Lunar laser and ultrasonic impact combined rock breaking device and method
Patent Information
- Application Number
- CN202611545319.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-10-08
- Publication Date
- 2026-11-03
AI Technical Summary
In the low gravity, vacuum, and large temperature difference environment of the lunar surface, traditional mechanical rock breaking methods require high drilling pressure and rotary drilling, which makes the attitude control of the robotic arm complex. Furthermore, existing laser-assisted methods have not been effectively matched, making it difficult to achieve efficient and stable rock breaking.
By combining coaxial continuous laser thermal weakening with toroidal free mass inertial impact, and offsetting the reaction impulse through a passive reverse balancing module, a non-rotating rock-breaking head is designed to achieve thermal-mechanical synergistic rock breaking and reduce the energy requirement for rock breaking.
Under the low gravity conditions of the lunar surface, it can achieve efficient and stable rock breaking without the need for large drilling pressure and rotational counter-torque, reducing the difficulty of robotic arm attitude control, adapting to the extreme environment of the lunar surface, and meeting the needs of bare rock breaking and in-situ construction.
Smart Images
Figure CN123027993A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a lunar surface laser and ultrasonic impact combined rock breaking device and method, belonging to the technical field of lunar surface rock breaking equipment. Background Technology
[0002] As deep space exploration continues to deepen, in-situ resource utilization and infrastructure construction on the lunar surface have become important research topics for major spacefaring nations. Lunar rock fracturing is a crucial operational step in tasks such as in-situ lunar construction, landing area leveling, road construction, and mineral sampling pretreatment. However, the lunar environment differs significantly from Earth's, exhibiting extreme conditions such as low gravity (approximately 1 / 6 of Earth's gravity), high vacuum, large temperature differences, strong radiation, and lunar dust contamination. Furthermore, the limited load-bearing capacity and attitude control capabilities of robotic arms or mobile platforms pose significant challenges to lunar rock fracturing operations.
[0003] In terrestrial engineering, traditional rock breaking methods mainly rely on mechanical rock breaking, which utilizes the high torque, high speed, and high drill pressure of the drill bit to achieve rock breaking. However, this type of method has significant shortcomings when applied in the lunar environment: First, traditional rotary drilling or percussion drilling usually requires a large axial drill pressure or a large overall machine weight as reaction force support, while the stable drill pressure available in the low gravity environment of the lunar surface is limited. If the impact load is directly increased to compensate for the insufficient drill pressure, it can easily cause attitude disturbances in the robotic arm or moving platform, or even overturning. Second, rotary drilling tools generate counter-torque during operation, which is transmitted to the end of the robotic arm or the lunar moving platform. Under low gravity conditions, slippage, yaw, or contact instability are more likely to occur, complicating attitude control. In addition, the problem of severe drill bit wear is particularly prominent under the condition of no logistical support on the lunar surface.
[0004] To address the aforementioned issues, those skilled in the art have proposed several alternative solutions. For example, there is an existing ultrasonic-excited free-mass space sampling drill, which mainly consists of an ultrasonic transducer, a free mass block, and a drill rod. Its working principle involves piezoelectric ceramics generating longitudinal resonance under high-frequency AC voltage. After the amplitude is amplified by an amplitude transformer, the free mass block reciprocates between the end of the amplitude transformer and the drill rod, transferring impact energy to the rock for fracturing. This type of solution reduces the drilling pressure requirement to some extent. However, it still has the following shortcomings: when the rock strength is high or the contact reaction force is limited, it is still necessary to increase the impact energy of the free mass block, thereby increasing the reaction impulse transmitted to the tool housing and the robotic arm end; and this type of solution is mainly geared towards sampling drilling, primarily targeting drilling, sampling, or ceramic hole machining, with its end typically being a drill rod or drill bit, and lacking a specialized rock-breaking structure designed for fracturing exposed lunar rocks.
