Lunar soil penetration type shearing mechanical in-situ testing device

Abstract

The invention discloses a lunar soil penetration type shearing mechanical in-situ testing device, and relates to the field of testing devices for deep space exploration. The blade conical head is suspended; the penetration and recovery mechanism is arranged between the bracket and the blade conical head; the first driving mechanism is arranged between the bracket and the injection and recovery mechanism; the first driving mechanism is used for driving the penetrating and recycling mechanism to ascend and descend so as to drive the blade conical head to penetrate and recycle. And the second driving mechanism is arranged between the penetration and recovery mechanism and the blade conical head so as to drive the blade conical head to rotate and shear. Through cooperative driving control of the penetration and recovery mechanism, the blade conical head, the first driving mechanism and the second driving mechanism, automatic penetration, shearing and recovery of the blade conical head can be achieved, and manual penetration and recovery are not needed; the device is more suitable for being installed on a lunar vehicle for unmanned lunar soil in-situ mechanical testing in a lunar exploration task, and the exploration efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of testing devices for deep space exploration, and in particular to an in-situ testing device for lunar soil penetration shear mechanics. Background Technology

[0002] In missions oriented toward lunar surface exploration, underground drilling can extract geological information of the lunar subsurface at greater depths and determine the mineralogical, mechanical, thermal, electrical and other intrinsic properties of the soil. Through underground drilling, it is also possible to detect the longitudinal distribution characteristics of the regolith, such as particle distribution, density distribution, moisture distribution, profile heat flow, and seismic waves.

[0003] The existing cone penetration test uses a handheld penetrometer to insert the conical cone head into the lunar soil to detect the mechanical properties of the lunar soil; however, since the current lunar exploration mission is mainly unmanned probes, the handheld penetrometer needs to be completed by astronauts themselves, which will undoubtedly reduce the detection efficiency and increase the cost of the lunar exploration mission.

[0004] Therefore, the existing technology still needs to be improved and developed. SUMMARY OF THE INVENTION

[0005] The technical problem to be solved by this application is to provide a lunar soil penetration shear mechanics in-situ testing device in view of the above-mentioned defects of the prior art, aiming to solve the problem of low lunar soil detection efficiency in the prior art.

[0006] The technical solutions adopted by this application to solve the technical problems are as follows: A lunar soil penetration shear mechanics in-situ testing device, comprising: Stand; Blade cone head, suspended arrangement; The penetration recovery mechanism is arranged between the support and the blade cone head; The first driving mechanism is arranged between the support and the penetration recovery mechanism; the first driving mechanism is used to drive the penetration recovery mechanism to rise and fall, so as to drive the blade cone head to penetrate and recover; The second driving mechanism is arranged between the penetration recovery mechanism and the blade cone head to drive the blade cone head to rotate and shear.

[0007] The lunar soil penetration shear mechanics in-situ testing device, wherein the first driving mechanism comprises: The first driver is arranged on the bracket and located between the bracket and the penetration recovery mechanism; The lead screw is connected to the driving shaft of the first driver to rotate under the driving of the first driver.

[0008] The lunar soil penetration shear mechanics in-situ testing device, wherein the penetration recovery mechanism comprises: A threaded connector is sleeved on the screw rod and threadedly connected to the screw rod so as to rise and fall along the screw rod when the screw rod rotates; The sleeve is sleeved on the screw rod and has a clearance fit with the screw rod; the two axial ends of the sleeve are respectively connected to the threaded connector and the second driving mechanism.

[0009] The lunar soil penetration shear mechanics in-situ testing device also includes: A transfer block is detachably connected to the threaded connector; The adapter ring is sleeved on the sleeve and connected to the adapter block.

[0010] The lunar soil penetration shear mechanics in-situ testing device also includes: A housing, which is sleeved on the periphery of the sleeve and connected to the first driving mechanism; At least one guide rail unit; the guide rail unit comprises two guide rails, the two guide rails are symmetrically arranged on the inner wall of the shell; the extension direction of the guide rail is parallel to the moving direction of the threaded connector; The slider is arranged on the adapter block and is connected with the guide rail by snapping; the slider can slide back and forth along the guide rail.

