Shovel digging type lunar soil water ice diving and exploring mechanism and method

Abstract

The invention relates to a shoveling type lunar soil water ice diving detection mechanism and method, and belongs to the technical field of diving detector transfer and diving detection, the shoveling type lunar soil water ice diving detection mechanism comprises a diving detector carried on a carrying platform, and the diving detector can move up and down along a land device; the diving detector comprises a flexible stock rod, a flexible stock rod head at the tail end of the flexible stock rod is of a crescent-shaped structure with a milled hole in the middle, a piezoelectric ceramic piece is arranged in the flexible stock rod head, and the piezoelectric ceramic piece is electrified to excite to enable the flexible stock rod head to generate a bending vibration mode so as to transport solids. Wherein a driving part of the flexible stock rod is an ultrasonic linear motor. According to the invention, a previous detection method of downward penetration into lunar soil, water and ice through impact is converted into a method of slowly submerging by the ultrasonic linear motor and controlling the submerging depth and force, and meanwhile, the ruler head of the flexible stock rod is converted into a method with more working modes from a previous method of only downward penetration. The device has the characteristics of reference positioning, simple structure, quick response, easiness in miniaturization and capability of working under severe conditions such as low temperature and weightlessness.

Description

Technical Field

[0001] The present invention belongs to the technical field of submersible probe transfer and submersible detection, and in particular relates to a shovel-type submersible lunar soil and water ice exploration mechanism and method. Background Art

[0002] The large amount of water ice that may exist in the permanent shadow area of ​​the moon has important scientific significance and utilization value. By analyzing the isotopic abundance of hydrogen in lunar water ice, we can explore the source and evolution mechanism of lunar water and invert the origin and evolution history of the Earth-Moon system. Water ice on the moon may become an important resource for human lunar activities in the future, including the exploitation and utilization of lunar water resources, the construction and operation of unmanned or manned lunar bases in the polar regions, and the use of the moon as a forward base to produce fuel for traveling to deeper space.

[0003] Based on the above-mentioned detection needs and the external working environment of the lunar polar region, stringent requirements are placed on lunar soil and water ice detectors, including small size, low energy consumption, high efficiency, and adaptability to harsh working environments. They must also dive into the lunar soil and water ice to a certain depth, accurately control the diving depth, increase the detection depth and detection range, ensure the accuracy of the detection data, effectively detect the occurrence mode and storage capacity of the lunar soil and water ice, and be able to recover the device and save the detected information after the test is completed.

[0004] At present, relevant work on the research of lunar soil and water ice submersibles has been carried out. However, due to the complex occurrence and distribution of lunar soil and water ice, the depth detection of lunar soil and water ice has always been in a limited range. Therefore, there is an urgent need for a solution that can meet the current deep-level exploration of lunar soil and water ice. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a shovel-type diving mechanism and method for exploring lunar soil and water ice, which is driven by an ultrasonic linear motor and works by shoveling and digging to explore deep lunar soil and water ice to meet the existing needs for the detection of lunar soil and water ice.

[0006] A shovel-type lunar soil and water ice exploration mechanism includes a probe mounted on a carrying platform and capable of moving up and down along a lander; the probe includes a flexible probe, a flexible probe head at the end of the flexible probe is a crescent-shaped structure with a middle milled hole, a piezoelectric ceramic sheet is placed therein, and the piezoelectric ceramic sheet is energized to excite the flexible probe head to cause a bending vibration mode to occur, so as to transport solids.

[0007] The driving component of the flexible probe is an ultrasonic linear motor.

[0008] The ultrasonic linear motor comprises a rear end cover, a piezoelectric ceramic, a front end cover and a driving end which are arranged in sequence, a mounting seat is fixed on the front end cover, and a threaded connecting wire is wound on the middle shaft section of the piezoelectric ceramic; the rear end cover material is 45# steel, the front end cover material is titanium alloy, the piezoelectric ceramic clamped in the middle adopts PZT-8 type piezoelectric ceramic sheets, the number is 4, and the overall structural length of the ultrasonic linear motor is one quarter wavelength; the front end cover is configured as a dumbbell structure, the mounting seat is fixed on the large diameter end, i.e., the actuating end, and the actuating end is milled with a square port to facilitate increasing the swing amplitude; a boss is provided at its driving end, and the upper surface and the side surface of the boss are rounded to form an arc surface, which serves as the driving surface of the flexible probe.