[0005] Another approach combines laser-assisted rock breaking with mechanical drilling tools. This involves using a laser to thermally damage or locally soften the rock, followed by mechanical drilling for further rock breaking or drilling. However, this approach has limitations: laser-assisted methods typically emphasize combined laser and drilling, and using only laser rock breaking is limited by factors such as power, heat-affected zone, molten material, dust obstruction, and localized plasma shielding. Furthermore, using only the laser as an auxiliary heat source for the drilling tool still requires significant mechanical drilling force under low-reaction conditions on the lunar surface, making it difficult to fully meet the low-reaction rock breaking needs of lunar robotic arms.
[0006] In summary, how to achieve efficient, stable, and low-reaction-force fracturing of lunar rocks under the conditions of low gravity, vacuum, large temperature difference, and limited support capacity of the robotic arm on the lunar surface, without relying on high drilling pressure, rotary drilling, or transmitting large reaction impulses to the robotic arm, is a technical problem that urgently needs to be solved in the field of lunar rock breaking technology. Summary of the Invention
[0007] This invention addresses the shortcomings of existing lunar rock breaking devices, such as reliance on high drilling pressure, generation of counter-torque, large reaction impulse, and failure of laser-assisted methods to effectively match free mass impact. It provides a lunar surface laser and ultrasonic impact composite rock breaking device and method. Through multi-field coupling of coaxial continuous laser thermal weakening, annular free mass inertial impact, and passive reverse balancing mass block reaction force cancellation, rock breaking is achieved in the low gravity environment of the lunar surface without relying on high drilling pressure, without rotational counter-torque, and with low reaction force transmission.
[0008] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: In a first aspect, the present invention provides a lunar surface laser and ultrasonic impact composite rock-breaking device, comprising a main outer shell; and further comprising: A robotic arm connector is located at the rear end of the main housing and is used to connect to the end of the lunar robotic arm. A continuous laser module is disposed at the rear end of the main housing and is used to generate a continuous laser beam that propagates along the central axis of the main housing. An ultrasonic transducer module, located inside the main housing, is used to generate axial ultrasonic vibration; A hollow amplitude transformer is connected to the ultrasonic transducer module to amplify the ultrasonic vibration. The hollow amplitude transformer is coaxially arranged with the main shell. The hollow amplitude transformer has a first light-transmitting hole along the central axis for the continuous laser to pass through. A closed-guide inertial impact module is disposed in front of the hollow amplitude transformer and includes a closed-guide impact cavity. An annular free mass block is provided inside the closed-guide impact cavity. The free mass block can slide back and forth along the axial direction of the closed-guide impact cavity. The free mass block is coaxially arranged with the main shell and has a central through hole for the continuous laser to pass through. A front impact anvil is positioned in front of the free mass block to receive the impact of the free mass block. A non-rotating rock-breaking head is connected to the front of the front impact anvil. The non-rotating rock-breaking head is provided with a central light-transmitting hole and circumferentially arranged impact teeth. The continuous laser irradiates the rock surface through the central light-transmitting hole, and the impact teeth are used to apply the impact load transmitted by the front impact anvil to the rock. A passive reverse balancing module is located inside the main housing and between the front impact anvil and the non-rotating rock-breaking head. It includes a reverse balancing mass block and a balancing spring. During the impact, the movement direction of the reverse balancing mass block is opposite to the forward impact direction of the free mass block, which is used to counteract the reaction impulse transmitted to the end of the robotic arm.
