Multi-shaft attached percussion drilling test platform and test method

Abstract

The invention belongs to the technical field of ground testing of deep space exploration equipment, and particularly relates to a multi-shaft attached percussion drilling testing platform and a testing method. The testing platform comprises an attachment testing mechanism, a controller, a bottom truss, a three-axis gantry sliding mechanism, a sensing testing mechanism and a drilling and production testing mechanism, wherein the three-axis gantry sliding mechanism, the sensing testing mechanism and the drilling and production testing mechanism are arranged on the bottom truss; the sensing testing mechanism comprises a bottom plate, a six-dimensional force / torque sensor and a tested rock sample which are sequentially arranged from bottom to top; the attachment testing mechanism is arranged at the output end of the three-axis gantry sliding mechanism and is used for attaching, pressing and testing a rock sample; the drilling and production testing mechanism is used for sampling a test rock sample; the controller is used for controlling the three-axis gantry sliding mechanism and the drilling and production testing mechanism to act and synchronously collecting and processing data of all the sensors. According to the invention, through precise motion control and multi-dimensional sensing, standardized and quantitative testing of the drilling performance of the sampling drilling machine and the adhesion performance of the adhesion mechanism is realized.

Description

Technical Field

[0001] This invention belongs to the field of ground testing technology for deep space exploration equipment, specifically relating to a multi-axis attached impact drilling test platform and test method. Background Technology

[0002] In deep space exploration missions, sampling drills and attachment mechanisms are critical components determining the success or failure of the mission. Their performance, particularly drilling efficiency, core sampling success rate, and attachment reliability on simulated extraterrestrial media (such as basalt and lunar regolith), must be thoroughly tested and verified on the ground. Existing testing equipment has the following limitations:

[0003] 1. Limited testing functions: Drilling rig test benches often only measure axial pressure and rotational speed, lacking simultaneous measurement of multi-dimensional parameters such as torque and vibration under complex working conditions; while attachment test benches are mostly simple tensile and compressive testing machines, unable to simulate actual contact posture and dynamic loading process.

[0004] 2. Poor simulation capability: It is difficult to accurately reproduce the complex relative motion and contact state between the drill bit and the rock, and between the gripper and the irregular surface. Difficulties in adjusting the specimen installation angle and centering during testing affect the accuracy and repeatability of the test results.

[0005] 3. Low level of automation and integration: The testing process relies heavily on manual operation and single-point data recording, which is inefficient and lacks a unified platform for collaborative testing and performance correlation analysis of the two closely related functions of drilling and attachment.

[0006] Therefore, there is an urgent need for an automated testing platform that integrates multi-axis motion control, multi-parameter synchronous sensing, and flexible configuration of test conditions, to provide a reliable performance evaluation method for the development of deep space sampling and attachment components. Summary of the Invention

[0007] To address the aforementioned problems, the present invention aims to provide a multi-axis attachment impact drilling test platform and test method. This platform can achieve standardized and quantitative testing of the drilling performance of the sampling drill and the adhesion performance of the attachment mechanism within a single system through precise motion control and multi-dimensional sensing.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] This invention provides a multi-axis attachment impact drilling test platform, comprising an attachment test mechanism, a controller, a bottom truss, and a three-axis gantry sliding mechanism, a sensing test mechanism, and a drilling test mechanism mounted on the bottom truss. The sensing test mechanism includes a base plate, a six-dimensional force / torque sensor, and a test rock sample arranged sequentially from bottom to top. The three-axis gantry sliding mechanism has degrees of freedom of movement in the X, Y, and Z directions. The attachment test mechanism is located at the output end of the three-axis gantry sliding mechanism and is used to attach and press the test rock sample. The drilling test mechanism is used to sample the test rock sample. The controller controls the actions of the three-axis gantry sliding mechanism and the drilling test mechanism, and simultaneously collects and processes all sensor data.

