An in-situ testing device for shear mechanics of lunar soil by penetration

Abstract

The present application discloses an in-situ testing device for the shear mechanics of lunar soil penetration, which relates to the field of testing devices for deep space exploration and includes: a bracket; a blade cone head, which is suspended; a penetration and 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 and recovery mechanism; the first driving mechanism is used to drive the penetration and recovery mechanism to lift and lower, so as to drive the blade cone head to penetrate and recover; a second driving mechanism, which is arranged between the penetration and recovery mechanism and the blade cone head to drive the blade cone head to rotate and shear. Through the cooperative driving control of the penetration and recovery mechanism, the blade cone head, the first driving mechanism and the second driving mechanism in the present application, the automatic penetration, shearing and recovery of the blade cone head can be realized, without manual penetration and recovery, and it is more suitable to be installed on a lunar rover for in-situ mechanical testing of lunar soil during a lunar exploration mission, improving the detection efficiency.

Description

Technical Field

[0001] This application relates to the technical field of test devices for deep space exploration, and particularly to an in-situ test device for lunar soil penetration shear mechanics. Background Art

[0002] In missions oriented towards lunar surface exploration, underground drilling can extract geological information from deeper lunar subsurface depths and determine the mineralogical, mechanical, thermal, electrical, and other intrinsic properties of the soil. Through underground drilling, the longitudinal distribution characteristics such as particle distribution, density distribution, moisture distribution, profile heat flow, and seismic waves of the regolith can also be detected.

[0003] Existing cone penetration tests use handheld penetrometers to insert conical tips into lunar soil to detect the mechanical properties of the lunar soil; however, since current lunar exploration missions mainly rely on unmanned detectors, the handheld penetrometer requires astronauts to complete it themselves, which will undoubtedly reduce the detection efficiency and increase the cost of lunar exploration missions.

[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, in view of the above-mentioned defects of the existing technology, to provide an in-situ test device for lunar soil penetration shear mechanics, aiming to solve the problem of low efficiency of lunar soil detection in the existing technology.

[0006] The technical solution adopted by this application to solve the technical problem is as follows:

[0007] An in-situ test device for lunar soil penetration shear mechanics, which includes:

[0008] A bracket;

[0009] A blade tip, arranged in suspension;

[0010] A penetration and recovery mechanism, arranged between the bracket and the blade tip;

[0011] A first driving mechanism, arranged between the bracket and the penetration and recovery mechanism; the first driving mechanism is used to drive the penetration and recovery mechanism to move up and down, so as to drive the blade tip to penetrate and recover;

[0012] A second driving mechanism, arranged between the penetration and recovery mechanism and the blade tip, to drive the blade tip to rotate and shear.

[0013] For the in-situ test device for lunar soil penetration shear mechanics, wherein, the first driving mechanism includes:

[0014] A first driver, arranged on the bracket and located between the bracket and the penetration and recovery mechanism;

[0015] A lead screw, connected to the drive shaft of the first driver to rotate under the drive of the first driver.

[0016] The lunar soil penetration shear mechanics in-situ test device, wherein the penetration and recovery mechanism includes:

[0017] A threaded connector, sleeved on the lead screw and threadedly connected to the lead screw to move up and down along the lead screw when the lead screw rotates;

[0018] A sleeve, sleeved on the lead screw and in clearance fit with the lead screw; both axial ends of the sleeve are respectively connected to the threaded connector and the second drive mechanism.

[0019] The lunar soil penetration shear mechanics in-situ test device, which further includes:

[0020] An adapter block, detachably connected to the threaded connector;

[0021] An adapter ring, sleeved on the sleeve and connected to the adapter block.

[0022] The lunar soil penetration shear mechanics in-situ test device, which further includes:

[0023] A housing, sleeved on the periphery of the sleeve and connected to the first drive mechanism;

[0024] At least one guide rail unit; the guide rail unit includes two guide rails, and the two guide rails are symmetrically arranged on the inner wall of the housing; the extending direction of the guide rail is parallel to the moving direction of the threaded connector;

[0025] A slider, arranged on the adapter block and engaged with the guide rail; the slider can slide reciprocally along the guide rail.

[0026] In the lunar soil penetration shear mechanics in-situ test device, among the two sliders corresponding to the guide rail unit, the heights of the two sliders are flush.

