Electromagnetic spring lunar soil penetrometer with pressure sensing function and control method of electromagnetic spring lunar soil penetrometer

Abstract

An electromagnetic spring lunar soil penetrating device with a pressure sensing function comprises a power module, a penetrating module and a control module, the power module comprises a lower shell and an upper shell, a first electromagnet and a second electromagnet are fixed to the lower end of the lower shell and the upper end of the upper shell respectively, and an impact hammer is slidably connected between a first guide rail and a second guide rail; the injection module comprises a storage roller and a thin shell; the control module comprises a PLC (Programmable Logic Controller), a displacement sensor and a pressure sensor; the PLC receives the angle signal and the pressure signal and controls the motor to adjust the release length of the thin shell, the PLC drives the permanent magnet to drive the impact hammer to move up and down by controlling the current magnitude and direction of the first coil and the second coil, and the impact hammer impacts the clamp holder to drive the thin shell to penetrate into lunar soil; according to the lunar soil penetrometer control method, the thin shell is driven to penetrate into lunar soil by controlling the magnitude and direction of electromagnetic force; compared with a traditional energy storage spring structure, the lunar soil penetrometer has the advantages that the penetration precision can be improved, the hysteresis phenomenon is remarkably improved, and the self-adaptive adjustment function is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace technology, and specifically relates to an electromagnetic spring lunar soil penetrator with pressure sensing function and a control method thereof. Background Art

[0002] In modern space exploration missions, the moon, as a satellite of the earth, has unique and important scientific research value. The lunar soil (also known as lunar soil) on the surface of the moon contains rich scientific information, such as the formation and evolution history of the moon, the evolution process of the solar system, etc.; by analyzing lunar soil samples, scientists can obtain important data on the composition, structure and historical evolution of the lunar surface material, thereby deepening their understanding of the moon and the entire solar system.

[0003] A lunar soil penetrator is a device specially used for lunar soil exploration. Its main function is to penetrate the lunar soil through a thin shell structure to collect and analyze lunar soil samples at different depths. Traditional lunar soil penetrators usually rely on mechanical energy storage springs to provide the required kinetic energy to achieve penetration. However, this mechanical energy storage structure has significant disadvantages: First, the use of mechanical springs will lead to obvious hysteresis. The hysteresis phenomenon refers to the inability of the spring to immediately respond to external control signals due to internal friction and deformation during the energy storage and release process, and may cause uneven energy release (such as the spring being stuck and unable to be released). The uneven energy release will directly affect the sampling accuracy of the penetrator, and thus affect the scientific analysis. Accuracy; secondly, the energy storage capacity of the mechanical spring is fixed and cannot be dynamically adjusted according to actual needs. This design limits the possibility of flexibly adjusting the energy output under different load conditions; mechanical springs are prone to fatigue and wear problems after long-term use. Mechanical fatigue and wear will cause the spring performance to gradually decline, affecting the reliability and service life of the system. In long-term lunar exploration missions, this reliability problem is particularly significant because the lunar soil penetrator needs to work stably for a long time in a complex and changeable lunar environment; in addition, traditional lunar soil penetrators do not have the function of measuring the penetration resistance of thin shells, and cannot timely feedback the physical structure and layered structure of the lunar soil through the penetration resistance, affecting the subsequent adjustment of the penetration depth.

[0004] In order to overcome these defects, researchers have conducted research from different aspects such as the material properties and structural design of the spring, but the results have been unsatisfactory and the size and weight of the penetrator cannot be guaranteed. Therefore, developing a lunar soil penetrator that uses a new energy storage element with a small size, light weight, low system hysteresis and high reliability is a current research hotspot and a technical bottleneck that needs to be solved urgently.

[0005] In an article titled "Research on Mechanical Properties of Impact Penetration of a Flexible Probe into Lunar Soil Profile" (Wang Hao. Harbin Institute of Technology, 2020), a new type of flexible probe was studied as a detection device for penetrants. The device uses a flexible probe to achieve low-disturbance in-situ detection of lunar soil profiles; however, the study still has insufficient adaptability to different particle sizes and densities in the complex lunar soil environment, especially in the relationship between penetration efficiency and device stability, where the optimal balance has not yet been found.

[0006] The invention with patent publication number "CN 109306691 A" and name "A self-adjustable visual precision dynamic probing device" discloses a device for dynamic soil probing using an adjustable operating table combined with built-in electromagnets and permanent magnets. By controlling the drop hammer through electromagnetic force, high-precision detection that is adaptable to a variety of terrains is achieved, solving the problems of large manual operation errors and high labor intensity; however, when the device faces extremely soft or extremely hard soil, the electromagnetic force may not be sufficient to provide effective penetration power.

[0007] The invention with patent publication number "CN 114483022 A" and name "A recyclable continuous hammering device based on electromagnetic coil gun" discloses a device driven by an electromagnetic coil to hammer. It uses a continuous hammering method and shows excellent performance in seabed geological surveys, especially in gravel layers or hard formations; but the hammering energy and frequency of the device are difficult to accurately control, which limits its flexible application under complex geological conditions. Summary of the invention

[0008] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to propose an electromagnetic spring lunar soil penetrator with pressure sensing function and a control method thereof, wherein the lunar soil penetrator adopts an electromagnetic spring as an energy storage mechanism, and the controller accurately controls the size and direction of the coil current to form an electromagnetic force with variable direction and size to replace the traditional mechanical force, thereby realizing precise control and release of energy, so that the hysteresis phenomenon of the traditional penetrator is significantly improved, and the operation accuracy and efficiency are greatly improved; by arranging a pressure sensor at the tip of the thin shell, the penetration resistance can be measured and recorded, and the power size of the subsequent penetrator to penetrate the lunar soil can be further set by the controller; the lunar soil penetrator in the present invention solves the problems of high hysteresis and low reliability brought about by the existing penetrator using mechanical spring energy storage, as well as the small range of potential energy storage of the mechanical spring, and the inability of the existing penetrator to directly measure the penetration resistance, which affects the study of the lunar soil stratification structure.

[0009] To achieve the above object, the present invention adopts the following technical solutions:

[0010] An electromagnetic spring lunar soil penetrator with pressure sensing function includes a power module, a penetration module and a control module: the power module uses an electromagnetic spring to convert electrical energy into kinetic energy of an impactor, the penetration module uses the kinetic energy of the impactor to drive the sample to penetrate into the lunar soil, and the control module uses a sensor to sense the depth and resistance of the sample in the previous step of penetration into the lunar soil, and adjusts the amount of electrical energy output by the power module in the next step.