[0009] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes coaxial continuous laser to locally thermally weaken lunar rocks, reducing the equivalent damage threshold and significantly lowering the load required for subsequent mechanical impact. This enables effective rock breaking under low drilling pressure conditions on the lunar surface. An inertial impact is achieved through a ring-shaped free mass block with a central through-hole to avoid the laser beam path, ensuring that laser thermal weakening and free mass impact are coupled on the same axis. This achieves thermo-mechanical synergistic rock breaking, improving energy utilization efficiency. A passive reverse balancing module generates a reverse inertial response, effectively offsetting the reaction impulse transmitted from the forward impact to the main shell and the robotic arm, reducing the risk of attitude disturbance in the robotic arm. This is particularly suitable for the low gravity conditions on the lunar surface and the limited load-bearing capacity of the robotic arm. Furthermore, this invention employs a non-rotating rock-breaking head, eliminating the counter-torque of traditional rotary drills, further reducing the difficulty of robotic arm attitude control and avoiding slippage and swaying problems under low gravity conditions. This invention does not primarily aim at sampling and drilling, but rather at breaking up exposed lunar rocks, clearing obstacles, pre-construction in situ, and lunar engineering operations, filling the gap in specialized devices for breaking up lunar rocks.
[0010] Furthermore, the ratio of the mass m1 of the free mass block to the axial equivalent mass m2 of the front impact anvil, the non-rotating rock breaker head, and the rock satisfies: 0.8≤m1 / m2≤1.2, in order to optimize the impact energy transfer efficiency.
[0011] The beneficial effects of adopting the above-mentioned further technical solutions are: by designing the mass matching between the annular free mass block, the front impact anvil, the non-rotating rock-breaking head, and the rock (m1 / m2 close to 1), the impact energy transfer efficiency is maximized, and a higher rock-breaking impact effect can be obtained with a lower input energy.
[0012] Furthermore, the passive reverse balancing module also includes a replaceable counterweight ring, a preload adjusting sleeve, and a stroke limiting sleeve; the replaceable counterweight ring is disposed in front of and / or behind the reverse balancing mass block, and the number of replaceable counterweight rings is set to one or more, so that the mass of the reverse balancing mass block can be adjusted by changing the number of replaceable counterweight rings; the preload adjusting sleeve is disposed between the reverse balancing mass block and the balancing spring, so that the preload of the balancing spring can be changed by the preload adjusting sleeve; the stroke limiting sleeve is disposed in front of the reverse balancing mass block to limit the stroke of the reverse balancing mass block.
[0013] Furthermore, the non-rotating rock-breaking head includes a rock-breaking head body, and the front end of the rock-breaking head body is provided with a plurality of impact teeth along the circumferential direction. The plurality of impact teeth are detachably installed on the rock-breaking head body, and the gap between each impact tooth constitutes a chip removal channel.
[0014] The beneficial effects of adopting the above-mentioned further technical solutions are: the non-rotating rock-breaking head of the present invention adopts a combination structure of a central light-transmitting hole and circumferentially arranged impact teeth, which enables laser thermal cracks and mechanical impact cracks to expand synergistically in space, thereby improving rock-breaking efficiency.
[0015] Furthermore, the front outer side of the rock-breaking head body is provided with an annular chip-guiding and dust-discharging sleeve, and the chip-guiding and dust-discharging sleeve is provided with a chip discharge hole corresponding to the chip discharge channel; the rock-breaking head body is provided with an inclined chip discharge groove corresponding to the chip discharge hole, and the inclined chip discharge groove is connected to the chip discharge hole.
[0016] Furthermore, the front end of the impact tooth block forms a wedge-shaped, prismatic, conical, or arc-shaped impact surface.
[0017] Furthermore, the rock-breaking head body is provided with a central light-transmitting window, which is located at the center of the rock-breaking head body, and multiple impact teeth are evenly distributed around the central light-transmitting window; the front end and rear end of the central light-transmitting window are respectively provided with a front-mounted replaceable sacrificial protection window and a centrally retractable main protection window, the main protection window is located at the rear end of the central light-transmitting window and is fixed by a light-transmitting window pressure ring, and the sacrificial protection window is located at the front end of the central light-transmitting window and is fixed by an anti-splash pressure ring; the front end of the rock-breaking head body is provided with an annular dust-collecting and chip-guiding ring, the dust-collecting and chip-guiding ring has a chip-guiding notch circumferentially opened, the chip-guiding notch is provided with the chip discharge channel, and is used to guide the rock chips generated by rock breaking.