[0010] The drilling and testing mechanism includes a mounting base plate, a guide shaft, a drive motor, a torque sensor, an encoder, and a drill bit. The mounting base plate is connected to the bottom truss, the lower end of the guide shaft is connected to the mounting base plate, and the drive motor is mounted on the upper end of the guide shaft, with its mounting position adjustable vertically. The output end of the drive motor is connected in sequence to the torque sensor, the encoder, and the drill bit. The torque sensor is used to measure the drive torque of the drive motor, and the encoder is used to measure the rotational speed of the drill bit.

[0011] The adhesion testing mechanism includes an adhesion claw and an adapter block, wherein one end of the adapter block is connected to the output end of the three-axis gantry sliding mechanism, and the other end is connected to the adhesion claw, which is used to adhere to the upper surface of the test rock sample.

[0012] The attachment claw includes an attachment barb, a barb end cap, a support rod, a torsion spring, and a connecting pin. One end of the support rod is floatingly connected to the barb end cap, and the other end is hinged to the adapter block via the connecting pin. The torsion spring is sleeved on the connecting pin, and its two ends abut against the adapter block and the support rod, respectively. The torsion spring provides a torque that causes the attachment claw to tend towards a downward pre-attached state.

[0013] The bottom of the barb end cap slides in conjunction with multiple parallel attached barbs.

[0014] The bottom of the barb end cap is provided with multiple parallel sliding grooves. The multiple attached barbs slide in cooperation with the corresponding sliding grooves through barb slide rails and are prevented from falling off by barb baffles connected to the barb end cap. Each sliding groove is provided with a slide rail spring, and the two ends of the slide rail spring abut against the barb slide rail and the barb end cap, respectively.

[0015] The attachment barb includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring and an anchor pin;

[0016] The bottom of the attached barb body is provided with multiple inclined grooves in the height direction. Each inclined groove is provided with a slide spring and an anchor in sequence from the inside to the outside. The anchor protrudes from the inclined groove to the outside of the bottom of the attached barb body.

[0017] One end of the support rod is inserted into the insertion hole provided on the spike end cap and is axially limited by the support rod baffle; a spring is provided at the bottom of the insertion hole, and the two ends of the spring abut against the support rod and the spike end cap respectively.

[0018] The three-axis gantry sliding mechanism includes an X-axis translational slide, a Y-axis translational slide, and a Z-axis slide connected sequentially from bottom to top; the X-axis translational slide, the Y-axis translational slide, and the Z-axis slide are respectively used to provide power for movement in the X, Y, and Z directions.

[0019] Another aspect of the present invention provides a testing method using the multi-axis attachment impact drilling test platform described above, comprising the following steps:

[0020] Adhesion test procedure: The controller controls the three-axis gantry sliding mechanism to make the adhesion test mechanism contact the surface of the test rock sample with a preset posture and pressure, and perform the adhesion and desorption actions; the controller collects force data during the adhesion and desorption process through a six-dimensional force / torque sensor;

[0021] Drilling test procedure: The controller controls the Z-axis of the three-axis gantry sliding mechanism and / or the drive motor of the drilling test mechanism to make the drill bit drill the test rock sample with the set motion parameters; the controller simultaneously collects data from the six-dimensional force / torque sensor, torque sensor and encoder to obtain drilling performance parameters.

[0022] The testing method further includes a collaborative testing step: first, the attachment testing step is performed to anchor the attachment testing mechanism to the test rock sample; then, under the condition that the attachment testing mechanism provides additional constraints, the drilling testing step is performed to simulate the collaborative drilling and extraction operation under attachment support.

[0023] The present invention has the following beneficial effects and advantages:

[0024] 1. Highly integrated functions: This invention is the first to integrate drilling performance testing and adhesion performance testing on the same platform, sharing a high-precision motion mechanism and sensing system. It can perform independent tests as well as simulate the collaborative operation process of "first attaching and stabilizing, then drilling and sampling", providing a complete test scenario.