[0027] The lunar soil penetration shear mechanics in-situ test device, which further includes:

[0028] A mounting seat; a receiving position is arranged in the mounting seat, and the second drive mechanism is arranged in the receiving position; the mounting seat is detachably connected to the sleeve.

[0029] The lunar soil penetration shear mechanics in-situ test device, wherein the sleeve includes:

[0030] A vertical cylinder, sleeved outside the threaded connector and located inside the housing;

[0031] The adapter tube is coaxially arranged at the bottom of the vertical tube and is detachably connected to the mounting base; the diameter of the vertical tube is smaller than that of the adapter tube; when the threaded connector moves to the upper limit along the lead screw, the end of the vertical tube connecting the adapter tube is located outside the housing.

[0032] For the lunar soil penetration shear mechanics in-situ testing device, wherein, the blade cone head includes:

[0033] A cone, detachably connected to the second driving mechanism;

[0034] A plurality of shear plates, arranged on the outer circumferential surface of the cone and evenly distributed.

[0035] The lunar soil penetration shear mechanics in-situ testing device further includes:

[0036] A compression-torsion combined sensor, arranged between the blade cone head and the second driving mechanism;

[0037] A protective shell, arranged on the blade cone head and disposed around the compression-torsion combined sensor.

[0038] Beneficial effects: In this application, through the cooperative drive control of the penetration and recovery mechanism, the blade cone head, the first driving mechanism, and the second driving mechanism, the automatic penetration, shearing, and recovery of the blade cone head can be realized, without manual penetration and recovery, which is more suitable for being installed on a lunar rover for unmanned in-situ mechanics testing of lunar soil during a lunar exploration mission, improving the detection efficiency. Description of the Drawings

[0039] Figure 1 is the overall structural schematic diagram of the lunar soil penetration shear mechanics in-situ testing device in Embodiment 1 of this application;

[0040] Figure 2 is the overall structural schematic diagram of the lunar soil penetration shear mechanics in-situ testing device in Embodiment 2 of this application;

[0041] Figure 3 is the cross-sectional structural schematic diagram of the lunar soil penetration shear mechanics in-situ testing device in this application;

[0042] Figure 4 is Figure 3 the partial enlarged schematic diagram at A in;

[0043] Figure 5 is the assembly structural schematic diagram of the penetration and recovery mechanism and the first driver in this application;

[0044] Figure 6It is a schematic diagram of the relative position relationship between the sleeve and the housing when the threaded connector is at the upper limit in this application;

[0045] Figure 7 It is a partial exploded structural schematic diagram of the lunar soil penetration shear mechanics in-situ test device in this application;

[0046] Figure 8 It is an exploded structural schematic diagram of the blade cone head and the second driving mechanism in this application;

[0047] Figure 9 It is a functional principle block diagram of the lunar soil penetration shear mechanics in-situ test device in this application. Detailed implementation manners

[0048] To make the objectives, technical solutions and effects of this application clearer and more definite, the following further describes this application in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain this application and are not used to limit this application.

[0049] Those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "including" used in the specification of this application means that there are the described features, integers, steps, operations, elements and / or components, but does not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0050] Those skilled in the art of this technology can understand that unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which this application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0051] This application provides a lunar soil penetration shear mechanics in-situ test device for deep space exploration (such as lunar surface exploration), as Figure 1 、 Figure 2 and Figure 3 shown, which includes: a bracket 1, a blade cone head 2, a penetration and recovery mechanism 3 (such asFigure 5 as shown), the first driving mechanism 4 (such as Figure 4 as shown), and the second driving mechanism 5; the blade cone head 2 is arranged in a suspended manner; the penetration and recovery mechanism 3 is arranged between the support 1 and the blade cone head 2; the first driving mechanism 4 is arranged between the support 1 and the penetration and recovery mechanism 3; the first driving mechanism 4 is used to drive the penetration and recovery mechanism 3 to move up and down, so as to drive the blade cone head 2 to penetrate and recover; the second driving mechanism 5 is arranged between the penetration and recovery mechanism 3 and the blade cone head 2 to drive the blade cone head 2 to rotate.

[0052] Specifically, the support 1 is used to position the first driving mechanism 4, the penetration and recovery mechanism 3, the second driving mechanism 5 and the blade cone head 2; the support 1 can be installed on a carrier such as a lunar exploration vehicle, so as to conduct in-situ mechanical tests on lunar soil without human intervention.