[0018] Furthermore, the ultrasonic transducer module includes a rear pressure cover, a piezoelectric ceramic sheet, an electrode sheet, a front pressure cover, and a hollow pre-tightening screw. The piezoelectric ceramic sheet and the electrode sheet are alternately stacked to form a piezoelectric stack. The rear pressure cover and the front pressure cover clamp the piezoelectric stack. The hollow pre-tightening screw provides pre-tightening force and is provided with a second light-transmitting hole for the continuous laser to pass through.
[0019] Furthermore, the wavelength of the continuous laser generated by the continuous laser module is 900nm to 1100nm, and the power range is 50W to 500W.
[0020] Furthermore, the closed-loop guided inertial impact module also includes a rear limiting anvil and a buffer pad. The rear limiting anvil is used to limit the rearward movement limit position of the free mass block, and the buffer pad is disposed on the impact surface of the rear limiting anvil and / or the front impact anvil.
[0021] The beneficial effects of adopting the above-mentioned further technical solutions are: by setting a buffer pad, the closed guide impact cavity reduces the rebound impact noise during the reciprocating motion of the free mass block, and avoids the waste of excess vibration energy; by setting a rear limiting anvil, the free mass block is prevented from directly impacting the rear end of the closed guide impact cavity during high-frequency reciprocating motion, thereby improving the overall reliability and service life of the device.
[0022] Secondly, the present invention provides a lunar surface laser and ultrasonic impact combined rock breaking method, which employs the lunar surface laser and ultrasonic impact combined rock breaking device as described above, and includes the following steps: Step 1: Move the non-rotating rock-breaking head to the target lunar rock surface using a lunar robotic arm, so that the impact teeth contact the lunar rock surface and provide holding force; Step 2: Activate the continuous laser module. The continuous laser propagates along the central axis of the main shell, passing sequentially through the second light-transmitting hole of the hollow pre-tightening screw, the first light-transmitting hole of the hollow amplitude transformer, the central through hole of the free mass block, the third light-transmitting hole of the reverse balance mass block, and the central light-transmitting hole of the non-rotating rock-breaking head, irradiating the center of the contact area on the lunar rock surface, causing the lunar rock to locally heat up and generate thermal stress microcracks, thereby reducing the equivalent damage threshold of the lunar rock. Step 3: Start the ultrasonic transducer module. The ultrasonic transducer module generates axial ultrasonic vibration, which is amplified by the hollow amplitude transformer and drives the free mass block to reciprocate axially in the closed guide impact cavity. Step 4: The free mass block moves forward and impacts the front impact anvil. The impact load is transferred through the front impact anvil and the balance module mounting shell to the impact teeth of the non-rotating rock-breaking head. The impact teeth apply discrete impacts to the periphery of the lunar rock area after laser thermal weakening, so that the thermal cracks and impact cracks are interconnected, realizing the peeling and fragmentation of the lunar rock. Step 5: While the free mass block is impacting forward, the counterbalance mass block, under the action of the balance spring, generates a motion opposite to the forward impact direction of the ring-shaped free mass block, thus counteracting the reaction impulse transmitted to the end of the robotic arm. Step 6: Rock cuttings generated during the rock breaking process enter the chip removal channel through the gap between the impact teeth, and are guided by the inclined chip removal groove on the rock breaking head body to the chip removal hole of the chip guide sleeve for discharge.