[0025] 2. High testing accuracy and comprehensive dimensions: This invention achieves micron-level positioning and alignment through a three-axis gantry mechanism, ensuring consistent testing conditions. Integrating a six-dimensional force / torque sensor, torque sensor, and encoder, it can simultaneously acquire multi-dimensional data such as axial force, lateral force, torque, and rotational speed during drilling, as well as gripping force and shear force during adhesion, providing extremely comprehensive performance evaluation.

[0026] 3. Flexible and realistic working condition simulation: The three-axis gantry mechanism of this invention can flexibly control the attacher to contact the sample surface with different postures (angles) and different pre-pressures, accurately simulating the complex contact conditions in reality. The height and centering of the drilling and testing mechanism are adjustable, which can simulate different initial drilling conditions.

[0027] 4. High degree of automation and intelligence: All motion control and data acquisition in this invention are completed by a central controller. The test process is programmable, realizing full automation from sample installation, posture adjustment, test execution to data recording and analysis, which greatly improves test efficiency and result reliability.

[0028] 5. High scalability: The platform of this invention adopts a modular design, and the bottom truss and standard interface facilitate the integration of other test modules (such as vibration monitoring, thermal vacuum environment simulation, etc.) to adapt to more complex test needs in the future.

[0029] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0030] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0032] Figure 1 This is an isometric schematic diagram of a multi-axis attachment impact drilling test platform according to the present invention;

[0033] Figure 2 This is a schematic diagram of the bottom truss structure in this invention;

[0034] Figure 3 This is a schematic diagram of the three-axis gantry sliding mechanism in this invention;

[0035] Figure 4 This is a schematic diagram of the sensor testing mechanism in this invention;

[0036] Figure 5 This is a schematic diagram of the drilling and testing mechanism in this invention;

[0037] Figure 6 This is a schematic diagram of the connection of the attachment testing mechanism in this invention;

[0038] Figure 7 The following is an isometric view of the attachment claw in this invention:

[0039] Figure 8 This is an isometric view of the attachment claw in this invention without the attachment barbs;

[0040] Figure 9 This is a longitudinal sectional view of the attachment claw in this invention without the attachment barbs;

[0041] Figure 10 This is an isometric view of the attached barbs in this invention;

[0042] Figure 11 This is a longitudinal sectional view of the attached barbs in this invention.

[0043] In the diagram: 1. Adhesion testing mechanism; 11. Adhesion claw; 101. Adhesion barb; 1011. Slide rail spring; 1012. Slide spring; 1013. Anchor pin; 102. Barb slide rail; 103. Barb end cap; 104. Barb baffle; 105. Support connecting rod baffle; 106. Support connecting rod; 107. Torsion spring; 108. Connecting pin; 109. Spring; 12. Adapter block; 2. Three-axis gantry sliding mechanism; 201. X-axis translation. 1. Slide table; 202. Y-axis translational slide table; 203. Z-axis slide table; 3. Sensing and testing mechanism; 301. Base plate; 302. Six-dimensional force / torque sensor; 303. Mounting plate; 304. Adapter plate; 305. Test rock sample; 4. Drilling and mining testing mechanism; 401. Mounting base plate; 402. Guide shaft; 403. Drive motor; 404. Torque sensor; 405. Encoder; 406. Drill bit; 5. Bottom truss; 6. Controller. Detailed Implementation