[0009] It includes a slide rail fixed on the lander, and a carrying platform is slidably connected to the slide rail. The carrying platform can move up and down along the slide rail to bring the mechanism to the working surface.

[0010] The ultrasonic linear motor is fixed on the carrying platform, and the flexible probe is clamped on the output end of the ultrasonic linear motor through the load-bearing platform.

[0011] The load-bearing platform includes two relatively arranged load-bearing plates mounted on the carrying platform, one of which is sleeved on the body of the ultrasonic linear motor, and the other is arranged on one side of the output end of the ultrasonic linear motor. The two load-bearing plates are connected by bolts and clamped with pre-tightening force to make the ultrasonic linear motor in close contact with the flexible probe.

[0012] The body of the flexible probe is in the shape of an arc with a certain thickness, and a through hole is opened on the carrying platform. The lower end of the flexible probe passes through the through hole of the carrying platform and is fixedly connected to the flexible probe head. The upper end is curled and placed in a ruler bag, and is driven by a driving component to extend and retract. An electric wire is connected to the body of the flexible probe, one end of the electric wire passes through the ruler bag to connect to an external power supply, and the other end is connected to the piezoelectric ceramic piece of the flexible probe head.

[0013] The working method of the above-mentioned tunneling type lunar soil and water ice exploration mechanism is as follows:

[0014] S1. In the initial standby state, the carrying platform moves downward and enters the ready-to-work state;

[0015] S2. The carrying platform descends to the working position, the load-bearing platform clamps the ultrasonic linear motor, and moves the ultrasonic linear motor forward to a state of close contact with the body of the flexible probe;

[0016] S3. The piezoelectric ceramic in the ultrasonic linear motor clamped on the load-bearing platform is energized, and the piezoelectric ceramic excitation causes the front cover to vibrate. At this time, the flexible probe begins to move downward. When it moves to the surface of the lunar soil and water ice, it begins to penetrate under the action of the driving motor until it encounters a hard solid.

[0017] S4. Energize the wires on the flexible probe to vibrate the piezoelectric ceramic sheet installed on the head of the flexible probe, so that the head of the flexible probe generates a bending vibration mode, thereby moving the hard solid out of the penetration path.

[0018] The beneficial effects of the present invention are as follows: the mechanism and method provided by the present application transform the previous detection method of penetrating downward into the lunar soil and water ice by impact into a method of slowly penetrating into the lunar soil and water ice by an ultrasonic linear motor and controlling the penetration depth and force. At the same time, the head of the flexible probe is changed from being only responsible for downward penetration to having more working modes. Compared with the prior art, the following beneficial effects are achieved:

[0019] The driving part of the present invention is an ultrasonic linear motor. The ultrasonic motor uses piezoelectric ceramics as a transducer, and utilizes the inverse piezoelectric effect of piezoelectric ceramics to excite the ultrasonic vibration wave of the elastic body to realize the conversion of electrical energy into mechanical energy, and utilizes certain specific structural forms to transmit motion and power. The difference from the traditional electromagnetic motor is that there is no electromagnetic field and it is not affected by the electromagnetic field. It has a compact structure, small rotor inertia, fast response braking, self-locking when power is off, can directly drive the load, and has good positioning and speed controllability.

[0020] The sonic linear motor in the present invention has the characteristics of reference positioning, simple structure, fast response, easy miniaturization, and can work under harsh conditions such as low temperature and weightlessness. The head of the flexible probe has abandoned the previous single downward penetration and has more working modes. It can adapt to the extremely low temperature working environment on the surface of the planet and can have a greater diving depth.

[0021] The mechanism of the present invention has the characteristics of low mass and low power consumption.