[0011] Furthermore, the power module includes a U-shaped lower shell 1, a first electromagnet is fixed to the inner surface of the lower end of the lower shell 1, the first electromagnet includes a first ferromagnet 2 and a first coil 3 wound around the surface of the first ferromagnet 2, an inverted U-shaped upper shell 4 is installed on the upper part of the lower shell 1, a second electromagnet is fixed to the inner surface of the upper end of the upper shell 4, the second electromagnet includes a second ferromagnet 5 and a second coil 6 wound around the surface of the second ferromagnet 5, the inner side surface of the upper shell 4 and / or the inner side surface of the lower shell 1 are symmetrically fixed with a first guide rail 7 and a second guide rail 8 along the axial direction of the upper shell 4, the first guide rail 7 and the second guide rail 8 are located between the first electromagnet and the second electromagnet, an impact hammer 9 is slidably connected between the first guide rail 7 and the second guide rail 8, a permanent magnet 10 is fixedly connected to the impact hammer 9, and the lower end of the impact hammer 9 is an inverted U-shaped upper shell 4. The inclined surface structure 901 of the U-shaped opening, the power module also includes a clamp located between the impact hammer 9 and the first electromagnet, the clamp includes a first clamping block 11 and a second clamping block 12, the lower part of the first clamping block 11 is connected to one end of the first return spring 13, the lower part of the second clamping block 12 is connected to one end of the second return spring 14, the other end of the first return spring 13 and the other end of the second return spring 14 are respectively connected to the inner surface of the lower end of the lower shell 1, when the impact hammer 9 collides with the clamp during the downward sliding process along the first guide rail 7 and the second guide rail 8, the inclined surface structure 901 makes the first clamping block 11 and the second clamping block 12 approach each other, and the upper shell 4, the first ferromagnet 2, the impact hammer 9, the permanent magnet 10, the clamp, the second ferromagnet 5, and the lower shell 1 are all provided with a first hole along the axial direction of the upper shell 4.

[0012] Furthermore, the penetration module includes a storage roller 16, which is fixed to the upper part of the upper shell 4. A thin shell 19 is curled and wrapped around the storage roller 16. The storage roller 16 is connected to the power output shaft of the motor 17. The thin shell 19 can be released by the motor 17, and the thin shell 19 is allowed to pass through the first hole and extend to the lower part of the lower shell 1 through the action of the power module and the control module.

[0013] Furthermore, the control module includes a PLC controller 20, a displacement sensor 21 and a pressure sensor 22. The PLC controller 20 is electrically connected to the first coil 3, the second coil 6, the motor 17, the displacement sensor 21 and the pressure sensor 22 respectively. The PLC controller 20 includes an H-bridge circuit submodule and a PWM (Pulse Width Modulation, pulse width modulation) driving submodule, the displacement sensor 21 is coaxially installed with the storage roller 16, the displacement sensor 21 detects the rotation angle of the storage roller 16 and transmits the angle signal to the PLC controller 20, the pressure sensor 22 is installed at the top of the thin shell 19, the pressure sensor 22 detects the penetration resistance of the thin shell 19 when penetrating into the lunar soil and transmits the pressure signal to the PLC controller 20, after receiving the angle signal and the pressure signal, the PLC controller 20 analyzes and determines the next target length of the thin shell 19 to be released through the internal program, and then outputs the motor 17 current signal to the motor 17, which is used to control the motor 17 to drive the storage roller 16 to rotate and release the target length of the thin shell 19 in advance, the PLC controller 20 outputs the first coil 3 current signal and the second coil 6 current signal to the H-bridge circuit submodule and the PWM driving submodule according to the target length, the target power and the force direction of the permanent magnet 10, and after receiving the first coil 3 current signal and the second coil 6 current signal, the H-bridge circuit submodule and the PWM driving submodule control the current size and direction of the first coil 3 and the second coil 6.

[0014] Furthermore, the first clamping block 11 and the second clamping block 12 are symmetrically distributed along the axis direction of the upper shell 4, and the outer side surfaces of the first clamping block 11 and the second clamping block 12 away from the axis of the upper shell 4 are curved structures.

[0015] Furthermore, the inclined surface structure 901 at the lower end of the impact hammer 9 is symmetrically distributed along the axis direction of the upper shell 4 , and the diameter of the inverted V-shaped opening is larger than the vertical projection diameter of the first clamping block 11 and the second clamping block 12 .

[0016] Furthermore, the power module also includes a retaining frame 15, which is a V-shaped opening and is located below the clamp. The lower end of the retaining frame 15 passes through the first hole and is fixed on the lower shell 1. When the clamp moves downward, it is located inside the retaining frame 15.

[0017] Furthermore, the first ferromagnet 2 and the second ferromagnet 5 are both annular ferromagnets, and the permanent magnet 10 is an annular permanent magnet.

[0018] Furthermore, the compressible lengths of the first return spring 13 and the second return spring 14 are not less than 5% of the distance between the first electromagnet and the second electromagnet.

[0019] The present invention also discloses a control method of an electromagnetic spring lunar soil penetrator with a pressure sensing function, comprising the following steps:

[0020] S1, the PLC controller 20 in the control module controls the current direction and current magnitude of the first coil 3 and the second coil 6, so that the first electromagnet generates a first magnetic field opposite to the magnetic field direction of the permanent magnet 10, and the second electromagnet generates a second magnetic field in the same direction as the magnetic field of the permanent magnet 10. The first magnetic field and the second magnetic field work together to lift the permanent magnet 10 together with the impact hammer 9 along the first guide rail 7 and the second guide rail 8 to one end of the second electromagnet;

[0021] S2, the control module controls the motor 17 to drive the storage roller 16 to rotate, so that the thin shell 19 is released to the target length;

[0022] S3, the control module changes the current direction of the first coil 3 and the second coil 6 in step S1, so that the permanent magnet 10 is subjected to the electromagnetic force in the direction of the first electromagnet, and the permanent magnet 10 drives the impact hammer 9 to move along the first guide rail 7 and the second guide rail 8 in the direction of the first electromagnet; when the impact hammer 9 moves to collide with the clamper, the first clamping block 11 and the second clamping block 12 clamp the thin shell 19 in step S2 and drive the thin shell 19 to move downward, so that the thin shell 19 penetrates into the lunar soil, and the clamper moves downward while compressing the reset spring;

[0023] S4, repeating step S1, wherein the PLC controller 20 receives the angle signal sent by the displacement sensor 21 and the pressure signal sent by the pressure sensor 22, and analyzes the penetration depth of the thin shell 19 in step S3, and then adjusts the current direction and current magnitude of the first coil 3 and the second coil 6 in step S1;