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0046] See Figure 1 and Figure 4 As shown, an embodiment of the present invention provides a multi-axis attachment impact drilling test platform, including an attachment test mechanism 1, a controller 6, a bottom truss 5, and a three-axis gantry sliding mechanism 2, a sensing test mechanism 3, and a drilling test mechanism 4 disposed on the bottom truss 5. The sensing test mechanism 3 is used to install and fix the test sample (such as a rock simulation block) and to measure the force and torque borne by the sample during the test in real time. Specifically, the sensing test mechanism 3 includes a base plate 301, a six-dimensional force / torque sensor 302, and a test rock sample 305 arranged sequentially from bottom to top. The three-axis gantry sliding mechanism 2 has degrees of freedom of movement in the X, Y, and Z directions. The attachment test mechanism 1 is disposed at the output end of the three-axis gantry sliding mechanism 2 and is used to attach and press the test rock sample 305. The drilling test mechanism 4 is used to sample the test rock sample 305. The controller 6 is used to control the actions of the three-axis gantry sliding mechanism 2 and the drilling test mechanism 4, and to synchronously collect and process all sensor data.

[0047] See Figure 2 As shown, in this embodiment of the invention, the bottom truss 5 serves as the rigid foundation and mounting base for the entire platform. Specifically, the bottom truss 1 is a welded steel structure, providing a stable foundation.

[0048] See Figure 3 As shown in the embodiment of the present invention, the three-axis gantry sliding mechanism 2 includes an X-axis translational slide 201, a Y-axis translational slide 202, and a Z-axis slide 203 connected sequentially from bottom to top; the X-axis translational slide 201, the Y-axis translational slide 202, and the Z-axis slide 203 are respectively used to provide power for linear movement in the X, Y, and Z directions, and the moving platform of the Z-axis slide 203 is provided with an interface for installing the component under test.

[0049] Specifically, the X-axis translational slide 201 and Y-axis translational slide 202 are driven by high-precision ball screws and guided by linear guides. Their strokes can be customized as needed (e.g., 1 meter each), and their positioning accuracy can reach ±0.01 mm. The Z-axis translational slide 203 is vertically mounted on the moving platform composed of the X and Y slides, and its lower end has a standardized adapter block mounting surface. This mechanism allows the measured component mounted at the end of the Z-axis to be positioned arbitrarily in space while maintaining high rigidity.

[0050] See Figure 5As shown in the embodiment of the present invention, the drilling and sampling testing mechanism 4 is used to install and drive the tested sampling drilling rig and measure its drilling performance parameters. Specifically, the drilling and sampling testing mechanism 4 includes a mounting base plate 401, guide shafts 402, a drive motor 403, a torque sensor 404, an encoder 405, and a drill bit 406. The mounting base plate 401 is fixedly connected to the bottom truss 5 and is located on the same reference plane as the base plate 301 of the sensing testing mechanism 3. The lower ends of the two guide shafts 402 are vertically fixedly connected to the mounting base plate 401. The drive motor 403 is mounted on the upper end of the guide shafts 402 through linear bearings, and its installation position can be adjusted up and down. Its height can be adjusted and locked manually or by an auxiliary motor. The output end of the drive motor 403 is connected in sequence to the torque sensor 404, the encoder 405, and the drill bit 406. The torque sensor 404 is used to measure the driving torque of the drive motor 403, and the encoder 405 is used to measure the rotational speed of the drill bit 406. The output axis of the drive motor 403 is aligned with the test surface of the test sample on the sensing testing mechanism 3. The drive motor 403 is a motor that can provide combined rotational and axial impact motion. The torque sensor 404 and the encoder are coaxially integrated between the output end of the drive motor 403 and the drill bit 406.

[0051] Specifically, the upper end of the torque sensor 404 is connected to the output shaft of the drive motor 403, and the lower end is connected to the housing of the encoder 405. The inner rotor of the encoder 405 is connected to the drill bit 406 or the entire sample drill under test. This series structure can measure the drive torque and drill bit speed in real time and coaxially. Adjust the height of the drive motor 403 so that the tip of the drill bit 406 is just aligned with and lightly touches the upper surface of the test rock sample 305.