[0023] Compared with the prior art, the present invention has the following beneficial effects: This method significantly reduces the impact energy required for a single impact through the synergistic effect of coaxial laser thermal weakening and the impact of a ring-shaped free mass block. Combined with a passive reverse balancing module to offset the reaction impulse, it can achieve efficient and stable rock breaking without high drilling pressure or rotational counter-torque under the conditions of low gravity and limited support capacity of the robotic arm on the lunar surface. This effectively reduces the difficulty of robotic arm attitude control, improves the reliability of lunar rock breaking operations, and is suitable for the special working environment of lunar vacuum, low gravity, and high dust. It can meet the operational needs of breaking exposed rocks, clearing obstacles, and in-situ construction pretreatment on the lunar surface, and solves the core problems faced by existing lunar rock breaking technologies. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the present invention; Figure 3 This is a three-dimensional structural diagram of the present invention from angle one; Figure 4 for Figure 3 Enlarged view of point A in the image; Figure 5 This is a three-dimensional sectional view of the present invention; Figure 6 for Figure 5 Enlarged view of point B in the image; Figure 7 for Figure 5 Enlarged view of point C in the image; Figure 8 This is a three-dimensional structural diagram of angle two of the present invention; Figure 9 for Figure 8 Enlarged view of point D in the image; Figure 10 This is the front view of the present invention; Figure 11 This is a bottom view of the present invention.
[0025] The attached diagrams are labeled as follows: 100, Main casing; 200, Ultrasonic transducer module; 210, Rear cover; 220, Piezoelectric ceramic sheet; 230, Electrode sheet; 240, Front cover; 250, Hollow pre-tightening screw; 251, Second light-transmitting hole; 300, Hollow amplitude transformer; 310, First light-transmitting hole; 400, Closed-loop guided inertial impact module; 410, Free mass block; 411, Central through hole; 420, Rear limiting anvil; 430, Front impact anvil; 440, Buffer pad; 450, Closed-loop guided impact cavity; 500, Non-rotating rock-breaking head; 510, Rock-breaking head body; 511, Central light-transmitting hole; 521, Main protection. Window; 522, Sacrificial Protection Window; 523, Light Transmitting Window Pressure Ring; 524, Splash-Proof Pressure Ring; 530, Impact Tooth Block; 540, Chip Guide and Dust Removal Sleeve; 541, Chip Removal Hole; 550, Dust Collection and Chip Guide Ring; 551, Chip Guide Notch; 560, Angled Chip Removal Groove; 570, Chip Removal Channel; 600, Passive Reverse Balancing Module; 610, Reverse Balancing Mass Block; 611, Third Light Transmission Hole; 620, Balancing Spring; 630, Replaceable Counterweight Ring; 640, Pre-Tightening Adjustment Sleeve; 650, Balancing Module Mounting Housing; 660, Stroke Limit Sleeve; 700, Continuous Laser Module; 710, Laser Head; 720, Laser Emission Port. Detailed Implementation
[0026] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.
[0027] In this invention, "front" and "rear" refer to the direction of impact towards the lunar rock during rock breaking operations, and "rear" refers to the direction away from the lunar rock. Unless otherwise specified, "axial direction" in this article refers to the direction of the central axis of the main outer shell 100.
[0028] The lunar surface laser and ultrasonic impact composite rock breaking device provided by the present invention is arranged along the central axis of the main shell 100, and each core functional module is kept coaxial to ensure that the laser optical path and the impact path are coaxially coupled.
[0029] See Figures 1-11 A lunar surface laser and ultrasonic impact composite rock-breaking device includes a main shell 100, a robotic arm connecting seat (not shown in the figure), a continuous laser module 700, an ultrasonic transducer module 200, a hollow amplitude transformer 300, a closed-guide inertial impact module 400, a non-rotating rock-breaking head 500, and a passive reverse balancing module 600.
[0030] The main outer shell 100 is a thin-walled cylindrical structure with an outer diameter of 150 mm, an inner diameter of 126 mm, and a length of 700 mm. The main outer shell 100 is made of titanium alloy, preferably TC4 titanium alloy, to meet the structural load-bearing requirements under lunar vacuum, temperature cycling, and impact vibration conditions. When higher requirements are placed on overall mass and thermal conductivity, high-strength aluminum alloy can also be used to balance structural strength and lightweight requirements, adapting to the mass constraints of lunar launch and landing. The robotic arm connector is located at the rear end of the main outer shell 100 and is used to connect to the end effector of the lunar robotic arm. The rear end of the main outer shell 100 is fixedly connected to the robotic arm connector by bolts. The robotic arm connector has mounting holes, such as six M8 mounting holes, for connecting to the end effector of the lunar robotic arm.