[0024] S5. Repeat steps S2 to S4 until the penetration depth of the thin shell 19 analyzed by the PLC controller 20 in step S4 reaches the target depth.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention detects the rotation angle of the storage roller 16 in real time through the displacement sensor 21 in the control module. After receiving the angle signal and analyzing the penetration depth of the thin shell 19, the PLC controller 20 accurately adjusts the release length of the thin shell 19 of the penetration module according to the next penetration target length. After receiving the pressure signal and analyzing the penetration resistance, the PLC controller 20 can accurately control the current size and direction of the first coil 3 and the second coil 6 in the power module, so that the permanent magnet 10 drives the impact hammer 9 to reciprocate according to the target penetration power. In this process, the current size is flexibly and accurately adjusted to adjust the impact force. According to the conditions of lunar soil with different densities, the penetration depth of the thin shell 19 and the sampling process are more controllable, which not only reduces the detection error caused by excessive or insufficient impact and improves the accuracy of scientific data collection, but also avoids the damage of excessive impact force to the device and lunar soil, improves the applicability of the penetrator in various environments, improves the reliability and service life of the penetrator, and can optimize the precise control of electric energy release, greatly improving the energy efficiency and work efficiency of the penetrator.

[0027] 2. The present invention, through the inclined surface structure 901 of the impact hammer 9 and the curved surface structure design of the clamp, can directly transfer the kinetic energy of the impact hammer 9 to the clamp, thereby realizing efficient utilization of the impact force. The curved surface structure of the clamp decomposes the impact force of the impact hammer 9 into longitudinal penetration force and transverse clamping force, ensuring that the penetration process is stable and effective; the structural design of the impact hammer 9 and the clamp can adapt to lunar soil of different density and hardness, avoiding clamping or penetration failure due to the unevenness of the lunar soil; the clamping surface of the clamp is reasonably designed, and by increasing the flexible lining or protective coating of the clamp, damage to the thin shell 19 is avoided, thereby improving the service life and penetration quality of the thin shell 19.

[0028] 3. The present invention adopts a thin shell 19 with a C-shaped structural cross-section as the penetration body. At the same time, the interior of the thin shell 19 is a C-shaped cavity, which can be hovered and folded in the spacecraft before penetrating the lunar soil. Its storage size and weight are more advantageous than those of a rigid penetration body, and its launch and transportation costs are lower, and it has better economy. At the same time, it can also ensure that the penetration stiffness will not be offset. When the probe encounters underground obstacles during penetration, it can automatically avoid them, greatly improving its reliability during operation.

[0029] 4. By arranging a pressure sensor at the top of the penetrator, the present invention can directly measure key parameters such as the penetration resistance during the penetration process, provide a direct basis for the accurate quantitative study of key physical parameters such as the cohesion, internal friction angle, porosity ratio of the lunar soil, and help to deeply analyze the interaction mechanism between lunar soil particles; at the same time, with the help of the penetration resistance at different penetration depths, it can also help the study of the lunar soil bedding structure, assist in defining the interface of different lunar soil layers, study the physical properties of each lunar soil bedding thickness, hardness and vertical distribution of mechanical properties, and provide assistance for lunar geological evolution modeling.

[0030] In summary, compared with the traditional energy storage spring structure, this lunar soil penetrator can improve penetration accuracy, significantly improve hysteresis phenomenon, and has adaptive adjustment function, which further improves the adaptability, reliability and service life of the equipment. It is very suitable for space missions in long-term and complex environments, and provides strong support for lunar soil penetration and detection technology in future lunar exploration missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the axial section of the lunar soil penetrator of the present invention.

[0032] Figure 2 It is a partial structural schematic diagram of the electromagnetic spring of the present invention.

[0033] Figure 3 It is a schematic diagram of the transverse cross-sectional structure of the thin shell of the present invention.

[0034] In the figure, 1, lower shell; 2, first ferromagnet; 3, first coil; 4, upper shell; 5, second ferromagnet; 6, second coil; 7, first guide rail; 8, second guide rail; 9, impact hammer; 901, inclined structure; 10, permanent magnet; 11, first clamping block; 12, second clamping block; 13, first return spring; 14, second return spring; 15, retaining frame; 16, storage roller; 17, motor; 18, bracket; 19, thin shell; 20, PLC controller; 21, displacement sensor; 22, pressure sensor. DETAILED DESCRIPTION

[0035] The present invention provides an electromagnetic spring lunar soil penetrator with pressure sensing function and a control method thereof, aiming to solve the problems of high hysteresis and low reliability of the existing mechanical spring energy storage system. By adopting the electromagnetic spring as the core energy storage mechanism and combining the penetration depth and penetration resistance parameters of the previous step of the penetrator to realize precise control of the current size and current direction in the next step, the present invention realizes efficient energy release and real-time feedback adjustment of the sensor.

[0036] Combine the following Figures 1 to 3 The present invention is described in further detail:

[0037] In the first aspect, an electromagnetic spring lunar soil penetrator with pressure sensing function includes a power module, a penetration module and a control module: the power module uses an electromagnetic spring to convert electrical energy into kinetic energy of an impactor, the penetration module uses the kinetic energy of the impactor to drive the sample to penetrate into the lunar soil, and the control module uses a sensor to sense the depth of the sample's penetration into the lunar soil and the resistance encountered by the lunar soil in the previous step, and adjusts the amount of electrical energy output by the power module in the next step.

[0038] like Figure 1 and Figure 2As shown, the power module includes a U-shaped lower shell 1, a first electromagnet is fixed to the inner surface of the lower end of the lower shell 1, and the first electromagnet can be fixed by a clamp or other fixing methods, the first electromagnet includes a first ferromagnet 2 and a first coil 3 wrapped around the surface of the first ferromagnet 2, an inverted U-shaped upper shell 4 is installed on the upper part of the lower shell 1, a second electromagnet is fixed to the inner surface of the upper end of the upper shell 4, and the first electromagnet and the second electromagnet can be fixed by a clamp or other fixing methods, the second electromagnet includes a second ferromagnet 5 and a second coil 6 wrapped around the surface of the second ferromagnet 5, the inner side surface of the upper shell 4 and / or the inner side surface of the lower shell 1 A first guide rail 7 and a second guide rail 8 are symmetrically fixed along the axis direction of the upper shell 4. The first guide rail 7 and the second guide rail 8 are located between the first electromagnet and the second electromagnet. An impact hammer 9 is slidably connected between the first guide rail 7 and the second guide rail 8. A permanent magnet 10 is fixedly connected to the impact hammer 9 by mechanical means such as bolts, buckles, and inlays. When a certain current passes through the first coil 3 or the second coil 6, a magnetic field in a certain direction can be formed on the first electromagnet or the second electromagnet. When the direction of the current changes, the direction of the magnetic field changes immediately. By setting the current of the first coil 3 and the second coil 6 respectively, the first coil 3 or the second coil 6 and the permanent magnet 10 can be automatically The magnetic field of the body is the same or opposite, generating an electromagnetic force that attracts the permanent magnet 10 upward or repels it downward, so that the permanent magnet 10 drives the impact hammer 9 to slide upward or downward along the first guide rail 7 and the second guide rail 8; the lower end of the impact hammer 9 is an inclined surface structure 901 with an inverted V-shaped opening, and the power module also includes a clamp located between the impact hammer 9 and the first electromagnet, and the clamp includes a first clamping block 11 and a second clamping block 12, the lower part of the first clamping block 11 is connected to one end of the first return spring 13, the lower part of the second clamping block 12 is connected to one end of the second return spring 14, and the other end of the first return spring 13 and the other end of the second return spring 14 are connected. The ends are respectively connected to the inner surface of the lower end of the lower shell 1, and the first return spring 13 and the second return spring 14 can drive the clamp to return to its original position after the force is applied. When the impact hammer 9 collides with the clamp during the downward sliding process along the first guide rail 7 and the second guide rail 8, the inclined surface structure 901 can apply a symmetrical downward external force along the axis direction of the upper shell 4 to the first clamping block 11 and the second clamping block 12, so that the first clamping block 11 and the second clamping block 12 are close to each other. The upper shell 4, the first ferromagnet 2, the impact hammer 9, the permanent magnet 10, the clamp, the second ferromagnet 5, and the lower shell 1 are all provided with a first hole along the axis direction of the upper shell 4.

