the robotic arm. The end of the arm rod clamps the perforating projectile through an elastic clamping interface. The maximum clamping force of the gripper on the perforating projectile can be changed by adjusting the pre-tightening of the spring. Before the test, a standard mass block will be used to adjust the clamping force of the gripper to about 5 N, so that it can simulate the disturbance caused to the robotic arm rod by the clamping action to the greatest extent during the launch process.

[0155] In a further embodiment of the present invention, the test principle: when the penetration type perforator works, it is clamped and launched by the elastic fixture at the end of the robotic arm. According to the 1 / 6g low-gravity environment condition on the lunar surface and considering a certain safety margin, the maximum clamping capacity of the elastic fixture is designed to be 5 N. Due to the existence of this clamping force, the launch process will cause a certain mechanical disturbance to the robotic arm. In order to study the disturbance during the launch process, in this test, a 0.6 m long arm rod is fixedly connected to the launch support through bolts. The end of the arm rod clamps the penetration type perforator through an elastic clamping interface. The maximum clamping force of the fixture on the penetration type perforator can be changed by adjusting the pre-value of the spring. Before the test, a standard mass block will be used to adjust the clamping force of the fixture to about 5 N, so that it can simulate the disturbance caused to the robotic arm rod by the clamping action to the greatest extent during the launch process.

[0156] In a further embodiment of the present invention, after the penetration type perforator is fired, the high-energy propellant inside burns to generate high-temperature and high-pressure gas to push the penetration projectile 5 to accelerate and penetrate the concrete target; the high-temperature and high-pressure gas generated by the combustion of the high-energy propellant is sealed in the closed cavity composed of the launch barrel 3, the plug, the piston, etc.; the launch barrel 3, the plug, the piston, etc. fly away in the opposite direction of the flight direction of the penetration projectile 5 to offset most of the recoil force during the launch process. During the launch process, the speed of the penetration projectile 5, the recoil speed of the launch barrel 3, and the sputtering state of the target debris during the penetration process are recorded by a high-speed photography system; the mechanical disturbance amount during the launch process is measured by a vibration sensor pasted on the arm rod.

[0157] In a further embodiment of the present invention, key technical analysis of the pyrotechnic actuated perforator: During the design process of the perforator for penetrating and creating holes in the extremely low-temperature and high-strength lunar regolith water ice in the permanently shadowed craters in the lunar polar regions, it is necessary to reasonably design the perforator with high efficiency in penetration and perforation, as well as lightweight and miniaturization according to the mechanical property parameters of the lunar regolith water ice and the sampling detection requirements; it is necessary to avoid the contamination of the in-situ lunar regolith water ice sample by the combustion residues of the propellant and the problem of excessive mechanical disturbance to the flyer and manipulator during the launch process through the seal and anti-fouling design and the low-recoil launch design.

[0158] In a further embodiment of the present invention, high-efficiency penetration and hole creation technology for high-strength lunar regolith water ice: To achieve high-efficiency penetration and perforation of high-strength lunar regolith water ice under the extremely low-temperature environmental conditions in Antarctica, it is mainly achieved from two aspects: the geometric configuration optimization of the penetration projectile 5 and the matching of the launch speed of the penetration projectile 5. The specific implementation methods are as follows: (1) Optimization design of the geometric configuration of the penetration projectile 5: Combining the cavity expansion theoretical model of the penetration process, the test results of the penetration test and numerical simulation test of the simulated lunar regolith, analyze the influence law of the penetration resistance characteristics and penetration hole formation characteristics of the penetration projectile 5 on the simulated lunar regolith water ice target material; optimize the projectile shape characteristics and length-diameter ratio characteristics of the penetration projectile 5 to reduce the penetration resistance of the penetration projectile 5 and the ballistic deflection during the penetration process, and maximize the penetration and perforation efficiency of the perforator. Since a small-sized and large-mass penetration projectile 5 can achieve a greater penetration depth at the same launch cost, which is beneficial to the miniaturization and lightweight design of the perforator, the material of the penetration projectile 5 is selected as the high-density YG6 tungsten alloy material. (2) Matching of the launch speed of the penetration projectile 5: According to the uniaxial compressive and shear test data of the ultra-low-temperature simulated lunar regolith water ice, establish the stress-yield model of the lunar regolith water ice. Use the yield model of the lunar regolith water ice to correct the Forrestal penetration depth prediction formula, and combine the penetration hole formation depth required for in-situ sampling detection of the lunar regolith water ice to match the launch speed of the penetration projectile 5 and the corresponding propellant charge and the length parameter of the launch barrel 3.