[0011] The lunar soil penetration shear mechanics in-situ testing device, wherein the two sliders corresponding to the guide rail unit are at the same height.

[0012] The lunar soil penetration shear mechanics in-situ testing device also includes: Mounting seat; a receiving position is provided in the mounting seat, and the second driving mechanism is arranged in the receiving position; the mounting seat is detachably connected to the sleeve.

[0013] The lunar soil penetration shear mechanics in-situ testing device, wherein the sleeve comprises: A vertical cylinder is sleeved outside the threaded connector and is located inside the outer shell; The adapter tube is coaxially arranged at the bottom of the vertical tube and is detachably connected to the mounting seat; the diameter of the vertical tube is smaller than the diameter of the adapter tube; when the threaded connector moves to the upper limit along the screw rod, the end of the vertical tube connected to the adapter tube is located outside the housing.

[0014] The lunar soil penetration shear mechanics in-situ testing device, wherein the blade cone head comprises: A cone, detachably connected to the second driving mechanism; Multiple shear plates are arranged on the outer circumference of the cone and are evenly distributed.

[0015] The lunar soil penetration shear mechanics in-situ testing device also includes: A pressure-torsion combined sensor is arranged between the blade cone and the second driving mechanism; The protective shell is arranged on the blade cone head and arranged on the periphery of the compression-torsion combined sensor.

[0016] Beneficial effects: In this application, through the coordinated driving control of the penetration recovery mechanism, the blade cone head, the first drive mechanism and the second drive mechanism, the blade cone head can be automatically penetrated, sheared and recovered without manual penetration recovery, which is more suitable for installation on the lunar rover in the lunar exploration mission to conduct unmanned lunar soil in-situ mechanical testing, thereby improving the exploration efficiency. Brief Description of the Figures

[0017] Figure 1 is a schematic diagram of the overall structure of the lunar soil penetration shear mechanics in-situ testing device described in Example 1 of the present application; Figure 2 is a schematic diagram of the overall structure of the lunar soil penetration shear mechanics in-situ testing device described in Example 2 of the present application; Figure 3 is a schematic diagram of the cross-sectional structure of the lunar soil penetration shear mechanics in-situ testing device described in this application; Figure 4 Yes Figure 3 Partial enlarged schematic diagram of point A in the middle; Figure 5 is a schematic diagram of the assembly structure of the penetration recovery mechanism and the first driver described in this application; Figure 6 is a schematic diagram of the relative position relationship between the sleeve and the housing when the threaded connector is located at the upper limit in this application; Figure 7 is a schematic diagram of a partially exploded structure of the lunar soil penetration shear mechanics in-situ testing device described in this application; Figure 8 is a schematic diagram of the exploded structure of the blade cone head and the second driving mechanism described in this application; Figure 9 This is the functional principle block diagram of the lunar soil penetration shear mechanics in-situ testing device described in this application. Specific implementation method

[0018] In order to make the purpose, technical solution and effect of this application clearer and more specific, the following further describes this application in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0019] ​Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0020] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0021] This application provides a lunar soil penetration shear mechanics in-situ testing device for deep space exploration (such as lunar surface exploration), such as Figure 1 、 Figure 2 and Figure 3 As shown in , it includes: a bracket 1, a blade cone head 2, a penetration recovery mechanism 3 (as shown in Figure 5 ), the first drive mechanism 4 (as Figure 4 shown) and a second driving mechanism 5; the blade cone head 2 is suspended; the penetration recovery mechanism 3 is arranged between the bracket 1 and the blade cone head 2; the first driving mechanism 4 is arranged between the bracket 1 and the penetration recovery mechanism 3; the first driving mechanism 4 is used to drive the penetration recovery mechanism 3 to rise and fall, so as to drive the blade cone head 2 to penetrate and recover; the second driving mechanism 5 is arranged between the penetration recovery mechanism 3 and the blade cone head 2 to drive the blade cone head 2 to rotate.