[0039] The electromagnetic spring includes a first electromagnet, a second electromagnet, a permanent magnet 10, an impact hammer 9, a first guide rail 7 and a second guide rail 8 in a power module. The first electromagnet and the second electromagnet form electromagnetic force when the first coil 3 and the second coil 6 are energized, respectively, so that the permanent magnet drives the impact hammer 9, i.e., the impact object, to move up and down along the first guide rail 7 and the second guide rail 8; this electromagnetic spring design is highly controllable, overcomes the hysteresis phenomenon of traditional mechanical springs in the process of energy release, and significantly improves the response speed and working accuracy of the lunar soil penetrator; in addition, the non-contact design of the electromagnetic spring avoids mechanical friction, greatly improves the reliability and durability of the system, and is particularly suitable for complex and changeable extraterrestrial environments such as the moon; the automatic coordination ability of the lunar soil penetrator ensures that it can still operate efficiently under different lunar soil conditions, and its adaptability and stability are significantly enhanced. At the same time, the application of electromagnetic springs reduces the need for maintenance of the lunar soil penetrator, making it more suitable for long-term space missions.

[0040] The working principle of the entire power module includes an energy storage stage and an energy release stage: in the energy storage stage, the control module adjusts the magnetic fields of the first electromagnet and the second electromagnet, so that the impact hammer 9 and the permanent magnet 10 connected thereto are gradually lifted to a predetermined height, and the stored energy is gradually accumulated to ensure the effectiveness of the subsequent energy release stage; in the energy release stage, the control module reverses the direction of the magnetic fields of the first electromagnet and the second electromagnet, rapidly pushes the impact hammer 9 to accelerate downward, and converts the stored elastic potential energy into kinetic energy. The thin shell 19 in the penetration module thereby obtains powerful power, which can achieve rapid and accurate penetration of the lunar soil.

[0041] The innovative design of the power module lies in the use of electromagnetic springs as energy storage devices, which breaks through the hysteresis phenomenon of traditional mechanical spring systems and significantly improves the response speed, efficiency and reliability of the system.

[0042] The penetration module includes a storage roller 16, which can be fixed to the upper part of the upper shell 4 through a bracket 18. A thin shell 19, i.e., a sample, is curled and wrapped on the storage roller 16. The storage roller 16 is connected to the power output shaft of a motor 17. The storage roller 16 can release the thin shell 19 through the motor 17, and the thin shell 19 is passed through the first hole and extended to the lower part of the lower shell 1 through the action of the power module and the control module; in a non-working state, the thin shell 19 is bent into a roll and stored on the storage roller 16. Before the penetration operation, the motor 17 controls the storage roller 16 to rotate in advance to release the thin shell 19 of the target length. During the penetration operation, the clamp uses the kinetic energy of the impact hammer 9 to clamp and drive the thin shell 19 to move downward, thereby completing the penetration of the thin shell 19 of the target length into the lunar soil.

[0043] The storage roller 16 is responsible for storing the thin shell 19 when it is not working, and gradually releasing the thin shell 19 during the penetration operation; the release mechanism of the storage roller 16 combined with the PLC controller 20 is precise, ensuring that the released thin shell 19 is of just the right length and will not affect the penetration efficiency due to being too short or too long. The flexible design of the storage roller 16 makes the penetration module highly adaptable and can adjust the release strategy according to different lunar soil conditions, ensuring the smooth progress of the penetration process.

[0044] The core function of the penetration module is to drive the thin shell 19 into the lunar soil through the power module, so as to complete the collection and detection of lunar soil samples; at the beginning of the penetration work, the control module first releases the thin shell 19 of the target length through the storage roller 16 to prepare for the subsequent penetration action. As the kinetic energy of the impact hammer 9 is transmitted to the clamp, the clamp drives the thin shell 19 to start penetrating the lunar soil. During the penetration process, the impact force is reasonably decomposed to ensure the accurate transmission of the penetration force; through this precise mechanical design, the penetration module can avoid applying excessive pressure on the thin shell 19, thereby achieving precise penetration under complex lunar soil conditions.

[0045] The overall design of the penetration module fully considers the complexity and variability of the lunar environment. Efficient and precise penetration operations are achieved through the coordinated work of various components. The C-shaped structural design of the thin shell 19, the precise release of the storage roller 16, and the mechanical optimization of the clamp jointly ensure the efficient operation of the system. The penetration module not only improves the working efficiency of the equipment, but also improves the adaptability and reliability of the system through mechanical distribution and material optimization, ensuring that it can continue to work stably in long-term space missions and meet the requirements of complex exploration missions.

[0046] The purpose of the control module is to achieve efficient and stable operation during the lunar soil penetration process through precise control of the power module and the penetration module; the PLC controller 20 can dynamically adjust the current size and direction of the first electromagnet and the second electromagnet in the next step through the internal program of the PLC controller 20 according to the rotation angle of the storage roller 16 in the previous step fed back by the displacement sensor 21 and the pressure signal fed back by the pressure sensor 22, to ensure that the power module outputs the appropriate penetration force. This adaptability significantly enhances the efficient working efficiency of the lunar soil penetrator in complex mission environments, so that it can efficiently complete the detection mission under different lunar soil density and hardness conditions.