[0022] The head of the flexible probe in the present invention is a crescent-shaped structure with a milled hole in the middle. Piezoelectric ceramics are placed in it. The head of the flexible probe can be transformed from mainly bearing the stress load during the penetration process and the friction during the diving process to actively taking different modes after being stimulated to cope with different lunar soil and water ice depth conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0024] Figure 2 It is a structural schematic diagram of the ultrasonic linear motor part of the present invention;

[0025] Figure 3 A schematic diagram of the working state of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0026] Figure 4A schematic diagram of the initial standby state of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0027] Figure 5 A schematic diagram of the preparation working state of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0028] Figure 6 A schematic diagram of the operation state A of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0029] Figure 7 A schematic diagram of the operation state B of a tunneling-type lunar soil and water ice exploration mechanism provided by the present invention;

[0030] Figure 8 is a schematic diagram of the ultrasonic linear motor in the present invention;

[0031] Fig. 9 Schematic diagram of the ultrasonic linear motor in the present invention Figure 3 Views (wherein, Figure (a) is the front view, Figure (b) is the left view, and Figure (c) is the top view);

[0032] Fig.10 An exploded view of the ultrasonic linear motor of the present invention;

[0033] Fig.11 This is a diagram for installing the ruler head of the flexible probe ruler in the present invention;

[0034] Fig.12 is a cross-sectional view of the head of the flexible probe in the present invention;

[0035] Fig.13 A top view of the head of the flexible probe in the present invention;

[0036] 1-slide rail, 2-carrying platform, 3-ruler capsule, 4-flexible probe ruler, 41-flexible probe ruler body, 5-electric wire, 51-power supply, 52-electrode sleeve, 53-negative electrode, 54-positive electrode, 6-ultrasonic linear motor, 61-rear end cover, 62-piezoelectric ceramics, 63-threaded connecting wire, 64-front end cover, 65-mounting seat, 66-driving end, 7-load-bearing platform, 8-flexible probe ruler head, 9-lander. DETAILED DESCRIPTION

[0037] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0038] like Figure 1-3As shown, a shovel-type submersible lunar soil and water ice exploration mechanism includes a slide rail 1 fixed on 9, a carrying platform 2 slidably connected to the slide rail 1, and the carrying platform 2 can move up and down along the slide rail 1 to bring the mechanism to the working surface. The ultrasonic linear motor 6 is fixed on the carrying platform 2, and the flexible probe 4 is clamped to the output end of the ultrasonic linear motor 6 through the bearing platform 7. The bearing platform 7 includes two relatively arranged bearing plates carried on the carrying platform 2, one of which is sleeved on the body of the ultrasonic linear motor 6, and the other is arranged on the side of the output end of the ultrasonic linear motor 6, and the flexible probe 4 is clamped to the output end of the ultrasonic linear motor 6; the two bearing plates are connected by bolts and clamped with a pre-tightening force, so that the ultrasonic linear motor 6 is in close contact with the flexible probe 4.

[0039] like Figure 8-10 As shown, the ultrasonic linear motor 6 is used as a driving component. Compared with the traveling wave linear motor with more uses, this linear motor is a standing wave linear motor. The installation method is sandwich type, which can maximize the transmission of the mechanical waves generated by the vibration of the piezoelectric ceramic backward. The ultrasonic linear motor 6 includes a rear end cover 61, a piezoelectric ceramic 62, a front end cover 64 and a driving end 66 arranged in sequence. The mounting seat 65 is fixed on the front end cover 64, and a threaded connecting wire 63 is wound on the middle shaft section of the piezoelectric ceramic 62. The material of the rear end cover 61 is 45# steel, and the material of the front end cover 64 is titanium alloy. The piezoelectric ceramic 62 clamped between the rear end cover 61 and the front end cover 64 adopts PZT-8 type piezoelectric ceramic sheets, and the number is 4. The overall structural length of the ultrasonic linear motor 6 is a quarter wavelength. The front end cover 64 of the ultrasonic linear motor 6 is in a dumbbell structure, the mounting seat 65 is fixed at the large diameter end, i.e., the actuating end, and a square port is milled at the actuating end to increase the swing amplitude; the driving end 66 is provided with a boss, the upper surface and the side surface of the boss are rounded to form an arc surface, which serves as the driving surface of the flexible probe 4. During operation, the arc surface drives the flexible probe body 41 to move downward.