[0053] The first driving mechanism 4, the penetration and 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 support 1 and the penetration and recovery mechanism 3 and is detachably connected to the support 1 and the penetration and recovery mechanism 3; the blade cone head 2 is connected to the penetration and recovery mechanism 3 through the second driving mechanism 5. The first driving mechanism 4 is used to drive the penetration and recovery mechanism 3 to move up and down, and through the transmission of force by the second driving mechanism 5, the lifting of the blade cone head 2 is realized; then, when the first driving mechanism 4 is started and drives the penetration and recovery mechanism 3 to descend, the blade cone head 2 descends synchronously to realize penetration; when the first driving mechanism 4 drives the penetration and recovery mechanism 3 to ascend, the blade cone head 2 ascends synchronously to realize recovery.

[0054] It can be understood that the second driving mechanism 5 is arranged between the penetration and recovery mechanism 3 and the blade cone head 2, so that the penetration and recovery mechanism 3, the second driving mechanism 5 and the blade cone head 2 form a whole to move up and down. And the second driving mechanism 5 is used to rotate the blade cone head 2. Therefore, when the first driving mechanism 4 drives the penetration and 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 be started and drive the blade cone head 2 to rotate to shear the lunar soil; after the shearing is completed, the second driving mechanism 5 can be started and drive the blade cone head to rotate in the reverse direction to reset, and the first driving mechanism 4 drives the penetration and recovery mechanism 3 to ascend to complete the recovery action.

[0055] It can be seen that through the cooperative drive control of the first drive mechanism 4 and the second drive mechanism 5 in this application, the penetration, shearing, and recovery of the blade cone head 2 can be achieved, without manual penetration and recovery, which is more suitable for being installed on a lunar rover for in-situ mechanical testing of lunar soil during a lunar exploration mission, improving the detection efficiency.

[0056] When the first drive mechanism 4, the penetration and recovery mechanism 3, the second drive mechanism 5, and the blade cone head 2 are regarded as an integral structure and installed on the bracket 1, in the first embodiment of this application, as Figure 1 shown, the bracket 1 can be a structure surrounding the periphery of this integral structure, so that the penetration and recovery mechanism 3 drives the blade cone head 2 to lift and lower at the center of the bracket 1 to achieve penetration and recovery; that is, the bracket 1 is an annular structure with a hollow middle, and the first drive mechanism 4 is suspended at the center of the top of the bracket 1. In the second embodiment of this application, as Figure 2 shown, the bracket 1 can also be a structure supporting the side of this integral mechanism, similar to the structure of a basketball hoop, and the top of the bracket 1 extends laterally and outward to install the first drive mechanism 4. No matter what shape the bracket 1 adopts, as long as it can stably support and the bracket 1 does not interfere with the vertical penetration and recovery of the blade cone head 2.

[0057] As Figure 3 shown, the first drive mechanism 4 includes a first driver 41 and a lead screw 42; the first driver 41 is arranged on the bracket 1 and is located between the bracket 1 and the penetration and recovery mechanism 3; the lead screw 42 is connected to the drive shaft of the first driver 41 to rotate under the drive of the first driver 41.

[0058] Specifically, the first driver 41 includes a first DC brushless reduction motor; the first driver 41 is directly and detachably connected to the bracket 1, and the drive shaft of the first driver 41 extends vertically downward. The drive shaft of the first driver 41 is connected to the lead screw 42 to drive the lead screw 42 to rotate. The second drive mechanism 5 includes a second DC brushless motor.

[0059] As Figure 4 、 Figure 5 and Figure 7As shown, a coupling 6 is further provided between the drive shaft of the first driver 41 and the lead screw 42. One end of the coupling 6 is sleeved on the drive shaft of the first driver 41, and the other end is sleeved on the axial top end of the lead screw 42. The drive shaft of the first driver 41 and the lead screw 42 are separated from each other within the coupling 6 and do not come into contact. When the drive shaft of the first driver 41 starts, the lead screw 42 is driven to rotate through the coupling 6, and no adverse interference occurs during the rotation between the lead screw 42 and the drive shaft of the first driver 41. An assembly tangent plane 411 is provided on the outer circumferential surface of the drive shaft of the first driver 41, and a corresponding assembly plane is provided on the inner wall of the coupling 6 to prevent relative rotation between the drive shaft of the first driver 41 and the coupling 6.