[0022] Specifically, the bracket 1 is used to position the first drive mechanism 4, the penetration recovery mechanism 3, the second drive mechanism 5 and the blade cone 2; the bracket 1 can be installed on a carrier such as a lunar rover to perform unmanned in-situ mechanical testing of lunar soil.

[0023] The first driving mechanism 4, the penetration recovery mechanism 3, the second driving mechanism 5 and the blade cone head 2 are arranged in sequence from top to bottom; the first driving mechanism 4 is located between the bracket 1 and the penetration recovery mechanism 3, and is detachably connected to the bracket 1 and the penetration recovery mechanism 3; the blade cone head 2 is connected to the penetration recovery mechanism 3 through the second driving mechanism 5. The first driving mechanism 4 is used to drive the penetration recovery mechanism 3 to rise and fall, and the second driving mechanism 5 transmits force to achieve the rise and fall of the blade cone head 2; then, when the first driving mechanism 4 starts and drives the penetration recovery mechanism 3 to descend, the blade cone head 2 synchronously descends to achieve penetration; when the first driving mechanism 4 drives the penetration recovery mechanism 3 to rise, the blade cone head 2 synchronously rises to achieve recovery.

[0024] It can be understood that the second driving mechanism 5 is arranged between the penetration recovery mechanism 3 and the blade cone head 2, so that the penetration recovery mechanism 3, the second driving mechanism 5 and the blade cone head 2 form a whole for lifting and lowering. The second driving mechanism 5 is used to rotate the blade cone head 2. Therefore, when the first driving mechanism 4 drives the penetration recovery mechanism 3 to descend until the blade cone head 2 penetrates into the lunar soil to a predetermined depth or reaches a predetermined pressure, the second driving mechanism 5 can start and drive the blade cone head 2 to rotate and shear the lunar soil; after the shearing is completed, the second driving mechanism 5 can start and drive the blade cone head to rotate in the opposite direction and reset, and the first driving mechanism 4 drives the penetration recovery mechanism 3 to rise to complete the recovery action.

[0025] It can be seen that in this application, through the coordinated driving control of the first driving mechanism 4 and the second driving mechanism 5, the penetration, shearing and recovery of the blade cone 2 can be achieved without manual penetration and recovery, which is more suitable for installation on the lunar rover in the lunar exploration mission to conduct unmanned lunar soil in-situ mechanical testing, thereby improving the exploration efficiency.

[0026] When the first driving mechanism 4, the penetration recovery mechanism 3, the second driving mechanism 5 and the blade cone head 2 are regarded as an integral structure installed on the bracket 1, in the first embodiment of the present application, as Figure 1 As shown in , the support 1 can be a structure surrounding the outer periphery of the overall structure, so that the penetration recovery mechanism 3 drives the blade cone 2 to rise and fall at the center of the support 1 to achieve penetration and recovery; that is, the support 1 is a hollow ring structure in the middle, and the first driving mechanism 4 is suspended at the top center of the support 1. In the second embodiment of the present application, as Figure 2As shown, the bracket 1 can also be a structure supported on the side of the overall mechanism, similar to a basketball hoop structure, and the top of the bracket 1 extends to the side and outward to install the first driving mechanism 4. Regardless of the shape of the bracket 1, it only needs to provide stable support and the bracket 1 will not interfere with the vertical penetration and recovery of the blade cone 2.

[0027] If Figure 3 As shown in FIG. 1 , the first driving mechanism 4 includes a first driver 41 and a screw 42; the first driver 41 is disposed on the bracket 1 and is located between the bracket 1 and the penetration recovery mechanism 3; the screw 42 is connected to the driving shaft of the first driver 41 to rotate under the drive of the first driver 41.

[0028] Specifically, the first driver 41 includes a first brushless DC reduction motor; the first driver 41 is directly and detachably connected to the bracket 1, and the driving shaft of the first driver 41 extends vertically downward. The driving shaft of the first driver 41 is connected to the screw rod 42, thereby driving the screw rod 42 to rotate. The second driving mechanism 5 includes a second brushless DC motor.