[0052] See Figure 6 As shown in the embodiment of the present invention, the adhesion testing mechanism 1 includes an adhesion claw 11 and a connecting block 12. One end of the connecting block 12 is connected to the Z-axis slide 203 of the three-axis gantry sliding mechanism 2, and the other end of the connecting block 12 is connected to the base of the adhesion claw 11. The adhesion claw 11 is used to adhere to the upper surface of the test rock sample 305. Specifically, one end of the connecting block 502 has an interface that matches the moving platform of the Z-axis slide 203, enabling quick installation. Through the movement of the three-axis gantry sliding mechanism 2, the adhesion testing mechanism 1 can precisely control the adhesion claw 11 to contact the surface of the test sample on the sensing testing mechanism 3 at any preset angle and position, and perform adhesion / desorption tests.

[0053] See Figure 7As shown, in an embodiment of the present invention, the attachment claw 11 includes attachment spikes 101, spike end caps 103, support rods 106, torsion springs 107, and connecting pins 108. One end of the support rod 106 is floatingly connected to the spike end caps 103, and the other end is hinged to the adapter block 12 via the connecting pins 108. The torsion spring 107 is sleeved on the connecting pins 108, and both ends abut against the adapter block 12 and the support rods 106, respectively. The torsion spring 107 provides a torque that causes the attachment claw 11 to tend towards a downward pre-attachment state. The bottom of the spike end caps 103 is slidably engaged with a plurality of parallel-arranged attachment spikes 101.

[0054] See Figures 8 to 11 As shown in the embodiment of the present invention, the bottom of the barb end cap 103 is provided with a plurality of sliding grooves in parallel. The plurality of attached barbs 101 are slidably engaged with the corresponding sliding grooves through the barb slide rail 102, and are prevented from falling off by the barb baffle 104 connected to the barb end cap 103. Each sliding groove is provided with a slide rail spring 1011, and the two ends of the slide rail spring 1011 abut against the barb slide rail 102 and the barb end cap 103, respectively.

[0055] Specifically, the attachment barb 101 includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring 1012 and an anchor 1013; the bottom of the attachment barb body is provided with multiple inclined grooves in the height direction, and each inclined groove is provided with a slide spring 1012 and an anchor 1013 in sequence from the inside to the outside, with the anchor 1013 protruding from the inclined groove to the outside of the bottom of the attachment barb body. The anchor 1013 can retract or pop out independently under the support of the slide spring 1012, like a series of miniature "spring nails", which can sensitively capture the microscopic morphology of the rock surface, that is, can adaptively compress or pop up according to the protrusions or pits on the rock surface, realizing multi-point and multi-directional mechanical interlocking.

[0056] Furthermore, one end of the support rod 106 is inserted into the insertion hole provided on the spike end cap 103, and is axially limited by the support rod baffle 105, which is used to strengthen the structure; a spring 109 is provided at the bottom of the insertion hole, and the two ends of the spring 109 abut against the support rod 106 and the spike end cap 103 respectively.

[0057] In this embodiment of the invention, the controller 6 (industrial computer and motion control card) is located inside the control cabinet. The controller 6 is electrically connected to the drive motors of each axis of the three-axis gantry sliding mechanism 2, the drive motor of the drilling and testing mechanism 4, and the six-dimensional force / torque sensor 302, torque sensor 404, and encoder 405. The controller 6 is used to control the coordinated movement of each axis to accurately adjust the relative posture of the tested component and the test sample; control the drilling action of the drilling and testing mechanism 4; and simultaneously collect and process data from all sensors to obtain performance curves such as drilling torque, rotational speed, triaxial force, and adhesion / deadhesion force. The six-dimensional force / torque sensor 302 can simultaneously measure the force in the X, Y, and Z directions and the torque around the three axes.

[0058] Specifically, the base plate 301 is bolted to a specific position on the bottom truss 5 to ensure the upper surface is level. A six-dimensional force / torque sensor 302 is mounted on the center of the base plate 301 with screws; its range and accuracy are selected according to testing requirements (e.g., range: Fx,y,z=±1kN, Mx,y,z=±100Nm). A mounting plate 303 is mounted on top of the sensor 302. An adapter plate 304 is fixed to the mounting plate 303 with locating pins and bolts for quick clamping of the test rock sample 305. The test rock sample 305 can be fixed to the adapter plate 304 using high-strength adhesive or a special clamp.