[0031] The continuous laser module 700 is disposed at the rear end of the main housing 100 and is used to generate continuous laser light that propagates along the central axis of the main housing 100. The continuous laser module 700 includes a laser head 710, and the end of the laser head 710 facing the interior of the main housing 100 is provided with a laser emission port 720. The wavelength of the continuous laser light generated by the continuous laser module 700 is 900nm to 1100nm and the power range is 50W to 500W. Preferably, in this embodiment, the wavelength of the continuous laser light is 1070nm and the power range is 300W.
[0032] The ultrasonic transducer module 200 is disposed inside the main housing 100 and is used to generate axial ultrasonic vibration. The ultrasonic transducer module 200 includes a rear pressure cover 210, a piezoelectric ceramic sheet 220, an electrode sheet 230, a front pressure cover 240, and a hollow preload screw 250. Multiple piezoelectric ceramic sheets 220 and electrode sheets 230 are provided. Preferably, in this embodiment, six piezoelectric ceramic sheets 220 and six electrode sheets 230 are provided. Six electrode plates 230 are alternately stacked to form a piezoelectric stack. A rear pressure cap 210 and a front pressure cap 240 are respectively disposed at the rear and front ends of the piezoelectric stack and clamp it. A hollow pre-tightening screw 250 passes through the rear pressure cap 210, the piezoelectric stack, and the front pressure cap 240 along its central axis, and provides pre-tightening force through a nut. The hollow pre-tightening screw 250 has a through-hole 251 for allowing the continuous laser to pass through. The piezoelectric ceramic plate 220 is made of PZT-8 type hard lead zirconate titanate piezoelectric ceramic material and generates axial high-frequency vibration under the drive of an ultrasonic AC signal. The electrode plates 230 are electrically connected to an ultrasonic generator (not shown in the figure).
[0033] The hollow amplitude transformer 300 is connected to the front of the ultrasonic transducer module 200 and is used to amplify the ultrasonic vibration. The hollow amplitude transformer 300 is coaxially arranged with the main housing 100. The hollow amplitude transformer 300 has a first light-transmitting hole 310 along the central axis for the continuous laser to pass through, and its diameter is about 20mm. The hollow amplitude transformer 300 is a frustum-shaped amplitude transformer with a front end diameter smaller than the rear end diameter, which is used to amplify the ultrasonic vibration amplitude generated by the piezoelectric stack.
[0034] The closed-loop guided inertial impact module 400 is located in front of the hollow amplitude transformer 300. It includes a closed-loop guided impact cavity 450, which contains an annular free mass block 410, a rear limiting anvil 420, a front impact anvil 430, and a buffer pad 440. The rear end of the closed-loop guided impact cavity 450 is provided with an impact cavity rear end cover. The rear limiting anvil 420 is installed on the impact cavity rear end cover. By setting the rear limiting anvil 420 on the impact cavity rear end cover, the free mass block 410 is prevented from directly impacting the impact cavity rear end cover during high-frequency reciprocating motion, thereby protecting the integrity of the cavity structure. The front impact anvil 430 is located on the inner side of the front end of the closed-loop guided impact cavity 450 and is used to efficiently transfer the impact energy of the free mass block 410 to the non-rotating rock breaker 500. The enclosed guide impact cavity 450 is a cylindrical cavity structure. The free mass block 410 is disposed within the enclosed guide impact cavity 450 and can slide back and forth along the axial direction of the enclosed guide impact cavity 450. The free mass block 410 is coaxially disposed with the main outer shell 100. The free mass block 410 has a central through hole 411 for the continuous laser to pass through, with an inner diameter of 22mm, which is larger than the aperture of the hollow amplitude transformer 300, ensuring the laser beam path is unobstructed. The rear limiting anvil 420 is disposed behind the free mass block 410 to limit the rearward movement limit position of the free mass block 410. The front impact anvil 430 is disposed in front of the free mass block 410 to receive the forward impact of the free mass block 410. The buffer pad 440 is disposed on the impact surfaces of the rear limiting anvil 420 and the front impact anvil 430, and is preferably made of polyurethane elastomer material to buffer the impact and reduce noise.