[0029] If Figure 4 、 Figure 5 and Figure 7 As shown, a coupling 6 is further provided between the driving shaft of the first driver 41 and the screw rod 42, one end of the coupling 6 is sleeved on the driving shaft of the first driver 41, and the other end is sleeved on the axial top end of the screw rod 42. The driving shaft of the first driver 41 and the screw rod 42 are separated from each other in the coupling 6 and do not contact each other, so that when the driving shaft of the first driver 41 is started, the screw rod 42 is driven to rotate through the coupling 6, and the rotation between the screw rod 42 and the driving shaft of the first driver 41 will not cause adverse interference. An assembly cutting plane 411 is provided on the outer circumferential surface of the driving shaft of the first driver 41, and an assembly plane is correspondingly provided on the inner wall of the coupling 6 to avoid relative rotation between the driving shaft of the first driver 41 and the coupling 6.

[0030] If Figure 4 As shown in FIG. 1 , the penetration recovery mechanism 3 includes a threaded connector 31 and a sleeve 32; the threaded connector 31 is sleeved on the screw rod 42 and is threadedly connected to the screw rod 42 so as to rise and fall along the screw rod 42 when the screw rod 42 rotates; the sleeve 32 is sleeved on the screw rod 42 and has a clearance fit with the screw rod 42; the axial ends of the sleeve 32 are respectively connected to the threaded connector 31 and the second driving mechanism 5.

[0031] ​​​​Specifically, the threaded connector 31 is threadably matched with the screw rod 42 and is sleeved on the outer periphery of the screw rod 42; when the screw rod 42 rotates, based on the screw rod 42 nut principle, the threaded connector 31 does not rotate with the screw rod 42, but moves linearly along the screw rod 42, thereby converting the rotation of the screw rod 42 into the linear movement of the threaded connector 31. Figure 5 As shown in FIG. 1 , the threaded connector 31 includes a T-shaped nut, and the T-shaped nut is inverted so as to be connected to the sleeve 32 through the head of the T-shaped nut.

[0032] The sleeve 32 is coaxially arranged with the screw rod 42 and is located outside the screw rod 42; the axial top end of the sleeve 32 is connected to the threaded connector 31, and the axial bottom end of the sleeve 32 is connected to the second driving mechanism 5. When the threaded connector 31 moves linearly along the screw rod 42, the sleeve 32 and the second driving mechanism 5 can drive the blade cone head 2 to move linearly, thereby achieving the penetration and recovery of the blade cone head 2.

[0033] Since the volume of the threaded connector 31 is relatively small, when the length of the screw rod 42 is relatively long, the change in the lifting position of the threaded connector 31 on the screw rod 42 may interfere with the second drive mechanism 5; therefore, in the present application, the sleeve 32 is arranged between the threaded connector 31 and the second drive mechanism 5, and the distance between the second drive mechanism 5 and the threaded connector 31 is extended by the sleeve 32. It should be noted that when the threaded connector 31 moves to the upper limit along the screw rod 42, the bottom end of the sleeve 32 extends downward beyond the screw rod 42 to ensure that the threaded connector 31 can move up and down along the entire length of the screw rod 42 without interference, thereby ensuring the penetration depth of the blade cone 2.

[0034] If Figure 7 、 Figure 7 and Figure 5 As shown in FIG. 1 , the lunar soil penetration shear mechanics in-situ testing device further includes an adapter block 7 and an adapter ring 8; the adapter block 7 is detachably connected to the threaded connector 31; the adapter ring 8 is sleeved on the sleeve 32 and connected to the adapter block 7.

[0035] Specifically, the adapter block 7 and the adapter ring 8 are used to cooperate with the threaded connector 31 and the sleeve 32 respectively, so as to transfer between the threaded connector 31 and the sleeve 32, so as to improve the connection stability between the threaded connector 31 and the sleeve 32, and avoid the phenomenon of separation due to excessive penetration force. The adapter block 7 and the adapter ring 8 are an integrated structure; if Figure 9 ​​​​​As shown, a slot 320 is provided on the outer circumferential surface of the top end of the sleeve 32; the adapter ring 8 is sleeved on the slot 320 and fits tightly with the sleeve 32. The adapter block 7 has a cavity in it to accommodate the screw rod 42.