[0060] As Figure 5 shown, the penetration and recovery mechanism 3 includes a threaded connector 31 and a sleeve 32; the threaded connector 31 is sleeved on the lead screw 42 and is threadedly connected to the lead screw 42 so as to move up and down along the lead screw 42 when the lead screw 42 rotates; the sleeve 32 is sleeved on the lead screw 42 and is in clearance fit with the lead screw 42; both axial ends of the sleeve 32 are respectively connected to the threaded connector 31 and the second drive mechanism 5.

[0061] Specifically, the threaded connector 31 is in threaded cooperation with the lead screw 42 and is sleeved around the lead screw 42; when the lead screw 42 rotates, based on the lead screw-nut principle, the threaded connector 31 does not rotate with the lead screw 42 but generates a linear movement along the lead screw 42, realizing the conversion of the rotation of the lead screw 42 into the linear movement of the threaded connector 31. As Figure 7 shown, the threaded connector 31 includes a T-shaped nut, and the T-shaped nut is inverted to facilitate connection with the sleeve 32 through the head of the T-shaped nut.

[0062] The sleeve 32 is coaxially arranged with the lead screw 42 and is located around the lead screw 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 drive mechanism 5. When the threaded connector 31 moves linearly along the lead screw 42, the blade cone head 2 can be driven to move linearly through the transmission of the sleeve 32 and the second drive mechanism 5, thereby realizing the penetration and recovery of the blade cone head 2.

[0063] Since the volume of the threaded connector 31 is small, when the length of the lead screw 42 is long, the change in the lifting position of the threaded connector 31 on the lead screw 42 may interfere with the second driving mechanism 5. Therefore, in this application, the sleeve 32 is arranged between the threaded connector 31 and the second driving mechanism 5 to extend the distance between the second driving mechanism 5 and the threaded connector 31 through the sleeve 32. It should be noted that when the threaded connector 31 moves to the upper limit along the lead screw 42, the bottom end of the sleeve 32 extends downward beyond the lead screw 42 to ensure that the threaded connector 31 can move up and down along the entire length of the lead screw 42 without interference, thereby ensuring the penetration depth of the blade cone head 2.

[0064] As Figure 4 , Figure 5 and Figure 7 shown, the lunar soil penetration shear mechanics in-situ test 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.

[0065] 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 phenomena such as detachment due to excessive penetration force. The adapter block 7 and the adapter ring 8 are of an integral structure. As Figure 7 shown, a card slot 320 is provided on the outer circumferential surface of the top end of the sleeve 32. The adapter ring 8 is sleeved at the card slot 320 and is in close fit with the sleeve 32. The adapter block 7 has a cavity to accommodate the lead screw 42 through the cavity.

[0066] As Figure 5 shown, the lunar soil penetration shear mechanics in-situ test device further includes a housing 9, at least one guide rail unit and a slider 11. The housing 9 is sleeved on the periphery of the sleeve 32 and is 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 housing 9. The extending direction of the guide rail 10 is parallel to the moving direction of the threaded connector 31. The slider 11 is arranged on the adapter block 7 and is snap-connected to the guide rail 10. The slider 11 can slide reciprocally along the guide rail 10.

[0067] Specifically, the outer shell 9 surrounds the periphery of the drive shaft of the first driver 41, the coupling 6, the lead screw 42, the adapter block 7, and the adapter ring 8, thereby protecting these components; the outer shell 9 is detachably connected to the first driver 41, thereby realizing the positioning of the outer shell 9.

[0068] The adapter block 7 is a square adapter block, such that at least 4 planes exist on the outer surface of the adapter block 7, so that the slider 11 can be directly mounted on the outer surface of the adapter block 7, thereby performing a sliding fit with the guide rail 10. The guide rail 10 is parallel to the lead screw 42 and is provided on the inner wall of the outer shell 9; the two guide rails 10 in the guide rail unit are symmetrically arranged along the radial direction of the outer shell 9, and the slider 11 is in one-to-one correspondence with the guide rail 10 and is snap-connected. When the first driver 41 is started and drives the lead screw 42 to rotate, the threaded connector 31 drives the adapter block 7 to move up and down, then the slider 11 synchronously moves up and down along the guide rail 10; under the sliding fit between the slider 11 and the guide rail 10, the sleeve 32 can realize linear up and down movement without generating deviation, thereby ensuring the accuracy of the in-situ mechanical test.