[0035] When the ultrasonic transducer module 200 is working, the piezoelectric ceramic sheet 220 generates high-frequency axial vibration, which is amplified by the hollow amplitude transformer 300 and drives the free mass block 410 to reciprocate axially within the closed guide impact cavity 450. When the free mass block 410 moves forward and impacts the front impact anvil 430, the impact load is transmitted to the non-rotating rock-breaking head 500 through the front impact anvil 430.
[0036] The non-rotating rock-breaking head 500 is connected to the front of the front impact anvil 430. The non-rotating rock-breaking head 500 is provided with a central light-transmitting hole 511 and circumferentially arranged impact teeth 530. The continuous laser irradiates the rock surface through the central light-transmitting hole 511, and the impact teeth 530 are used to apply the impact load transmitted by the front impact anvil 430 to the rock.
[0037] Specifically, the non-rotating rock-breaking head 500 includes a rock-breaking head body 510, with a central light-transmitting hole 511 penetrating the rock-breaking head body 510. The rock-breaking head body 510 has a disc-shaped structure, and multiple impact teeth 530 are provided circumferentially on the front end face of the rock-breaking head body 510. The multiple impact teeth 530 are detachably installed on the rock-breaking head body 510, for example, by being fixedly installed on the end face of the rock-breaking head body 510 by screws. The impact teeth 530 can be disassembled by removing the screws, which facilitates the installation, maintenance, and disassembly of the impact teeth 530. The gap between each impact tooth 530 forms a chip removal channel 570.
[0038] The front end of the rock-breaking head body 510 is provided with an annular chip guide and dust discharge sleeve 540, and the chip guide and dust discharge sleeve 540 is provided with a chip discharge hole 541 corresponding to the chip discharge channel 570; the rock-breaking head body 510 is provided with an inclined chip discharge groove 560 corresponding to the chip discharge hole 541, and the inclined chip discharge groove 560 is connected to the chip discharge hole 541.
[0039] The front end of the impact tooth block 530 forms a wedge-shaped, prismatic, conical, or arc-shaped impact surface, and in this embodiment, the wedge shape is preferred.
[0040] The rock-breaking head body 510 is provided with a central light-transmitting window, which is located at the center of the rock-breaking head body 510. Multiple impact teeth 530 are evenly distributed around the central light-transmitting window. The front and rear ends of the central light-transmitting window are respectively provided with a front-mounted replaceable sacrificial protection window 522 and a centrally retractable main protection window 521. The main protection window 521 is located at the rear end of the central light-transmitting window and is fixed by a light-transmitting window retaining ring 523. The sacrificial protection window 522 is located at the front end of the central light-transmitting window and is fixed by a protective ring 523. The splashing ring 524 is fixed; the front end of the rock-breaking head body 510 is provided with an annular dust-collecting and chip-guiding ring 550, which is arranged around the central light-transmitting window. The dust-collecting and chip-guiding ring 550 is provided with a chip-guiding notch 551 in the circumferential direction. The chip-guiding notch 551 is provided with the chip discharge channel 570 and the inclined chip discharge groove 560. The inclined chip discharge groove 560 extends obliquely from the dust-collecting and chip-guiding ring 550 to the side of the rock-breaking head body 510, and is used to guide the rock chips generated by rock breaking from the chip-guiding hole of the chip discharge sleeve 540.