[0036] If Figure 1 As shown, the lunar soil penetration shear mechanics in-situ testing device also includes a shell 9, at least one guide rail unit and a slider 11; the shell 9 is sleeved on the periphery of the sleeve 32 and connected to the first driving mechanism 4; the guide rail unit includes two guide rails 10, and the two guide rails 10 are symmetrically arranged on the inner wall of the shell 9; the extension direction of the guide rails 10 is parallel to the moving direction of the threaded connector 31; the slider 11 is arranged on the adapter block 7 and is connected to the guide rail 10 by snapping; the slider 11 can slide back and forth along the guide rail 10.

[0037] Specifically, the housing 9 surrounds the driving shaft of the first driver 41, the coupling 6, the screw rod 42, the adapter block 7 and the adapter ring 8, so as to protect these components; the housing 9 is detachably connected to the first driver 41, so as to achieve the positioning of the housing 9.

[0038] The adapter block 7 is a square adapter block, so that the outer surface of the adapter block 7 has at least 4 planes, and the slider 11 can be directly installed on the outer surface of the adapter block 7, so as to slide with the guide rail 10. The guide rail 10 is parallel to the screw rod 42 and is arranged on the inner wall of the outer shell 9; the two guide rails 10 in the guide rail unit are arranged symmetrically along the radial direction of the outer shell 9, and the slider 11 corresponds to the guide rail 10 one by one and is connected by snapping. When the first driver 41 is started and drives the screw rod 42 to rotate, the threaded connector 31 drives the adapter block 7 to rise and fall, and the slider 11 rises and falls synchronously along the guide rail 10; under the sliding cooperation between the slider 11 and the guide rail 10, the sleeve 32 can achieve linear lifting and lowering without offset, thereby ensuring the accuracy of the mechanical in-situ test.

[0039] If Figure 2 As shown in FIG. 1 , a sensor 12 (such as an inductive proximity switch) is further provided in the housing 9. The sensor 12 is used to cooperate with the threaded connector 31. When the threaded connector 31 is located at the upper limit, the sensor 12 is triggered. Therefore, initially, the threaded connector 31 is located at the upper limit, and the blade cone head 2 does not penetrate the lunar soil. After the lunar soil penetration shear test is completed, the blade cone head 2 needs to be recovered. Whether the threaded connector 31 is recovered to the original position can be known by whether the sensor 12 is triggered, thereby determining whether the blade cone head 2 is recovered to the original position.​

[0040] An embodiment of this application, such as Figure 8 As shown in FIG. 1 , the lunar soil penetration shear mechanics in-situ testing device further includes a controller 13, which is electrically connected to the first driving mechanism 4, the second driving mechanism 5 and the sensor 12, so as to send start and stop signals to the first driving mechanism 4 and the second driving mechanism 5; the controller 13 is also used to obtain a trigger signal sent by the sensor 12.

[0041] The two sliders 11 corresponding to the guide rail unit are flush with each other; that is, the two sliders 11 corresponding to the guide rail unit are at the same height and arranged symmetrically, which can effectively constrain the degree of freedom, improve the overall rigidity and stability of the structure, and enhance the anti-tilt ability.

[0042] If Figure 6 、 Figure 6 and Figure 2 As shown in FIG. 1 , the lunar soil penetration shear mechanics in-situ testing device further includes a mounting seat 14; a receiving position is provided in the mounting seat 14, and the second driving mechanism 5 is arranged in the receiving position; the mounting seat 14 is detachably connected to the sleeve 32.

[0043] The mounting seat 14 is used to carry the second driving mechanism 5, so as to position the second driving mechanism 5 below the sleeve 32. A through hole is provided at the bottom of the mounting seat 14, and the through hole is connected to the accommodation position; the driving shaft of the second driving mechanism 5 matches the through hole and extends downward from the through hole to the outside of the mounting seat 14, so as to be connected to the blade cone head 2. Figure 8 As shown in FIG. 1 , a mounting groove 15 is provided on the outer circumferential surface of the bottom end of the sleeve 32; the mounting seat 14 matches the mounting groove 15 and is inserted into the mounting groove 15.