[0047] The control module includes a PLC controller 20, a displacement sensor 21 and a pressure sensor 22. The PLC controller 20 is electrically connected to the first coil 3, the second coil 6, the motor 17, the displacement sensor 21 and the pressure sensor 22 respectively. The PLC controller 20 includes an H-bridge circuit submodule and a PWM drive submodule. The displacement sensor 21 is coaxially installed with the storage roller 16 and is located on one side of the storage roller 16. Before the thin shell 19 is released, the first coil 3 and the second coil 6 are not energized, and the permanent magnet 10 is only subjected to the action of gravity to make the impact hammer 9 contact with the clamp; the displacement sensor 21 detects the rotation angle of the storage roller 16 and transmits the angle signal to the PLC controller 20. The pressure sensor 22 is installed at the top of the thin shell 19. The pressure sensor 22 detects the penetration resistance of the thin shell 19 when penetrating into the lunar soil and transmits the pressure signal to the PLC controller 20.

[0048] The pressure sensor 22 used in the present invention is a flexible thin film pressure sensor, specifically a resistive or capacitive flexible thin film pressure sensor. The resistive flexible thin film pressure sensor is usually composed of a flexible substrate material (such as polydimethylsiloxane) and a conductive material (such as carbon nanotubes, metal nanowires, conductive polymers, etc.). The conductive material is distributed on the substrate. When subjected to pressure, the conductive material will deform or change the contact state, thereby causing the resistance of the conductive path to change; the capacitive flexible thin film pressure sensor is mainly composed of two flexible conductive electrodes and a dielectric layer sandwiched in the middle. The flexible electrode material can be a metal film (such as gold or silver film), a conductive polymer, etc. The dielectric layer is usually a material with good elasticity (such as silicone rubber, polyimide, etc.). When subjected to pressure, the thickness or dielectric constant of the dielectric layer will change, thereby changing the capacitance value.

[0049] After receiving the angle signal and the pressure signal, the PLC controller 20 analyzes the extension amount of the thin shell 19 through an internal program and determines the target length of the thin shell 19 to be released in the next step, and then outputs a motor 17 current signal to the motor 17, which is used to control the motor 17 to drive the storage roller 16 to rotate to release the target length and target power of the thin shell 19 in advance. The PLC controller 20 is electrically connected to the first coil 3 and the second coil 6 through the H-bridge circuit submodule, the PWM drive submodule and the relay respectively. The use of the relay can provide electrical isolation to prevent high current from damaging the PLC controller 20.

[0050] The PLC controller 20 outputs a first group of first coil 3 current signals and second coil 6 current signals (including current direction and current magnitude) to the H-bridge circuit submodule and the PWM drive submodule according to the target length, target power and force direction of the permanent magnet 10. After receiving the first coil 3 current signals and the second coil 6 current signals, the H-bridge circuit submodule and the PWM drive submodule control the current magnitude and direction of the first coil 3 and the second coil 6. The PLC controller 20 can change the current direction of the first coil 3 current and the second coil 6 current through the H-bridge circuit submodule, and can change the current magnitude of the first coil 3 current and the second coil 6 current through the PWM drive submodule. The released first coil 3 current causes the first electromagnet to form a magnetic field opposite to that of the permanent magnet, and the second The current of coil 6 causes the second electromagnet to form the same magnetic field as that of the permanent magnet. The permanent magnet 10 drives the impact hammer 9 to slide upward under the action of the upward repulsive force of the first electromagnet and the upward attractive force of the second electromagnet, thereby completing the storage of potential energy of the permanent magnet 10. When the thin shell 19 needs to be released, the PLC controller 20 outputs the next set of first coil 3 current signals and second coil 6 current signals to the H-bridge circuit submodule and the PWM drive submodule, thereby finally making the currents of the first coil 3 and the second coil 6 in opposite directions to their respective first sets of currents. As a result, the permanent magnet 10 drives the impact hammer 9 to slide downward and impact the clamp under the action of the downward attractive force of the first electromagnet and the downward repulsive force of the second electromagnet. The clamp clamps the thin shell 19 and drives the thin shell 19 to move downward, thereby realizing the penetration of the thin shell 19 into the lunar soil.

[0051] After the thin shell 19 penetrates the lunar soil, the displacement sensor 21 detects the rotation angle of the storage roller 16 and feeds back the angle signal to the PLC controller 20. The PLC controller 20 analyzes the angle signal and adjusts the thin shell 19 to release the target length in the next step.

[0052] The system consists of a power module, a penetration module and a control module, and the specific working principle is as follows: the control module serves as a core coordination unit, and receives the angle signal of the rotation of the roller 16, that is, the displacement data of the thin shell 19, and the pressure signal fed back by the pressure sensor 22, collected by the displacement sensor 21 through the PLC controller 20, and calculates in real time the next extension target length of the thin shell 19, that is, the target penetration depth into the lunar soil and the target power size. The PLC controller 20 adjusts the target length of the thin shell 19 released in the penetration module in advance by controlling the motor 17. Secondly, the PLC controller 20 outputs the current signal of the first coil 3 and the current signal of the second coil 6 to the H-bridge circuit submodule and the PWM drive submodule. After receiving the corresponding signals, the H-bridge circuit submodule and the PWM drive submodule control and adjust the current direction and size of the first coil 3 and the second coil 6. The permanent magnet 10 is subjected to an upward or downward electromagnetic force, thereby realizing the energy storage and impact action of the impact hammer 9 fixedly connected to the permanent magnet 10 in the power module; the power module controls the control module through the control module The block controls the current of the first coil 3 and the second coil 6 to realize the electromagnetic force interaction between the first electromagnet, the second electromagnet and the permanent magnet 10, and the permanent magnet 10 drives the impact hammer 9 to slide up and down along the first guide rail 7 and the second guide rail 8. The kinetic energy of the impact hammer 9 when moving downward is transmitted to the clamp, and the first clamping block 11 and the second clamping block 12 clamp and push the thin shell 19 of the penetration module to penetrate the lunar soil; the displacement sensor 21 detects the penetration depth of the thin shell 19 and feeds back to the PLC controller 20, the pressure sensor 22 detects the penetration resistance of the thin shell 19 when penetrating the lunar soil and transmits the pressure signal to the PLC controller 20, the PLC controller 20 receives the above signal and uses the internal program to adjust and control the magnetic field direction and magnetic field size of the first electromagnet and the second electromagnet to realize the energy storage and impact action of the impact hammer 9 in the next step, and the motor 17 drives the storage roller 16 to rotate according to the motor 17 current signal of the control module and releases the next release target length of the thin shell 19 in advance to ensure that the penetration depth meets the task requirements.