[0069] As Figure 5 shown, an inductor 12 (such as an inductive proximity switch) is further provided in the outer shell 9, and the inductor 12 is used to cooperate with the threaded connector 31; when the threaded connector 31 is at the upper limit, the inductor 12 is triggered. Therefore, initially, the threaded connector 31 is at the upper limit and the blade cone head 2 does not penetrate the lunar soil; when the lunar soil penetration shear test is completed and 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 inductor 12 is triggered, thereby determining whether the blade cone head 2 is recovered to the original position.

[0070] In an embodiment of the present application, as Figure 9 shown, the lunar soil penetration shear in-situ test device further includes a controller 13, and the controller 13 is electrically connected to the first driving mechanism 4, the second driving mechanism 5, and the inductor 12, thereby sending start and stop signals to the first driving mechanism 4 and the second driving mechanism 5; the controller 13 is further used to obtain the trigger signal sent by the inductor 12.

[0071] Among the two sliders 11 corresponding to the guide rail unit, the heights of the two sliders 11 are flush; that is, the two sliders 11 corresponding to the guide rail unit are located at the same height and are symmetrically arranged, which can effectively restrict degrees of freedom, improve the overall rigidity and stability of the structure, and enhance the anti-tilting ability.

[0072] As Figure 1 , Figure 2 andFigure 8 As shown, the in-situ testing device for shear mechanics of lunar soil penetration further includes a mounting base 14; a receiving position is provided inside the mounting base 14, and the second driving mechanism 5 is arranged in the receiving position; the mounting base 14 is detachably connected to the sleeve 32.

[0073] The mounting base 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 base 14, and the through hole communicates with the receiving position; the driving shaft of the second driving mechanism 5 is matched with the through hole and extends downward from the through hole to the outside of the mounting base 14, so as to be connected to the blade cone head 2. As Figure 6 As shown, an installation groove 15 is provided on the outer circumferential surface of the upper end of the sleeve 32; the mounting base 14 is matched with the installation groove 15 and is inserted into the installation groove 15.

[0074] As Figure 6 As shown, the sleeve 32 includes a vertical cylinder 321 and a transition cylinder 322; the vertical cylinder 321 is sleeved outside the threaded connector 31 and is located inside the housing 9; the transition cylinder 322 is coaxially arranged at the bottom of the vertical cylinder 321 and is detachably connected to the mounting base 14; the diameter of the vertical cylinder 321 is smaller than the diameter of the transition cylinder 322; when the threaded connector 31 moves to the upper limit along the lead screw 42, the end of the vertical cylinder 321 connecting the transition cylinder 322 is located outside the housing 9.

[0075] Specifically, the vertical cylinder 321 and the transition cylinder 322 are coaxially arranged, and the vertical cylinder 321 is sleeved outside the lead screw 42 and is located inside the housing 9; the transition cylinder 322 is used for assembling with the mounting base 14, and the installation groove 15 is provided on the outer circumferential surface of the transition cylinder 322.

[0076] Since the vertical cylinder 321 is restricted by the housing 9, and the transition cylinder 322 needs to be connected and matched with the mounting base 14, therefore, in this application, the sleeve 32 adopts a structure with a smaller upper part and a larger lower part, that is, the diameter of the vertical cylinder 321 is small and the diameter of the transition cylinder 322 is large, so as to ensure that the vertical cylinder 321 can flexibly lift and lower along the lead screw 42 while ensuring the stability of the connection between the sleeve 32 and the mounting base 14.

[0077] When the threaded connector 31 is at the upper limit, the blade cone head 2 is at the highest position, and at least a part of the vertical cylinder 321 extends beyond the lead screw 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 connecting the adapter cylinder 322 is located outside the housing 9, so as to ensure that a proper distance can be maintained between the housing 9 and the adapter cylinder 322, and the housing 9 will not interfere with the lifting of the overall structure of the sleeve 32.

[0078] As Figure 2 and Figure 8 shown, 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; the plurality of shear plates 22 are arranged on the outer circumferential surface of the cone 21 and are evenly distributed.

[0079] 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 plates 22 to rotate synchronously to realize the shearing of the lunar soil; when the first driving mechanism 4 resets and drives the blade cone head 2 to retract, the shear plates 22 can be lifted to complete the retraction action.