[0059] An embodiment of the present invention provides a multi-axis attachment impact drilling test platform, the workflow of which is as follows:

[0060] Taking the testing of "the adhesion performance of the biomimetic attachment on a basalt simulation" and "the drilling performance of the sampling drill on the same medium" as examples:

[0061] 1. Platform Initialization: Power on controller 6 and return all motion axes to zero. Install test rock sample 305 to sensor testing mechanism 3. Install attachment claw 11 to adapter block 12. Install standard drill bit or the sample to be tested to the lower end of encoder 405 of drilling and mining testing mechanism 4.

[0062] 2. Adhesion performance test:

[0063] a. The three-axis gantry sliding mechanism 2 is operated by the controller 6 to move the attachment claw 11 to a predetermined position above the test rock sample 305.

[0064] b. Control the Z-axis to descend so that the attachment claw 11 contacts the surface of the test rock sample 305 vertically or at a certain tilt angle, and apply the set pre-pressure (controlled by the reading feedback of the six-dimensional force / torque sensor 302).

[0065] c. Trigger the drive mechanism of the attachment claw 11 (whose control line can be attached) to perform the attachment action. The six-dimensional force / torque sensor 302 records the normal gripping force, tangential anti-slip force and torque changes in real time throughout the process.

[0066] d. Execute the desorption action; the six-dimensional force / torque sensor 302 records the peak value of the desorption force; the controller 6 saves the complete force-time curve.

[0067] 3. Drilling performance test:

[0068] a. Control the three-axis gantry sliding mechanism 2 to move the attachment claw 11 away and avoid the drilling area.

[0069] b. The drive motor 403 of the control drilling and testing mechanism 4 is started to operate at the set speed and / or in the impact mode.

[0070] c. Simultaneously, control the Z-axis slide 203 (which can be used as the feed axis at this time) to feed downwards at a constant speed or in a constant force mode (based on the Z-direction force feedback from the six-dimensional force / torque sensor 302) to simulate the drilling process.

[0071] d. Controller 6 synchronously acquires and records: drilling torque from torque sensor 404, actual rotational speed from encoder 405, and axial drilling force and lateral disturbance force from six-dimensional force / torque sensor 302. The above data can be plotted as characteristic curves such as torque-depth, rotational speed-depth, and drilling force-depth.

[0072] This embodiment provides an indispensable standardized and data-driven tool for the performance verification and optimization of key components in deep space exploration through the aforementioned integrated design and automated testing process.

[0073] This invention provides a multi-axis attachment impact drilling test platform, integrating a three-axis gantry sliding mechanism 2, a sensing test mechanism 3, a drilling and extraction test mechanism 4, and an attachment test mechanism 1. The three-axis gantry sliding mechanism 2 is used for precise positioning of the attachment under test; the sensing test mechanism 3 measures the force on the test sample through a six-dimensional force / torque sensor 302; the drilling and extraction test mechanism 3 measures drilling parameters through a coaxially integrated torque sensor 404 and encoder 405; and the attachment test mechanism 1 is used to install the attachment under test. All units are uniformly controlled and data acquired by a controller 6. During testing, attachment performance testing and drilling performance testing can be performed independently or collaboratively, simultaneously acquiring multi-dimensional data such as gripping force, detachment force, drilling force, torque, and rotational speed. This invention achieves high-precision, automated, and standardized performance testing and evaluation of deep space sampling and attachment components, providing key support for component development and optimization.