[0159] In a further embodiment of the present invention, low-recoil and pollution-free launch technology: (1) Low-recoil launch technology: As Figure 2 shown in the system composition diagram of the pyrotechnic actuated perforator, during the launch process, the manipulator uses an elastic soft clamping method for the perforator. During the launch of the penetration projectile 5, the rest of the perforator will separate from the clamping interface of the manipulator and fly away in the opposite direction of the launch to balance the recoil force during the launch of the penetration projectile 5. During the whole process, the recoil force on the manipulator is only the clamping force of the clamping interface, which is expected to be less than 20N and the action time is less than 1ms.

[0160] In a further embodiment of the present invention, in order to reduce the load requirement when the robotic arm clamps the perforator, an equal-strength structure design is adopted in the design of the launch tube. Therefore, in this solution, a porous structure clamping sleeve 6 is formed by wrapping a lightweight composite material on the surface of the metal launch tube 3, and the perforator is enveloped into a cylindrical structure, so that the launch tube 3 can be smoothly separated during the launch process. The composite porous clamping sleeve 6 has certain energy absorption and vibration isolation characteristics, which can effectively reduce the disturbance generated by the strong vibration during the launch process to the robotic arm. (2) Pollution-free sealed launch technology: In order to reduce the large-area leakage of combustion residues generated during the combustion of high-energy propellant, a sealed piston 7 is adopted in the design, and a closed combustion chamber is jointly formed with the launch tube 3. The high-energy and high-pressure gas generated by the deflagration of the high-energy propellant pushes the sealed piston 7 and then accelerates the perforating projectile to the target launch speed. The penetration projectile 5 relies on the inertial speed at the muzzle to complete the penetration and hole-making of the lunar soil water ice; the sealed piston 7 will remain in the launch tube 3 due to the blocking effect of the shoulder at the mouth of the launch tube 3, seal the combustion residues in the launch tube 3, and fly away from the sampling detection point with the launch tube 3, thus effectively avoiding the leakage pollution of the combustion residues.

[0161] In a further embodiment of the present invention, the perforator belongs to the lunar soil water ice profile flexible endoscopic sampling detection system carried by the flyer. When the flyer selects the sampling detection point, the cooperative robotic arm carried by the flyer grabs the perforator, and establishes an ignition electrical connection with the perforator through the clamping interface. After the robotic arm transfers the perforator to the predetermined area of the detection point, it adjusts the perforating attitude of the perforator. The perforator receives the ignition command of the flyer, and the chemical energy of the propellant in the perforator is converted into the kinetic energy of the penetration projectile 5, and the penetration projectile 5 realizes penetration and hole-making on the lunar surface. At the same time, the combustion products of the propellant are sealed in the launch tube 3 and fly away from the flyer in the opposite direction along with the launch tube 3.

[0162] In a further embodiment of the present invention, when the flyer selects the sampling detection point, the cooperative robotic arm carried by the flyer grabs the perforator, and establishes an ignition electrical connection with the perforator through the multiplexing interface 11. After the robotic arm transfers the perforator to the predetermined area of the detection point, it adjusts the perforating attitude of the perforator. The perforator receives the ignition command of the flyer, the igniter 2 in the perforator ignites, ignites the high-energy gunpowder 4 installed inside, the high-energy gunpowder 4 burns to generate high-temperature and high-pressure gas, pushes the sealed piston 7 and the penetration projectile 5 forward, and accelerates the sealed piston 7 and the penetration projectile 5 to a speed of more than 350 m / s. When the sealed piston 7 moves to the outlet position of the launch tube 3, the sealed piston 7 is restricted in the launch tube 3, the sealed piston 7 is separated from the penetration projectile 5, and the penetration projectile 5 flies out of the launch tube 3 and then penetrates the lunar surface at high speed to realize the penetration and hole-making function. At the same time, the combustion products of the high-energy gunpowder 4 are sealed in the launch tube 3 and fly away from the flyer in the opposite direction along with the housing.

[0163] In a further embodiment of the present invention, the high-energy gunpowder 4 should be a propellant with high burning rate, high gunpowder force, and high gas generation.