[0053] The modules work together and closely cooperate to achieve the precise penetration of the thin shell 19. The power module provides the impact force required for penetration, the penetration module completes the storage and release of the thin shell 19, and the control module ensures efficient and precise operation of the system through real-time feedback and adjustment, ultimately achieving multiple penetrations of the thin shell 19 and meeting the target depth.

[0054] Furthermore, the first clamping block 11 and the second clamping block 12 are symmetrically distributed along the axis direction of the upper shell 4, and the outer side surfaces of the first clamping block 11 and the second clamping block 12 away from the axis of the upper shell 4 are curved structures. When the inclined structure 901 of the impact hammer 9 moves downward and collides with the curved surface structure, the smooth curved surface structure can decompose the impact force of the impact hammer 9 into a downward penetration force parallel to the axis direction of the upper shell 4 (i.e. vertically downward) and a clamping force perpendicular to the axis direction of the upper shell 4 and pointing to the axis of the upper shell 4 (i.e. horizontally inward), thereby ensuring stable penetration of the thin shell 19.

[0055] The clamp drives the thin shell 19 downward through the kinetic energy of the impact hammer 9, and reasonably decomposes the impact force during the penetration process, ensuring that the thin shell 19 maintains a stable movement direction during the penetration process and avoiding deviation due to lunar soil resistance; the clamp is made of high-strength metal materials (such as alloy steel or titanium alloy) to ensure that the clamp can withstand the high-frequency impact and load of the impact hammer 9. The surface of the clamp is hardened or coated with a protective coating such as a wear-resistant layer to extend its service life; the contact portion between the first clamping block 11, the second clamping block 12 and the thin shell 19 matches the convex or concave surface of the thin shell 19, and the contact portion between the first clamping block 11, the second clamping block 12 and the thin shell 19 also includes an anti-slip design (such as engraving or adding a friction coating) to prevent the thin shell 19 from sliding or deflecting during the penetration process, thereby improving the penetration accuracy and reliability of the system.

[0056] Furthermore, the inclined surface structure 901 at the lower end of the impact hammer 9 is symmetrically distributed along the axial direction of the upper shell 4, and the diameter of the inverted V-shaped opening is larger than the vertical projection diameter of the first clamping block 11 and the second clamping block 12; the main body of the impact hammer 9 is made of high-strength metal material (such as steel or titanium alloy) to ensure that it has sufficient strength and wear resistance and can maintain stable performance under long-term impact. The annular permanent magnet 10 is mechanically fixed to the impact hammer 9 by bolts, snaps or inlays, and the center of the annular permanent magnet 10 coincides with the center of the impact hammer 9 to ensure that the force of the permanent magnet 10 and the first electromagnet and the second electromagnet is evenly distributed, ensuring that the impact hammer 9 moves smoothly along the first guide rail 7 and the second guide rail 8; rolling elements (such as balls or rollers) are placed between the first guide rail 7 and the second guide rail 8 on both sides of the impact hammer 9 to reduce friction and avoid cold welding caused by sliding friction, thereby increasing reliability.

[0057] Further, such as Figure 3As shown, the cross section of the thin shell 19 is a C-shaped structure, and the interior of the thin shell 19 is a C-shaped cavity. The thin shell 19 is made of high-strength and lightweight materials (such as titanium alloy, composite materials or high molecular polymers), which can withstand impact force and lunar soil friction during the penetration process, while maintaining a certain degree of flexibility to adapt to non-uniform formations. A flexible film pressure sensor is installed on the top side of the thin shell 19. The flexible conformal attachment and ultra-thin thickness of the flexible film pressure sensor ensure that the pressure sensor does not affect the thin shell penetration into the lunar soil, and can directly detect the penetration resistance; the interior of the thin shell 19 It is a C-shaped cavity structure. The outer wall of the thin shell 19 is relatively thin and has a certain bending ability, which can adapt to the different density and hardness areas inside the lunar soil; the top of the thin shell 19 is designed to be a conical or hemispherical tip to reduce penetration resistance; the special shape and material of the thin shell 19 determine that it can be stored in a high-density form in a curled form in the spacecraft, occupying a small space, and at the same time it can ensure sufficient rigidity support when penetrating into the lunar soil, withstand the impact force and maintain a certain penetration direction. It can not only withstand the impact stress brought by the lunar soil, but also can be smoothly reset to the storage roller 16 after the penetration process is completed.

[0058] Furthermore, the power module further comprises a retainer 15, which is a V-shaped opening and is located below the clamp. The lower end of the retainer 15 passes through the first hole and is fixed to the lower shell 1. When the clamp moves downward, it is located inside the retainer 15. (When the clamp is subjected to the downward force of the impact hammer 9, the retainer 15 with the V-shaped opening can ensure that the clamp moves downward smoothly and reduce the horizontal displacement deviation of the clamp)

[0059] Furthermore, the first ferromagnet 2 and the second ferromagnet 5 are both annular ferromagnets, and the permanent magnet 10 is an annular permanent magnet.

[0060] Furthermore, the compressible length of the first return spring 13 and the second return spring 14 is not less than 5% of the distance between the first electromagnet and the second electromagnet; the first return spring 13 and the second return spring 14 are both designed with small elastic stiffness and large tensile range, which can be compressed during the penetration stage of the thin shell 19 and provide energy for resetting during the resetting stage without affecting the penetration movement of the lunar soil.

[0061] In a second aspect, the present invention further discloses a control method of an electromagnetic spring lunar soil penetrator with a pressure sensing function, comprising the following steps:

[0062] S1, the permanent magnet 10 stores potential energy stage: the PLC controller 20 in the control module controls the current direction and current magnitude of the first coil 3 and the second coil 6, so that the first electromagnet generates a first magnetic field opposite to the magnetic field direction of the permanent magnet 10 (for example, the magnetic field direction of the permanent magnet 10 is the upper N pole and the lower S pole, at this time the first electromagnet forms an upper S pole and a lower N pole magnetic field, and the second electromagnet forms an upper N pole and a lower S pole magnetic field), and the second electromagnet generates a second magnetic field in the same direction as the magnetic field of the permanent magnet 10. At this time, the permanent magnet 10 repels the first electromagnet below it, and the permanent magnet 10 attracts the second electromagnet above it. The first magnetic field and the second magnetic field work together to lift the permanent magnet 10 together with the impact hammer 9 along the first guide rail 7 and the second guide rail 8 to one end of the second electromagnet. The impact hammer 9 stores elastic potential energy and gravitational potential energy. At this stage, the impact hammer 9 is in a static high-position state, and the system is fully prepared for the subsequent impact process; in the lunar surface environment, the gravitational potential energy will decrease accordingly, and the elastic potential energy serves as the main source of power;