[0044] If Figure 8 As shown, the sleeve 32 includes a vertical cylinder 321 and a transfer cylinder 322; the vertical cylinder 321 is sleeved outside the threaded connector 31 and is located inside the housing 9; the transfer cylinder 322 is coaxially arranged at the bottom of the vertical cylinder 321 and is detachably connected to the mounting seat 14; the diameter of the vertical cylinder 321 is smaller than the diameter of the transfer cylinder 322; when the threaded connector 31 moves to the upper limit along the screw rod 42, the end of the vertical cylinder 321 connected to the transfer cylinder 322 is located outside the housing 9.

[0045] ​​​​​​​Specifically, the vertical cylinder 321 and the adapter cylinder 322 are coaxially arranged, and the vertical cylinder 321 is sleeved outside the screw rod 42 and located inside the housing 9; the adapter cylinder 322 is used to assemble with the mounting seat 14, and the mounting groove 15 is provided on the outer circumferential surface of the adapter cylinder 322.

[0046] Since the vertical cylinder 321 is restricted by the housing 9, and the adapter cylinder 322 needs to be connected and matched with the mounting seat 14, the sleeve 32 in the present application adopts a thin top and thick bottom structure, that is, the diameter of the vertical cylinder 321 is small and the diameter of the adapter cylinder 322 is large, so as to ensure that the vertical cylinder 321 can be flexibly lifted and lowered along the screw rod 42 while ensuring the stability of the connection between the sleeve 32 and the mounting seat 14.

[0047] When the threaded connector 31 is at the upper limit, the blade cone 2 is at the highest position, and at least a portion of the vertical cylinder 321 exceeds the screw rod 42 and the housing 9, respectively, and is located outside the housing 9; specifically, the bottom of the vertical cylinder 321, that is, the end of the vertical cylinder 321 connected to the adapter cylinder 322 is located outside the housing 9, thereby ensuring that the housing 9 and the adapter cylinder 322 can maintain a suitable distance, and the housing 9 will not interfere with the lifting and lowering of the overall structure of the sleeve 32.

[0048] If ​ and ​ As shown in FIG. 1 , the blade cone head 2 includes a cone 21 and a plurality of shear plates 22; the cone 21 is detachably connected to the second driving mechanism 5; and a plurality of shear plates 22 are arranged on the outer circumferential surface of the cone 21 and are evenly distributed.

[0049] Specifically, the large diameter end of the cone 21 is arranged upward, and the small diameter end of the cone 21 is arranged downward; the conical structure of the cone 21 facilitates the insertion of the blade cone head 2 into the lunar soil under the driving force of the first driving mechanism 4. The second driving mechanism 5 is detachably connected to the cone 21 to drive the cone 21 to rotate, then the cone 21 drives the shear plate 22 to rotate synchronously to achieve shearing of the lunar soil; when the first driving mechanism 4 resets and drives the blade cone head 2 to retract, the shear plate 22 can be lifted to complete the recovery action.

[0050] In one embodiment of the present application, there are four shear plates 22, and two of them constitute a shear plate 22 unit; two of the shear plates 22 in the shear plate 22 unit are arranged along the radial direction of the cone 21, and the four shear plates 22 are arranged in a cross shape.

[0051] ​​The shear plate 22 is a right-angled trapezoidal shear plate 22; the hypotenuse of the shear plate 22 is connected to the cone 21, and the right-angled side of the shear plate 22 is exposed and parallel to the axial direction of the cone 21, so that the shear plate 22 is installed on the cone 21 while ensuring that the cone 21 has a sufficient outer cone surface exposed, thereby reducing the difficulty of inserting lunar soil.

[0052] If ​ As shown in FIG. 1 , the lunar soil penetration shear mechanics in-situ testing device further includes a compression-torsion combined sensor 16 and a protective shell 17; the compression-torsion combined sensor 16 is disposed between the blade cone 2 and the second driving mechanism 5; the protective shell 17 is disposed on the blade cone 2 and arranged at the periphery of the compression-torsion combined sensor 16.