[0164] In a further embodiment of the present invention, materials such as the launch barrel 3, the tail plug 1, and the sealing piston 7 should be selected as ultra-high-strength steel for aerospace use (σr0.2 should be greater than or equal to 1515 MPa), the positioning ring 10 should be made of titanium alloy or aluminum alloy with lower density and higher strength, and the penetration projectile 5 should be made of tungsten alloy steel with high strength and high density.

[0165] In a further embodiment of the present invention, the ignition element in the perforator is selected as the mature double-bridge electrically charged igniter 2.

[0166] In a further embodiment of the present invention, the high-energy gunpowder 4 in the igniter 2 is selected as potassium borate nitrate ignition powder, and the amount of the powder is 0.3 g.

[0167] Energy required for reliable ignition of the double bridge:

[0168] W BXQ =I 2 Rt=10^2×0.6×20×10 -3 J=1.2J

[0169] In a further embodiment of the present invention, the moisture content of the high-energy gunpowder 4 itself is less than or equal to 0.5%, and thus the maximum moisture mass of the high-energy gunpowder 4 itself is estimated to be about 0.12 g;

[0170] In a further embodiment of the present invention, the combustion of nitrocellulose and nitroglycerin in the high-energy gunpowder 4 will produce moisture.

[0171] In a further embodiment of the present invention, the molecular formula of nitrocellulose is C 12 H 17 (ONO2)3O7~C 12 H 14 (ONO2)6O7, and there is no exact combustion reaction equation. A simplified equation is used to estimate the moisture mass in the combustion products.

[0172] In a further embodiment of the present invention, the simplified equation for the combustion reaction of nitrocellulose:

[0173] C 12 H 17 (ONO2)3O7→8.5H2O + other substances

[0174] 459 8.5×18

[0175] 24g×65.5% 5.240g

[0176] C 12 H 14(ONO2)6O7 → 7H2O + other substances

[0177] 642 7×18

[0178] 24g×61.5% 2.897g

[0179] In a further embodiment of the present invention, the combustion reaction equation of nitroglycerin:

[0180] 4C3H5N3O9 → 10H2O + 12CO2 + O2 + 6N2

[0181] 4×227 10×18 12×44 32 6×28

[0182] 24g×36% 1.713g

[0183] 24g×32% 1.523g

[0184] After calculation, the mass of water in the combustion products of the high-energy gunpowder 4 is between (4.610 - 6.953) g.

[0185] In a further embodiment of the present invention, the H element in lead styphnate mainly exists in the lead styphnate molecule and a small amount of volatile matter. Among them, the maximum mass of water generated by the combustion reaction is about 0.9238 mg, and the maximum mass ratio of the volatile matter is about 0.03%. The maximum mass of water is calculated to be about 0.0048 mg.

[0186] In a further embodiment of the present invention, the H element in lead azide mainly exists in a small amount of volatile matter, and the maximum mass ratio is about 0.03%. The maximum mass of water is calculated to be about 0.018 mg.

[0187] In a further embodiment of the present invention, the H element in potassium borate nitrate igniter mainly exists in a small amount of volatile matter, and the maximum mass ratio is about 1%. The maximum mass of water is calculated to be about 3 mg.

[0188] In a further embodiment of the present invention, after calculation, the maximum mass of water in the combustion products of the igniter 2 is about 4 mg.

[0189] In a further embodiment of the present invention, after calculation, the maximum mass of water in the combustion products in the perforator is about 6.957 g.

[0190] In a further embodiment of the present invention, the design and calculation of the penetrator 5: the mass of the penetrator 5: 0.2 kg; the outer diameter of the penetrator 5: the length of the penetrator 5: 85 mm; the material of the penetrator 5: tungsten alloy steel.

[0191] In a further embodiment of the present invention, the design and calculation of the inner missile: Projectile mass: 0.225 kg (penetrating projectile body 5 + sealing piston 7 + positioning sleeve); Projectile outer diameter: (bore diameter ); Projectile initial velocity: 350 m / s (absolute velocity on the moon); Chamber expansion coefficient: 2.713; Chamber volume: 0.0308 dm3; Charge weight: 24 g; Maximum chamber pressure: 450 MPa; Projectile jamming pressure: 40 MPa; Gunpowder parameters: Specific impulse: 119.1×104 kg·dm / kg; Specific heat ratio: 1.231; Residual volume: 1 dm3 / kg; Gunpowder density: 1.6 g / cm3.