[0080] In an embodiment of the present application, there are 4 shear plates 22, and every two of them form a shear plate 22 unit; in the shear plate 22 unit, the two shear plates 22 are arranged radially along the cone 21, and the 4 shear plates 22 are arranged in a cross shape.

[0081] The shear plate 22 is a right 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 axis of the cone 21, so as to ensure that there is enough outer conical surface of the cone 21 exposed while installing the shear plate 22 on the cone 21, thereby reducing the difficulty of inserting into the lunar soil.

[0082] As Figure 8 shown, the in-situ shear mechanical test device for lunar soil penetration further includes a compression-torsion combined sensor 16 and a protective shell 17; the compression-torsion combined sensor 16 is arranged between the blade cone head 2 and the second driving mechanism 5; the protective shell 17 is arranged on the blade cone head 2 and is arranged on the periphery of the compression-torsion combined sensor 16.

[0083] Specifically, the protective housing 17 is used to protect the combined compression and torsion sensor 16, and when the cone 21 rotates, the protective housing 17 can rotate synchronously with the cone 21. The protective housing 17, the cone 21 and the shear plate 22 are of an integrally formed structure; there is a gap between the protective housing 17 and the mounting base 14 to ensure that the protective housing 17 can rotate with the blade cone head 2 without being interfered by the mounting base 14. The combined compression and torsion sensor 16 is electrically connected to the controller 13 to detect the pressure and torque received when the blade cone head 2 penetrates and transmit them to the controller 13; the controller 13 can also be electrically connected to an external terminal for signal transmission. The combined compression and torsion 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.

[0084] The process of the in-situ test of the shear mechanics of lunar soil penetration into simulated lunar soil is as follows:

[0085] Before the test, the simulated lunar soil to be measured is prepared, specifically, operations such as tamping and leveling the simulated lunar soil to be measured are carried out, and then the bracket is placed on the simulated lunar soil to be measured. Initially, the threaded connector is at the upper limit.

[0086] Penetration test: The first drive mechanism starts forward, driving the blade cone head to descend and penetrate into the simulated lunar soil to be measured; when the blade cone head penetrates into the simulated lunar soil to be measured, the combined compression and torsion sensor can obtain the pressure value, and then the start and stop of the first drive mechanism can be controlled according to the actual needs based on the pressure value (stop penetration when the pressure value reaches the preset upper pressure limit).

[0087] It should be noted that this application can also stop penetration when the descending displacement reaches the displacement upper limit by detecting the descending displacement:

[0088] The controller can obtain the angular displacement obtained by the rotation of the drive shaft of the first drive mechanism according to the total number of encodings for one revolution of the drive shaft of the first drive mechanism , the current encoding number (initially, the current encoding number of the drive shaft of the first drive mechanism is 0) and the reduction ratio , . The pitch of the currently selected lead screw is 1 mm. By calculating the current encoding number , the current descending position (mm) can be obtained, where = ; then, when When the preset displacement upper limit is reached, the first driving mechanism can be shut down.

[0089] Shearing test: The second driving mechanism starts forward to drive the blade cone head to rotate. As the combined compression-torsion sensor rotates synchronously with the driving shaft of the second driving mechanism, the combined compression-torsion sensor detects the torque and transmits the torque to the controller. When the torque reaches the preset torque upper limit, the second driving mechanism stops and the blade cone head stops shearing. The controller can obtain the angular displacement obtained by the rotation of the driving shaft of the second driving mechanism according to the total number of encodings for one rotation of the driving shaft of the second driving mechanism , the current encoding number (initially, the current encoding number of the driving shaft of the second driving mechanism is 0) and the reduction ratio , and then the angular displacement obtained by the rotation of the driving shaft of the second driving mechanism can be obtained. , .

[0090] Reset: After the penetration and shearing of the simulated lunar soil to be measured are completed, the second driving mechanism starts in the reverse direction until the angular displacement of the reverse rotation of the driving shaft of the second driving mechanism is equal to , the second driving mechanism can stop. The first driving mechanism starts in the reverse direction until the controller obtains the trigger induction signal transmitted by the inductor, then the first driving mechanism stops and the threaded connector resets to the upper limit.