[0053] Specifically, the protective shell 17 is used to protect the compression-torsion combined sensor 16, and when the cone 21 rotates, the protective shell 17 can rotate synchronously with the cone 21. The protective shell 17, the cone 21 and the shear plate 22 are an integrally formed structure; there is a gap between the protective shell 17 and the mounting seat 14 to ensure that the protective shell 17 can rotate with the blade cone head 2 without being interfered by the mounting seat 14. The compression-torsion combined sensor 16 is electrically connected to the controller 13 to detect the pressure and torque applied to the blade cone head 2 during penetration, and transmits them to the controller 13; the controller 13 can also be electrically connected to an external terminal for signal transmission. The compression-torsion combined sensor 16 is respectively connected to the drive shaft of the second drive mechanism 5 and the blade cone head 2 (specifically the cone 21), and drives the blade cone head 2 to rotate under the drive of the second drive mechanism 5.

[0054] The process of the lunar soil penetration shear mechanics in-situ test on simulated lunar soil is as follows: Before the test, the simulated lunar soil to be tested is prepared, specifically, the simulated lunar soil to be tested is vibrated and scraped, and then the bracket is placed on the simulated lunar soil to be tested. Initially, the threaded connector is located at the upper limit.

[0055] Penetration test: The first driving mechanism starts forward, driving the blade cone head to descend and penetrate into the simulated lunar soil to be tested; when the blade cone head penetrates into the simulated lunar soil to be tested, the pressure value can be obtained by the pressure-torsion combined sensor, and the start and stop of the first driving mechanism can be controlled according to the pressure value according to actual needs (penetration stops when the pressure value reaches the preset upper pressure limit).

[0056] It should be noted that the present application can also detect the downward displacement and stop the penetration when the downward displacement reaches the upper limit of the displacement: ​​The controller is based on the total number of codes of the driving shaft of the first driving mechanism rotating one circle 、Current code number (Initially, the current encoding number of the driving shaft of the first driving mechanism is 0) and the reduction ratio , the angular displacement obtained by rotating the driving shaft of the first driving mechanism can be obtained , . The currently selected screw pitch is 1mm. By calculating the current encoding number , you can get the current descending position (mm), where = ; then, when When the preset upper displacement limit is reached, the first driving mechanism can be shut down.

[0057] Shear test: The second drive mechanism starts forward, driving the blade cone head to rotate; as the compression-torsion combined sensor rotates synchronously with the drive shaft of the second drive mechanism, the compression-torsion combined sensor detects the torque and transmits the torque to the controller. When the torque reaches the preset torque upper limit, the second drive mechanism stops and the blade cone head stops shearing; the controller generates a signal based on the total number of encoders for one rotation of the drive shaft of the second drive mechanism 、Current code number (Initially, the current encoding number of the driving shaft of the second driving mechanism is 0) and the reduction ratio , the angular displacement obtained by rotating the driving shaft of the second driving mechanism can be obtained , .

[0058] Reset: After the simulated lunar soil to be tested is penetrated and sheared, the second driving mechanism is started in the reverse direction until the angular displacement of the driving shaft of the second driving mechanism in the reverse direction is equal to , the second drive mechanism can stop. The first drive mechanism starts in the reverse direction until the controller obtains the trigger sensing signal from the sensor, the first drive mechanism can stop, and the threaded connector is reset to the upper limit.

[0059] In summary, the present application provides an in-situ testing device for lunar soil penetration shear mechanics, which includes: a bracket; a blade cone head, which is suspended; a penetration recovery mechanism, which is arranged between the bracket and the blade cone head; a first driving mechanism, which is arranged between the bracket and the penetration recovery mechanism; the first driving mechanism is used to drive the penetration recovery mechanism to rise and fall, so as to drive the blade cone head to penetrate and recover; a second driving mechanism, which is arranged between the penetration recovery mechanism and the blade cone head, to drive the blade cone head to rotate. In the present application, through the coordinated driving control of the penetration recovery mechanism, the blade cone head, the first driving mechanism and the second driving mechanism, the blade cone head can be automatically penetrated, sheared and recovered without manual penetration and recovery, which is more suitable for being installed on a lunar rover in a lunar exploration mission to conduct unmanned lunar soil in-situ mechanical testing, thereby improving exploration efficiency.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0065] Of course, the description of the above embodiments of the present invention is relatively detailed, but it cannot be understood as limiting the scope of protection of the present invention. The present invention may also have many other implementation methods. Based on this implementation method, other implementation methods obtained by ordinary technicians in this field without any creative work all belong to the scope of protection of the present invention. The scope of protection of the present invention shall be based on the attached claims.