[0192] In a further embodiment of the present invention, the interior ballistics solution: The fourth-order Runge-Kutta method is used to solve the interior ballistics P-L, P-t, v-L, and v-t curves, and the data of the inner missile obtained by the solution are shown in Table 13.

[0193] Table 13 Interior ballistics parameters

[0194]

[0195] In a further embodiment of the present invention, the design and calculation of the firing barrel 3: From the interior ballistics curve, the relationship curves of chamber pressure, stroke, and time can be obtained. Table 14 shows the relationship curves of chamber pressure, stroke, and time.

[0196] Table 14 Interior ballistics data table

[0197]

[0198]

[0199] In a further embodiment of the present invention, material selection: The material of the firing barrel 3 is selected as 40CrNi2SiMoVA (300M), with tensile strength σ b = 1860 MPa, σ r0.2 = 1515 MPa.

[0200] In a further embodiment of the present invention, the theoretical shape of the firing barrel 3 is determined: From r2 = ar1, the theoretical dimensions of the firing barrel 3 can be obtained. See Table 15 for details.

[0201] Table 15 Theoretical dimensions table of the firing barrel

[0202]

[0203]

[0204] In a further embodiment of the present invention, the dimensions of the firing barrel 3 are shown in Table 16.

[0205] Table 16 Launch Barrel Dimensions

[0206]

[0207] In a further embodiment of the present invention, for the strength check of the launch barrel 3: The maximum tensile strain theory is adopted to check the strength of the launch barrel 3. The strength check formula is as follows:

[0208]

[0209]

[0210]

[0211]

[0212] After checking, the strength of the launch barrel 3 meets the requirements.

[0213] In a further embodiment of the present invention, the masses of each part of the perforator are shown in Table 17.

[0214] Table 17 Statistics of the Masses of the Main Components of the Perforator

[0215]

[0216] In a further embodiment of the present invention, the absolute velocity of the penetration projectile 5: From the momentum balance equation: -MV + μv ωpj + mv a = 0, where M represents the weights of the launch barrel 3, the tail plug 1, the igniter 2, and the positioning ring 10, V represents the recoil velocity of the launch barrel 3, μ represents the mass of the gunpowder, v ωpj represents the average velocity of the gunpowder, m represents the masses of the penetration projectile 5, the sealing piston 7, and the positioning ring 10, and v a represents the absolute velocity of the penetration projectile 5.

[0217] In a further embodiment of the present invention, since μv ωpj is relatively small and can be ignored. It is calculated that v a = 351.1 m / s.

[0218] In a further embodiment of the present invention, v a is greater than 350 m / s, and the initial velocity of the penetration projectile 5 meets the requirements.

[0219] In a further embodiment of the present invention, lunar regolith profile characteristics analysis: Since Watson et al. first proposed the possibility of the existence of water ice on the moon in 1961, evidence of water ice substances existing in the permanently shadowed areas of the lunar south pole has been found through various means such as ground-based remote sensing, spaceborne remote sensing, and ground-penetrating radar. However, due to factors such as the limitations of remote sensing detection principles and the interference of surface lunar regolith on signals, there are large errors in the results obtained from low-orbit remote sensing detection and lander rover detection. Therefore, in order to further deeply analyze the scientific information on the water ice state in lunar shadow pits, it is necessary to achieve it through the method of deep high-fidelity sample collection and in-situ detection. In order to better meet the sampling detection requirements of permanently shadowed pits and reasonably design the parameter optimization of sampling detection tools and sampling detection systems, this article will analyze the fabric and mechanical properties of the lunar regolith profile in the permanently shadowed pits of the lunar south pole here.

[0220] In a further embodiment of the present invention, according to the analysis of a large amount of remote sensing detection data by NASA in the early stage, there are several characteristics in the profile fabric in the permanently shadowed pits of the lunar polar region. Under the thin frost layer, there is an anhydrous dry soil layer with an extremely low strength and an average thickness of about 400 mm. The ice-soil mixed layer will be distributed in a large area in the region with a thickness of about 1 m between the dry soil layer and the lunar rock layer.