[0091] In summary, the present application provides a lunar soil penetration shear mechanical in-situ test device, which includes: a bracket; a blade cone head, arranged suspended; a penetration and recovery mechanism, arranged between the bracket and the blade cone head; a first driving mechanism, arranged between the bracket and the penetration and recovery mechanism; the first driving mechanism is used to drive the penetration and recovery mechanism to lift and lower, so as to drive the blade cone head to penetrate and recover; a second driving mechanism, arranged between the penetration and recovery mechanism and the blade cone head to drive the blade cone head to rotate. In the present application, through the combined driving control of the penetration and recovery mechanism, the blade cone head, the first driving mechanism and the second driving mechanism, the automatic penetration, shearing and recovery of the blade cone head can be realized, without manual penetration and recovery, and it is more suitable for being installed on a lunar rover for unmanned lunar soil in-situ mechanical testing during a lunar exploration mission, improving the detection efficiency.

[0092] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present invention.

[0093] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0094] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0096] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0097] Of course, the description of the above embodiments of the present invention is relatively detailed, but it should not be construed as a limitation on the protection scope of the present invention. The present invention may have other various implementation manners. Based on this implementation manner, other implementation manners obtained by those of ordinary skill in the art without any creative work belong to the protection scope of the present invention. The protection scope of the present invention shall be subject to the appended claims.

Claims

1. An in-situ testing device for shear mechanics of lunar soil by penetration, characterized in that It includes: A bracket; A blade cone head, arranged suspended; A penetration and recovery mechanism, arranged between the bracket and the blade cone head; A first driving mechanism, arranged between the bracket and the penetration and recovery mechanism; the first driving mechanism is used to drive the penetration and recovery mechanism to lift, so as to drive the blade cone head to penetrate and recover; A second driving mechanism, arranged between the penetration and recovery mechanism and the blade cone head, to drive the blade cone head to rotate and shear; The first driving mechanism includes: A first driver, arranged on the bracket and located between the bracket and the penetration and recovery mechanism; A lead screw, connected to the driving shaft of the first driver to rotate under the drive of the first driver; The penetration and recovery mechanism includes: A threaded connector, sleeved on the lead screw and threadedly connected to the lead screw, so as to lift along the lead screw when the lead screw rotates; A sleeve, sleeved on the lead screw and in clearance fit with the lead screw; both axial ends of the sleeve are respectively connected to the threaded connector and the second driving mechanism; It further includes: An adapter block, detachably connected to the threaded connector; the adapter block is a square adapter block, so that the outer surface of the adapter block has at least 4 planes; An adapter ring, sleeved on the sleeve and connected to the adapter block; A housing, sleeved on the periphery of the sleeve and connected to the first driving mechanism; At least one guide rail unit; the guide rail unit includes two guide rails, and the two guide rails are symmetrically arranged on the inner wall of the housing; the extending direction of the guide rail is parallel to the moving direction of the threaded connector; A slider, arranged on the adapter block; the slider is fitted and installed with the outer surface of the adapter block and is snap-connected to the guide rail; the slider can slide reciprocally along the guide rail.

2. The in-situ test device for lunar soil penetration shear mechanics according to claim 1, wherein, Among the two sliders corresponding to the guide rail unit, the heights of the two sliders are flush.

3. The in-situ test device for lunar soil penetration shear mechanics according to claim 1, wherein It further includes: A mounting seat; a receiving position is arranged in the mounting seat, and the second driving mechanism is arranged in the receiving position; the mounting seat is detachably connected to the sleeve.

4. The in-situ test device for lunar soil penetration shear mechanics according to claim 3, characterized in that The sleeve includes: A vertical cylinder, sleeved outside the threaded connector and located inside the housing; An adapter cylinder, coaxially arranged at the bottom of the vertical cylinder and detachably connected to the mounting seat; the diameter of the vertical cylinder is smaller than the diameter of the adapter cylinder; when the threaded connector moves to the upper limit along the lead screw, the end of the vertical cylinder connecting the adapter cylinder is located outside the housing.

5. The in-situ test device for lunar soil penetration shear mechanics according to claim 1, characterized in that, The blade cone head includes: A cone, detachably connected to the second driving mechanism; A plurality of shear plates, arranged on the outer circumferential surface of the cone and evenly distributed.

6. The in-situ test device for lunar soil penetration shear mechanics according to claim 5, characterized in that, It further includes: A compression-torsion combined sensor, arranged between the blade cone head and the second driving mechanism; A protective shell, arranged on the blade cone head and arranged on the periphery of the compression-torsion combined sensor.

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