[0074] See Figures 1 to 11As shown, another embodiment of the present invention provides a testing method using the multi-axis attachment impact drilling test platform described above, comprising the following steps:

[0075] Installation steps: Install the test rock sample 305 on the sensing test mechanism 3, install the attachment test mechanism 1 on the Z-axis moving platform 203 of the three-axis gantry sliding mechanism 2, and install the drill bit 406 or the drill tool to be tested on the drilling and production test mechanism 4.

[0076] Adhesion test steps: The controller 6 controls the three-axis gantry sliding mechanism 2 to make the adhesion test mechanism 1 contact the surface of the test rock sample 305 with a preset posture and pressure, and perform the adhesion and desorption actions; the controller 6 collects force data during the adhesion and desorption process through the six-dimensional force / torque sensor 302.

[0077] Drilling test steps: The controller 6 controls the Z-axis of the three-axis gantry sliding mechanism 2 and / or the drive motor 403 of the drilling test mechanism 4 to make the drill bit 406 drill the test rock sample 305 with the set motion parameters; the controller 6 simultaneously collects data from the six-dimensional force / torque sensor 302, torque sensor 404 and encoder 405 to obtain drilling performance parameters.

[0078] During the drilling test, the Z-axis of the three-axis gantry sliding mechanism 2 provides drilling feed motion in either constant force control mode or constant speed control mode.

[0079] The testing method further includes a collaborative testing step: first, an attachment testing step is performed to anchor the attachment testing mechanism 1 to the test rock sample 305; then, under the condition that the attachment testing mechanism 1 provides additional constraints, a drilling testing step is performed to simulate the collaborative drilling and extraction operation under the attachment support.

[0080] Another embodiment of the present invention provides a testing method implemented through a highly integrated and automated multi-axis attachment impact drilling test platform. This platform can achieve standardized and quantitative testing of the drilling performance of sampling drills and the adhesion performance of attachment mechanisms within a single system through precise motion control and multi-dimensional sensing. The present invention is applicable to simulating real-world working conditions, enabling simultaneous or independent high-precision and automated testing and data acquisition of the drilling performance (such as torque, rotational speed, and drilling force) of rotary impact sampling drills and the adhesion performance (such as gripping force and detachment force) of biomimetic attachments.

[0081] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A multi-axis attachment impact drilling test platform, characterized in that, The system includes an attachment testing mechanism (1), a controller (6), a bottom truss (5), and a three-axis gantry sliding mechanism (2), a sensing testing mechanism (3), and a drilling and extraction testing mechanism (4) mounted on the bottom truss (5). The sensing testing mechanism (3) includes a base plate (301), a six-dimensional force / torque sensor (302), and a test rock sample (305) arranged sequentially from bottom to top. The three-axis gantry sliding mechanism (2) has degrees of freedom of movement in the X, Y, and Z directions. The attachment testing mechanism (1) is located at the output end of the three-axis gantry sliding mechanism (2) and is used to attach and press the test rock sample (305). The drilling and extraction testing mechanism (4) is used to sample the test rock sample (305). The controller (6) is used to control the actions of the three-axis gantry sliding mechanism (2) and the drilling and extraction testing mechanism (4) and to synchronously collect and process all sensor data.

2. The multi-axis attachment impact drilling test platform according to claim 1, characterized in that, The drilling and testing mechanism (4) includes a mounting base plate (401), a guide shaft (402), a drive motor (403), a torque sensor (404), an encoder (405), and a drill bit (406). The mounting base plate (401) is connected to the bottom truss (5), the lower end of the guide shaft (402) is connected to the mounting base plate (401), and the drive motor (403) is mounted on the upper end of the guide shaft (402), and its mounting position can be adjusted up and down. The output end of the drive motor (403) is connected in sequence to the torque sensor (404), the encoder (405), and the drill bit (406). The torque sensor (404) is used to measure the driving torque of the drive motor (403), and the encoder (405) is used to measure the rotational speed of the drill bit (406).