[0221] In a further embodiment of the present invention, since the weathering degrees of the lunar regolith at different depths of the profile are different, for the ice-soil mixed layer, its moisture content is also distributed in a gradient along the profile depth, and the closer to the lunar regolith surface, the lower the moisture content of the ice-soil mixed layer. Combining the engineering requirements of sampling detection, here, according to the average value of the moisture content of lunar water ice, we define the profile depth range of 400 mm to 800 mm as the lunar water ice layer with a moisture content of 5%, and the depth range below 800 mm as the lunar water ice layer with a moisture content of 10%.

[0222] In a further embodiment of the present invention, according to the analysis results of the above lunar regolith profile characteristics, to achieve in-situ sampling detection of lunar water ice samples with a high water content, the sampling detection tool needs to enter the lunar regolith profile layer in the depth range of 400 mm to 800 mm for multi-point sampling.

[0223] In a further embodiment of the present invention, the density is 1.98 g / cm 3 The mechanical property parameters of the anhydrous dry lunar regolith are shown in Table 18.

[0224] Table 18 Lunar regolith mechanical property parameter table

[0225]

[0226] In a further embodiment of the present invention, substituting the internal friction angle parameter and the cohesion parameter of the lunar regolith into the following formula, the average uniaxial compressive strength of the anhydrous dry lunar regolith can be obtained to be about 0.005 MPa.

[0227]

[0228] In a further embodiment of the present invention, for lunar regolith water ice with a certain water content, its uniaxial compressive strength is related to the water content and temperature environment of the lunar regolith water ice. In the previous preliminary research work, we conducted uniaxial compression tests on simulated samples of lunar regolith water ice with water contents of 5% and 10% under different temperature conditions, and measured the uniaxial compressive strength values under different temperature conditions through the uniaxial compression tests. Considering the limitations of existing low-temperature freezing equipment, the low temperature can only reach -80°C, and for the uniaxial compressive strength of lunar regolith water ice under the extreme low temperature condition of 40K (-230°C) at the lunar south pole, the method of data extrapolation can be considered for exploration. This project combines the existing test data and the results measured by NASA in the -200°C environmental condition test, and through the S-type function y = a / (1 + exp)(-k*(x - x e ))), regression modeling is carried out on the uniaxial compressive strength of samples from -200°C to -10°C, and the compressive strength data of simulated lunar regolith water ice with water contents of 5% and 10% under the -230°C condition are obtained through the extrapolation method.

[0229] In a further embodiment of the present invention, according to the above calculation and analysis results, the uniaxial compressive strength values of lunar regolith water ice with different water contents under the condition of an extreme low temperature environment of 40K (-230°C) are obtained, as shown in Table 19.

[0230] Table 19 Uniaxial Compressive Strength Parameter Table of Lunar Regolith with Different Water Contents

[0231] Lunar Soil Type Dry Lunar Soil without Water Lunar Soil Ice with 5% Water Content Lunar Soil Ice with 10% Water Content Uniaxial Compressive Strength 0.005 MPa 10 MPa 40 MPa

[0232] In a further embodiment of the present invention, according to the above analysis results of the target characteristics and system sampling detection requirements, in order for the endoscopic sampling probe to perform in-situ detection and sampling on lunar regolith water ice with relatively rich water content, it is required that the depth of the hole available for detection and sampling after the penetration of the penetration projectile 5 is about 800 mm, that is, the penetration projectile 5 completely penetrates the dry soil layer and the 400-mm lunar regolith water ice layer with a water content of 5%, and realizes the penetration depth of one projectile length in the high-strength lunar regolith water ice layer with a water content of 10%.

[0233] In a further embodiment of the present invention, the penetration efficiency of the penetration projectile 5 is related to its initial kinetic energy. According to the semi-empirical formula obtained by modifying the theory through a large number of shooting tests conducted by Forrestal et al., the relationship between the penetration projectile 5 to reach the target penetration depth and the initial kinetic energy of the penetration projectile 5 is shown in the following formula.

[0234]

[0235] Where: P - Penetration depth; E k— Initial kinetic energy of the penetration projectile; N — Ballistic coefficient; a — Projectile diameter; ρ — Target density; m — Projectile mass; f c ' — Uniaxial compressive strength; S — Strength coefficient value;

[0236] In a further embodiment of the present invention, the value of S is the strength coefficient value of the target material. For materials that conform to the Mohr-Coulomb yield criterion, the relationship between the value of S and the uniaxial compressive strength of the target material can be approximately expressed by the following formula. The uniaxial compressive strengths of lunar regolith water ice with different water contents are shown in Table 19.