[0040] The flexible probe ruler body 41 is in an arc shape with a certain thickness. A through hole is provided on the carrying platform 2. The lower end of the flexible probe ruler 4 passes through the through hole of the carrying platform 2 and is fixedly connected to the flexible probe ruler head 8. The upper end is curled and placed in the ruler capsule 3. It is driven by the ultrasonic linear motor 6 and can be extended and retracted. A wire 5 is connected to the flexible probe ruler body 41 of the flexible probe ruler 4. One end of the wire 5 passes through the ruler capsule 3 to connect to an external power source 51, and the other end is connected to the flexible probe ruler head 8.

[0041] like Figure 11-13 As shown, one end of the flexible probe ruler head 8 is fixedly connected to the flexible probe ruler 4, and the rear end is connected to the wire 5. The cross-section of the flexible probe ruler head 8 is crescent-shaped, and the cross-sectional structure is a middle milling hole, in which the piezoelectric ceramic sheet is placed, and the positive electrode 54 and the negative electrode 53 separated from the electrode sleeve 52 of the wire 5 are respectively connected to the piezoelectric ceramic sheet.

[0042] The overall structure of this mechanism adopts an ultrasonic linear motor 6 to drive the flexible probe 4, wherein the ultrasonic linear motor 6 drives the flexible probe 4 to move downward through the probe capsule 3 to reach the lunar soil and water ice plane. When the downward movement of the flexible probe body 41 is hindered and cannot continue to move downward, the piezoelectric ceramic sheet loaded on the flexible probe head 8 is energized to vibrate it, which can make the flexible probe head 8 resonate and generate a bending mode, and then the hard solid is moved out of the diving path and continues to dive downward.

[0043] The working method of the above-mentioned tunneling type lunar soil and water ice exploration mechanism is as follows:

[0044] The shovel-type submersible probe carrying platform 2 is connected to the side wall of the lander 9, i.e., the YOZ plane, through the slide rail 1. The carrying platform 2 can be moved down to the lunar soil and water ice working plane through the slide rail 1.

[0045] S1, such as Figure 4 As shown, in the initial standby state, the slide rail 1 moves the carrying platform 2 downward to enter the ready-to-work state, such as Figure 5 As shown;

[0046] S2, the carrying platform 2 descends to the working position, and at the beginning of the work, the ultrasonic linear motor 6 drives the flexible probe 4 to work and penetrate downward. After moving to the working surface, the load-bearing platform 7 clamps the ultrasonic linear motor 6 and moves the ultrasonic linear motor 6 forward to a state of close contact with the flexible probe 4, preparing for the next movement.

[0047] S3, the piezoelectric ceramic 62 in the ultrasonic linear motor 6 clamped on the load-bearing platform 7 is energized, and the piezoelectric ceramic 62 is excited to vibrate the front cover 64, and begins to swing up and down in the YOZ plane. Due to the clamping, the flexible probe 4 begins to move downward at this time. When it moves to the surface of the lunar soil and water ice, it begins to penetrate under the action of the ultrasonic linear motor 6 until it encounters a hard solid, such as Figure 6 shown.

[0048] S4, during the downward movement of the flexible probe 4, the hard solid will block the diving route, and the entire mechanism cannot continue to dive downward. At this time, the wire 5 on the flexible probe 4 is energized to excite the piezoelectric ceramic installed on the flexible probe head 8, so that the flexible probe head 8 generates a bending vibration mode, and the hard solid is moved out of the diving path, which facilitates the shovel-type submersible exploration mechanism to continue to dive downward. Figure 7 shown.