Claims

1. A lunar soil penetration shear mechanics in-situ testing device, characterized in that: It includes: Bracket; Blade cone head, suspended arrangement; A penetration recovery mechanism is arranged between the support and the blade cone head; A first driving mechanism is disposed between the support and the penetration recovery mechanism; the first driving mechanism is used to drive the penetration recovery mechanism to rise and fall, so as to drive the blade cone head to penetrate and recover; The second driving mechanism is arranged between the penetration recovery mechanism and the blade cone head to drive the blade cone head to rotate and shear.

2. The lunar soil penetration shear mechanics in-situ testing device according to claim 1, characterized in that: The first driving mechanism comprises: A first driver is disposed on the support and located between the support and the penetration recovery mechanism; The lead screw is connected to the driving shaft of the first driver so as to rotate under the driving of the first driver.

3. The lunar soil penetration shear mechanics in-situ testing device according to claim 2, characterized in that: The penetration recovery mechanism comprises: A threaded connector, sleeved on the screw rod and threadedly connected to the screw rod, so as to be lifted and lowered along the screw rod when the screw rod rotates; The sleeve is sleeved on the screw rod and is loosely matched with the screw rod; the two axial ends of the sleeve are respectively connected to the threaded connector and the second driving mechanism.

4. The lunar soil penetration shear mechanics in-situ testing device according to claim 3, characterized in that: It also includes: An adapter block, detachably connected to the threaded connector; The adapter ring is sleeved on the sleeve and connected to the adapter block.

5. The lunar soil penetration shear mechanics in-situ testing device according to claim 4, characterized in that: It also includes: A housing, which is sleeved on the periphery of the sleeve and connected to the first driving mechanism; At least one guide rail unit; the guide rail unit comprises two guide rails, the two guide rails are symmetrically arranged on the inner wall of the housing; the extension direction of the guide rail is parallel to the moving direction of the threaded connector; The slider is arranged on the adapter block and is connected with the guide rail by clamping; the slider can slide back and forth along the guide rail.

6. The lunar soil penetration shear mechanics in-situ testing device according to claim 5, characterized in that: The two sliding blocks corresponding to the guide rail unit are flush with each other.

7. The lunar soil penetration shear mechanics in-situ testing device according to claim 5, characterized in that: It also includes: A mounting seat; a receiving position is provided in the mounting seat, and the second driving mechanism is arranged in the receiving position; the mounting seat is detachably connected to the sleeve.

8. The lunar soil penetration shear mechanics in-situ testing device according to claim 7, characterized in that: The sleeve comprises: A vertical cylinder, which is sleeved outside the threaded connector and located inside the shell; The adapter tube is coaxially arranged at the bottom of the vertical tube and is detachably connected to the mounting seat; the diameter of the vertical tube is smaller than the diameter of the adapter tube; when the threaded connector moves to the upper limit along the screw rod, the end of the vertical tube connected to the adapter tube is located outside the housing.

9. The lunar soil penetration shear mechanics in-situ testing device according to claim 1, characterized in that: The blade cone head comprises: A cone, detachably connected to the second driving mechanism; A plurality of shear plates are arranged on the outer circumference of the cone and are evenly distributed.

10. The lunar soil penetration shear mechanics in-situ testing device according to claim 9, characterized in that: It also includes: A compression-torsion combined sensor is arranged between the blade cone and the second driving mechanism; The protective shell is arranged on the blade cone head and disposed on the periphery of the compression-torsion combined sensor.

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