[0237] S = 82.6(f c ' / 10 6 ) -0.544

[0238] In a further embodiment of the present invention, according to the above formula, the kinetic energies E1, E2, and E3 required for the penetration projectile to achieve the penetration depth purpose and penetrate dry lunar regolith and lunar regolith water ice with 5% and 10% water contents can be obtained. According to the law of conservation of energy, the initial kinetic energy E of the penetration projectile 5 can be obtained. z = E1 + E2 + E3, and the initial launch velocity of the penetration projectile 5 is where m is the mass of the penetration projectile 5.

[0239] In a further embodiment of the present invention, the material of the penetration projectile 5 is selected as YG6 tungsten alloy material with a density of 15 g / cm 3 , and the matching results are shown in Table 20.

[0240] Table 20 Matching results of penetration projectile parameters

[0241]

[0242] The above are only preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all equivalent substitutions and obvious changes made by using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A percussion-actuated perforator for planetary profile exploration, characterized in that Comprising: A penetration projectile (5), a clamping sleeve (6), a launch barrel (3), and high-energy gunpowder (4). The launch barrel (3) includes a cavity portion (15) and a tubular portion (14) connected to the opening of the cavity portion (15). An igniter (2) is installed at the bottom of the cavity portion (15). The cavity portion (15) is used to accommodate the high-energy gunpowder (4). A sealing piston (7) is provided at the opening of the cavity portion (15). The sealing piston (7) is used to block the high-energy gunpowder (4) from entering the tubular portion (14). The penetration projectile (5) is disposed within the tubular portion (14). There is a movable connection between the bottom of the penetration projectile (5) and the sealing piston (7). The tubular portion (14) is installed within the clamping sleeve (6). A multiplexing interface (11) connected to a control system is provided on the outer wall of the clamping sleeve (6).

2. The pyrotechnic actuated perforator for planetary profile exploration according to claim 1, characterized in that, Further comprising: Positioning rings (10). A plurality of the positioning rings (10) are installed within the tubular portion (14). The inner diameter of each positioning ring (10) matches the outer diameter of the penetration projectile (5). The penetration projectile (5) and the launch barrel (3) are coaxially arranged by means of the plurality of positioning rings (10).

3. The pyrotechnic actuated perforator for planetary profile exploration according to claim 2, characterized in that Further comprising: A tail plug (1). The tail plug (1) is installed at the bottom of the cavity portion (15). The tail plug (1) is used to block the leakage of the high-energy gunpowder (4) from the bottom of the cavity portion (15).

4. The pyrotechnic actuated perforator for planet profile detection according to claim 3, wherein, Further comprising: A sealing ring (9). The sealing ring (9) is provided between the launch barrel (3) and the sealing piston (7).

5. The pyrotechnic actuated perforator for planet profile exploration according to claim 1, characterized in that, The outer diameter of the penetration projectile (5) is 15 mm, and the length of the penetration projectile (5) is 85 mm.

6. The pyrotechnic actuated perforator for planet profile detection according to claim 1, wherein The length of the launch barrel (3) is 420 mm.

7. The percussion-actuated perforator for planetary profile exploration according to claim 1, wherein, The inner diameter of the end of the tubular portion (14) remote from the cavity portion (15) is smaller than the inner diameter of the end of the tubular portion (14) connected to the cavity portion (15). The outer diameter of the end of the tubular portion (14) remote from the cavity portion (15) is larger than the outer diameter of the end of the tubular portion (14) connected to the cavity portion (15). The outer wall of the tubular portion (14) matches the inner wall of the clamping sleeve (6).

8. The pyrotechnic actuated perforator for planet profile exploration according to claim 1, wherein The penetration projectile (5) is in the shape of a bullet head. The penetration projectile (5) and the sealing piston (7) are movably connected by a plurality of shear pins (8).

9. The explosive actuated perforator for planet profile detection according to claim 1, characterized in that, A plurality of cavity spaces (13) are provided between the inner wall and the outer wall of the clamping sleeve (6). The plurality of cavity spaces (13) are used for sound insulation and shock absorption during the perforation process.

10. The percussion-actuated perforator for planetary profile exploration according to claim 1, characterized in that, The multiplexing interface (11) and the igniter (2) are connected by two detonating signal cables (12).

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