Claims

1. A shovel-type submersible lunar soil and water ice exploration mechanism, characterized in that: The invention comprises a submersible probe carried on a carrying platform, which can move up and down along the lander; the submersible probe comprises a flexible probe, a flexible probe head at the end of which is a crescent-shaped structure with a middle milling hole, in which a piezoelectric ceramic sheet is placed; when the piezoelectric ceramic sheet is electrified and excited, the flexible probe head generates a bending vibration mode, so as to transport solids.

2. The shovel-digging lunar soil and water ice exploration mechanism according to claim 1 is characterized in that: The driving component of the flexible probe is an ultrasonic linear motor.

3. The shovel-digging lunar soil and water ice exploration mechanism according to claim 2 is characterized in that: The ultrasonic linear motor comprises a rear end cover, a piezoelectric ceramic, a front end cover and a driving end which are arranged in sequence, a mounting seat is fixed on the front end cover, and a threaded connecting wire is wound on the middle shaft section of the piezoelectric ceramic; the rear end cover material is 45# steel, the front end cover material is titanium alloy, the piezoelectric ceramic clamped in the middle adopts PZT-8 type piezoelectric ceramic sheets, the number is 4, and the overall structural length of the ultrasonic linear motor is one quarter wavelength; the front end cover is configured as a dumbbell structure, the mounting seat is fixed on the large diameter end, i.e., the actuating end, and the actuating end is milled with a square port to facilitate increasing the swing amplitude; a boss is provided at its driving end, and the upper surface and the side surface of the boss are rounded to form an arc surface, which serves as the driving surface of the flexible probe.

4. The shovel-digging lunar soil and water ice exploration mechanism according to claim 2 is characterized in that: It includes a slide rail fixed on the lander, and a carrying platform is slidably connected to the slide rail. The carrying platform can move up and down along the slide rail to bring the mechanism to the working surface.

5. The shovel-digging lunar soil and water ice exploration mechanism according to claim 2 is characterized in that: The ultrasonic linear motor is fixed on the carrying platform, and the flexible probe is clamped on the output end of the ultrasonic linear motor through the load-bearing platform.

6. The shovel-digging mechanism for exploring lunar soil and water ice according to claim 5 is characterized in that: The load-bearing platform includes two relatively arranged load-bearing plates mounted on the carrying platform, one of which is sleeved on the body of the ultrasonic linear motor, and the other is arranged on one side of the output end of the ultrasonic linear motor. The two load-bearing plates are connected by bolts and clamped with pre-tightening force to make the ultrasonic linear motor in close contact with the flexible probe.

7. The shovel-digging mechanism for exploring lunar soil and water ice according to claim 1 is characterized in that: The body of the flexible probe is in the shape of an arc with a certain thickness, and a through hole is opened on the carrying platform. The lower end of the flexible probe passes through the through hole of the carrying platform and is fixedly connected to the flexible probe head. The upper end is curled and placed in a ruler bag, and is driven by a driving component to extend and retract. An electric wire is connected to the body of the flexible probe, one end of the electric wire passes through the ruler bag to connect to an external power supply, and the other end is connected to the piezoelectric ceramic piece of the flexible probe head.

8. The working method of the excavation-type lunar soil and water ice exploration mechanism according to any one of claims 1 to 7 is characterized in that: The details are as follows: S1. In the initial standby state, the carrying platform moves downward and enters the ready-to-work state; S2. The carrying platform descends to the working position, the load-bearing platform clamps the ultrasonic linear motor, and moves the ultrasonic linear motor forward to a state of close contact with the body of the flexible probe; S3. The piezoelectric ceramic in the ultrasonic linear motor clamped on the load-bearing platform is energized, and the piezoelectric ceramic excitation causes the front cover to vibrate. At this time, the flexible probe begins to move downward. When it moves to the surface of the lunar soil and water ice, it begins to penetrate under the action of the driving motor until it encounters a hard solid. S4. Energize the wires on the flexible probe to vibrate the piezoelectric ceramic sheet installed on the head of the flexible probe, so that the head of the flexible probe generates a bending vibration mode, thereby moving the hard solid out of the penetration path.

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