3. The multi-axis attachment impact drilling test platform according to claim 1 or 2, characterized in that, The adhesion testing mechanism (1) includes an adhesion claw (11) and a transfer block (12), wherein one end of the transfer block (12) is connected to the output end of the three-axis gantry sliding mechanism (2), and the other end is connected to the adhesion claw (11), which is used to attach to the upper surface of the test rock sample (305).

4. The multi-axis attachment impact drilling test platform according to claim 3, characterized in that, The attachment claw (11) includes an attachment barb (101), a barb end cap (103), a support rod (106), a torsion spring (107), and a connecting pin (108). One end of the support rod (106) is floatingly connected to the barb end cap (103), and the other end is hinged to the adapter block (12) via the connecting pin (108). The torsion spring (107) is sleeved on the connecting pin (108), and both ends abut against the adapter block (12) and the support rod (106) respectively. The torsion spring (107) provides a torque that causes the attachment claw (11) to tend toward a downward pre-attached state. The bottom of the barb end cap (103) slides in conjunction with a plurality of parallel attached barbs (101).

5. The multi-axis attachment impact drilling test platform according to claim 4, characterized in that, The bottom of the barb end cap (103) is provided with multiple sliding grooves in parallel. Multiple attached barbs (101) slide and engage with the corresponding sliding grooves through barb slide rails (102), and are prevented from detaching by barb baffles (104) connected to the barb end cap (103). Each sliding groove is provided with a slide rail spring (1011), and the two ends of the slide rail spring (1011) abut against the barb slide rail (102) and the barb end cap (103) respectively.

6. The multi-axis attachment impact drilling test platform according to claim 4, characterized in that, The attachment barb (101) includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring (1012) and an anchor (1013). The bottom of the attached barb body is provided with multiple inclined grooves in the height direction. Each inclined groove is provided with a slide spring (1012) and an anchor (1013) from the inside to the outside. The anchor (1013) protrudes from the inclined groove to the outside of the bottom of the attached barb body.

7. The multi-axis attachment impact drilling test platform according to claim 4, characterized in that, One end of the support rod (106) is inserted into the insertion hole provided on the spike end cap (103) and is axially limited by the support rod baffle (105); a spring (109) is provided at the bottom of the insertion hole, and the two ends of the spring (109) abut against the support rod (106) and the spike end cap (103) respectively.

8. The multi-axis attachment impact drilling test platform according to claim 2, characterized in that, The three-axis gantry sliding mechanism (2) includes an X-axis translational slide (201), a Y-axis translational slide (202), and a Z-axis slide (203) connected sequentially from bottom to top; the X-axis translational slide (201), the Y-axis translational slide (202), and the Z-axis slide (203) are respectively used to provide power for movement in the X, Y, and Z directions.

9. A testing method using the multi-axis attachment impact drilling test platform according to any one of claims 2-8, characterized in that, Includes the following steps: Adhesion test steps: The controller (6) controls the three-axis gantry sliding mechanism (2) to make the adhesion test mechanism (1) contact the surface of the test rock sample (305) with a preset posture and pressure, and perform the adhesion and desorption actions; the controller (6) collects force data during the adhesion and desorption process through the six-dimensional force / torque sensor (302); Drilling test steps: The controller (6) controls the Z-axis of the three-axis gantry sliding mechanism (2) and / or the drive motor (403) of the drilling test mechanism (4) so ​​that the drill bit (406) drills the test rock sample (305) with the set motion parameters; the controller (6) synchronously collects the data of the six-dimensional force / torque sensor (302), torque sensor (404) and encoder (405) to obtain the drilling performance parameters.

10. The test method according to claim 9, characterized in that, It also includes a collaborative testing step: first, the attachment testing step is performed to anchor the attachment testing mechanism (1) to the test rock sample (305), and then the drilling testing step is performed under the condition that the attachment testing mechanism (1) provides additional constraints to simulate the collaborative drilling and extraction operation under the attachment support.

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