[0063] S2, the release stage of the thin shell 19 (this stage is to prepare for the penetration stage of the thin shell 19): the control module controls the motor 17 to drive the storage roller 16 to rotate, so that the thin shell 19 is released from the lower end of the predetermined lower shell 1 to the target length, in preparation for the impact loading of the next stage, and reduces the resistance of the storage roller 16 to the impact hammer 9; at the same time, the initial length of the thin shell 19 released by the storage roller 16 can be set to a standard value, and in the subsequent working cycle, the softness of the lunar soil can be analyzed according to the penetration depth of the thin shell 19 in the previous round, so as to make feedback adjustments, and release the thin shell 19 of the next target length in real time according to the changes in the lunar soil environment;

[0064] S3, the stage of releasing the impact hammer 9 and penetrating the thin shell 19: the control module changes the current direction of the first coil 3 and the second coil 6 in step S1, and the PLC controller 20 calculates and changes the output current size by the internal program according to the target penetration depth and the actual penetration depth and the target power size in the previous step. At this time, the directions of the first magnetic field and the second magnetic field change, so that the permanent magnet 10 and the first electromagnet below it are attracted to each other, and the permanent magnet 10 and the second electromagnet above it are repelled, so that the permanent magnet 10 is subjected to the electromagnetic force in the direction of the first electromagnet, and the permanent magnet 10 drives the impact hammer 9 along the first guide rail 7 and the second guide rail 8 to the second electromagnet. The electromagnet moves in one direction, and the downward elastic potential energy and gravitational potential energy of the permanent magnet 10 are converted into impact kinetic energy, generating an accelerated motion with variable acceleration; when the impact hammer 9 moves to collide with the clamp, the first clamping block 11 and the second clamping block 12 drive the thin shell 19 to move downward while clamping the thin shell 19, so that the thin shell 19 penetrates into the lunar soil, and the clamp compresses the reset spring while moving downward to store energy for the reset stage; when the impact hammer 9 collides with the clamp, the kinetic energy is transferred to the clamp, and the inclined structure 901 of the clamp decomposes the impact force into a lateral clamping force on the thin shell 19 and a downward penetration force;

[0065] S4, permanent magnet 10 reset stage: repeat step S1, wherein the PLC controller 20 receives the angle signal sent by the displacement sensor 21 and analyzes the penetration depth of the thin shell 19 in step S3. The internal program of the PLC controller 20 can adjust the next penetration target length and current size in real time according to these feedback information to ensure that the penetration depth and penetration force are kept in the optimal state during the whole process to achieve the expected effect, and then adjust the current direction and current size of the first coil 3 and the second coil 6 in step S1 to optimize the next reset position of the permanent magnet 10; specifically, the control system enables the second electromagnet to generate the same magnetic field direction as the permanent magnet 10, and the first electromagnet to generate the opposite magnetic field direction to the permanent magnet 10, and the impact hammer 9 is restored to the target position by the upward electromagnetic force. At the same time, the first reset spring 13 and the first reset spring 13 are automatically released, and the first clamping block 11 and the second clamping block 12 are separated from the thin shell 19 and restored to the original position, and the thin shell 19 remains stationary.

[0066] S5. Repeat steps S2 to S4 until the penetration depth of the thin shell 19 analyzed by the PLC controller 20 in step S4 reaches the target depth.

[0067] The permanent magnet 10 cooperates with the first electromagnet and the second electromagnet, and utilizes the characteristics of like poles repelling each other and opposite poles attracting each other, and changes the direction of the magnetic fields of the first electromagnet and the second electromagnet to realize the permanent magnet 10 storing or releasing elastic potential energy, thereby changing the relative distance between the first electromagnet and the second electromagnet; during impact actuation, the impact hammer 9 is pushed by the electromagnetic force generated by the electromagnetic spring to move downward at a variable acceleration, and the elastic potential energy is rapidly released and converted into kinetic energy of the impact hammer 9, which serves as the impact force of the impact hammer 9.

[0068] The working principle of the present invention is:

[0069] When the lunar soil penetrator is working, the control module serves as the core coordination unit, and receives the angle signal collected by the displacement sensor 21 and the pressure signal sent by the pressure sensor 22 through the PLC controller 20, and calculates the next extension target length (i.e., penetration depth into the lunar soil) and the target power of the thin shell 19 in real time. The PLC controller 20 adjusts the target length of the thin shell 19 released in the penetration module in advance by controlling the motor 17. Secondly, the PLC controller 20 outputs the current signal of the first coil 3 and the current signal of the second coil 6 to the H-bridge circuit submodule and the PWM drive submodule. After receiving the corresponding signals, the H-bridge circuit submodule and the PWM drive submodule control and adjust the current direction and current size of the first coil 3 and the second coil 6 respectively. The permanent magnet 10 is subjected to an upward or downward electromagnetic force, thereby realizing the energy storage and impact action of the impact hammer 9 fixedly connected to the permanent magnet 10 in the power module; the power The module controls the current of the first coil 3 and the second coil 6 through the control module to realize the electromagnetic force interaction between the first electromagnet, the second electromagnet and the permanent magnet 10, and the permanent magnet 10 drives the impact hammer 9 to slide up and down along the first guide rail 7 and the second guide rail 8. The kinetic energy of the impact hammer 9 when moving downward is transmitted to the clamp, and the first clamping block 11 and the second clamping block 12 clamp and push the thin shell 19 of the penetration module to penetrate the lunar soil; the displacement sensor 21 detects the penetration depth of the thin shell 19 and feeds back to the PLC controller 20, and the PLC controller 20 uses the internal program to adjust and control the magnetic field direction and magnetic field size of the first electromagnet and the second electromagnet to realize the energy storage and impact action of the impact hammer 9 in the next step, and the motor 17 drives the storage roller 16 to rotate according to the motor 17 current signal of the control module and releases the next release target length of the thin shell 19 in advance to ensure that the penetration depth meets the task requirements.

Claims

1. An electromagnetic spring lunar soil penetrator with pressure sensing function, comprising a power module, a penetration module and a control module, characterized in that: The power module uses an electromagnetic spring to convert electrical energy into the kinetic energy of the impactor, the penetration module uses the kinetic energy of the impactor to drive the sample to penetrate into the lunar soil, and the control module uses a sensor to sense the depth and resistance of the sample's penetration into the lunar soil in the previous step, and adjusts the amount of electrical energy output by the power module in the next step.

2. The lunar soil penetrator according to claim 1, characterized in that: The power module comprises a U-shaped lower shell (1), a first electromagnet is fixed on the inner surface of the lower end of the lower shell (1), the first electromagnet comprises a first ferromagnet (2) and a first coil (3) wound around the surface of the first ferromagnet (2), an inverted U-shaped upper shell (4) is installed on the upper part of the lower shell (1), a second electromagnet is fixed on the inner surface of the upper end of the upper shell (4), the second electromagnet comprises a second ferromagnet (5) and a second coil (6) wound around the surface of the second ferromagnet (5), a first guide rail (7) and a second guide rail (8) are symmetrically fixed on the inner side surface of the upper shell (4) and / or the inner side surface of the lower shell (1) along the axis direction of the upper shell (4), the first guide rail (7) and the second guide rail (8) are located between the first electromagnet and the second electromagnet, an impact hammer (9) is slidably connected between the first guide rail (7) and the second guide rail (8), a permanent magnet (10) is fixedly connected to the impact hammer (9), and the lower end of the impact hammer (9) is inverted V-shaped. The power module further comprises a clamp located between the impact hammer (9) and the first electromagnet, the clamp comprising a first clamping block (11) and a second clamping block (12), the lower portion of the first clamping block (11) being connected to one end of a first return spring (13), the lower portion of the second clamping block (12) being connected to one end of a second return spring (14), the other end of the first return spring (13) and the other end of the second return spring (14) being respectively connected to the inner surface of the lower end of the lower shell (1), when the impact hammer (9) collides with the clamp during the process of sliding downward along the first guide rail (7) and the second guide rail (8), the inclined surface structure (901) causes the first clamping block (11) and the second clamping block (12) to approach each other, and the upper shell (4), the first ferromagnet (2), the impact hammer (9), the permanent magnet (10), the clamp, the second ferromagnet (5), and the lower shell (1) are all provided with a first hole along the axial direction of the upper shell (4).

3. The lunar soil penetrator according to claim 1, characterized in that: The penetration module comprises a storage roller (16), the storage roller (16) being fixed to the upper part of the upper shell (4), a thin shell (19) being curled and wound on the storage roller (16), the storage roller (16) being connected to the power output shaft of the motor (17), the thin shell (19) being released by the motor (17), and the thin shell (19) being passed through the first hole and extending to the lower part of the lower shell (1) through the action of the power module and the control module.

4. The lunar soil penetrator according to claim 1, characterized in that: The control module comprises a PLC controller (20), a displacement sensor (21) and a pressure sensor (22). The PLC controller (20) is electrically connected to the first coil (3), the second coil (6), the motor (17), the displacement sensor (21) and the pressure sensor (22) respectively. The PLC controller (20) comprises an H-bridge circuit submodule and a PWM (Pulse Width Modulation) driving submodule. The displacement sensor (21) is coaxially mounted with the storage roller (16). The displacement sensor (21) detects the rotation angle of the storage roller (16) and transmits the angle signal to the PLC controller (20). The pressure sensor (22) is mounted on the top of the thin shell (19). The pressure sensor (22) detects the penetration resistance of the thin shell (19) when penetrating into the lunar soil and transmits the pressure signal to the PLC controller (20). After receiving the angle signal and the pressure signal, the PLC controller (20) analyzes and determines the next step of the thin shell (19) through an internal program. The target length is released, and then a motor (17) current signal is output to the motor (17), which is used to control the motor (17) to drive the storage roller (16) to rotate and release the target length of the thin shell (19) in advance. The PLC controller (20) outputs the first coil (3) current signal and the second coil (6) current signal to the H-bridge circuit submodule and the PWM drive submodule according to the target length, the target power and the force direction of the permanent magnet (10). After receiving the first coil (3) current signal and the second coil (6) current signal, the H-bridge circuit submodule and the PWM drive submodule control the current magnitude and direction of the first coil (3) and the second coil (6).

5. The lunar soil penetrator as claimed in claim 2, characterized in that: The first clamping block (11) and the second clamping block (12) are symmetrically distributed along the axis of the upper shell (4); the outer side surfaces of the first clamping block (11) and the second clamping block (12) away from the axis of the upper shell (4) are curved structures.

6. The lunar soil penetrator as claimed in claim 2, characterized in that: The inclined surface structure (901) at the lower end of the impact hammer (9) is symmetrically distributed along the axial direction of the upper shell (4), and the diameter of the inverted V-shaped opening is larger than the vertical projection diameter of the first clamping block (11) and the second clamping block (12).

7. The lunar soil penetrator as claimed in claim 2, characterized in that: The power module further comprises a retaining frame (15), the retaining frame (15) is a V-shaped opening and is located below the clamp, the lower end of the retaining frame (15) passes through the first hole and is fixed on the lower shell (1), and the clamp is located inside the retaining frame (15) when moving downward.

8. The lunar soil penetrator as claimed in claim 2, characterized in that: The first ferromagnet (2) and the second ferromagnet (5) are both annular ferromagnets, and the permanent magnet (10) is an annular permanent magnet.

9. The lunar soil penetrator as claimed in claim 2, characterized in that: The compressible lengths of the first return spring (13) and the second return spring (14) are both not less than 5% of the distance between the first electromagnet and the second electromagnet.

10. A control method for an electromagnetic spring lunar soil penetrator with pressure sensing function, based on the lunar soil penetrator according to any one of claims 2 to 9, characterized in that: The following steps are involved: S1, a PLC controller (20) in a control module controls the current direction and current magnitude of the first coil (3) and the second coil (6), so that the first electromagnet generates a first magnetic field in the opposite direction to the magnetic field of the permanent magnet (10), and the second electromagnet generates a second magnetic field in the same direction as the magnetic field of the permanent magnet (10), and the first magnetic field and the second magnetic field work together to lift the permanent magnet (10) together with the impact hammer (9) along the first guide rail (7) and the second guide rail (8) to one end of the second electromagnet; S2, the control module controls the motor (17) to drive the storage roller (16) to rotate, so that the thin shell (19) is released to the target length; S3, the control module changes the current direction of the first coil (3) and the second coil (6) in step S1, so that the permanent magnet (10) is subjected to an electromagnetic force in the direction of the first electromagnet, and the permanent magnet (10) drives the impact hammer (9) to move along the first guide rail (7) and the second guide rail (8) in the direction of the first electromagnet; when the impact hammer (9) moves to collide with the clamp, the first clamping block (11) and the second clamping block (12) clamp the thin shell (19) in step S2 and drive the thin shell (19) to move downward, so that the thin shell (19) penetrates into the lunar soil, and the clamp moves downward while compressing the reset spring; S4, repeating step S1, wherein the PLC controller (20) receives the angle signal sent by the displacement sensor (21) and the pressure signal sent by the pressure sensor (22), and analyzes the penetration depth of the thin shell (19) in step S3, thereby adjusting the current direction and current magnitude of the first coil (3) and the second coil (6) in step S1; S5. Repeat steps S2 to S4 until the penetration depth of the thin shell (19) analyzed by the PLC controller (20) in step S4 reaches the target depth.

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