[0041] Preferably, the number of impact teeth is 8 to 16. In this embodiment, there are 12 impact teeth 530. The 12 impact teeth 530 are evenly distributed around the central light-transmitting window on the front end face of the rock-breaking head body 510. Each impact tooth 530 is detachably fixed to the rock-breaking head body 510 by screws. The front end of each impact tooth 530 forms a wedge-shaped impact surface with a wedge angle of 60°, which is used to concentrate the impact load onto the rock surface. If the wedge angle is too small, the stress concentration at the tooth tip is stronger, which is more likely to induce rock cracks, but the strength of the tooth tip itself is reduced, and chipping is more likely to occur. If the wedge angle is too large, the bearing capacity of the tooth block itself is increased, but the rock indentation resistance and the required impact load will also increase. The change of the wedge angle will significantly affect the indentation force and the crack zone. The 60° blade angle adopted in this invention can effectively reduce the indentation resistance of lunar rock while ensuring the structural strength of the impact tooth 530, making it easier for the thermally weakened lunar rock to generate controllable crack propagation. In addition, the circumferentially distributed layout of the 12 impact teeth 530 ensures the uniform distribution of impact load around the contact area on the rock surface, avoiding local stress concentration that could lead to uneven loading or vibration instability of the rock-breaking head body 510. This is especially suitable for working conditions where the robotic arm cannot provide stable high drilling pressure in the low gravity environment of the lunar surface.
[0042] The continuous laser beam, passing through the central light-transmitting hole 511 and the central light-transmitting window, irradiates the central region of the lunar rock surface, causing localized heating and the generation of thermal stress microcracks in that area. The impact tooth block 530 applies the impact load transmitted by the front impact anvil 430 to the periphery of this thermally weakened region, allowing the thermal cracks and impact cracks to interpenetrate, thus achieving rock spalling and fracturing. Because the non-rotating rock-breaking head 500 does not rotate, it does not generate the counter-torque of traditional rotary drilling tools.
[0043] The passive reverse balancing module 600 is disposed inside the main housing 100. It includes a balancing module mounting housing 650, which is installed inside the main housing 100 and coaxially arranged with the main housing 100. The rear end of the balancing module mounting housing 650 can be bolted or contacted to the front impact anvil 430. In this embodiment, the rear end of the balancing module mounting housing 650 is bolted to the front impact anvil 430, and the front end of the balancing module mounting housing 650 is bolted to the rear end of the rock-breaking head body 510. The balancing module mounting housing 650 is provided with a reverse balancing mass block 610, a balancing spring 620, a replaceable counterweight ring 630, a preload adjusting screw sleeve 640, a stroke limit sleeve 660, a spring front seat, and a spring rear seat. The reverse balancing mass block 610 is disposed inside the main housing 100 and can slide back and forth along its axial direction. The reverse balancing mass block 610 is an annular block with a third light-transmitting hole 611 at its center for continuous laser transmission. During operation, the movement direction of the reverse balancing mass block 610 is opposite to the forward impact direction of the free mass block 410, which is used to counteract the reaction impulse transmitted to the end of the robotic arm. The balancing spring 620 is disposed between the reverse balancing mass block 610 and the front impact anvil 430, and is mounted via the spring front seat and the spring rear seat. The replaceable counterweight ring 630 is disposed in front of and / or behind the reverse balancing mass block 610. In this embodiment, the replaceable counterweight ring 630 is disposed in front of and behind the reverse balancing mass block 610, respectively. Multiple replaceable counterweight rings 630 can be provided. By changing the number of replaceable counterweight rings 630, the total mass of the reverse balancing mass block 610 and the replaceable counterweight rings 630 can be adjusted, allowing it to adapt to changes in impact load under different working conditions and achieve dynamic recoil balance. Matching; the preload adjusting sleeve 640 is disposed between the reverse balancing mass block 610 and the balancing spring 620. The preload adjusting sleeve 640 is threadedly connected to the front seat of the spring. The preload of the balancing spring 620 can be changed by rotating the preload adjusting sleeve 640; the stroke limiting sleeve 660 is disposed in front of the reverse balancing mass block 610 to limit the forward movement limit of the reverse balancing mass block 610, avoid rigid collision with the front end of the main housing 100, and ensure smooth system operation. The reverse balancing mass block 610 is also a ring structure with sufficient space in the center for the laser to pass through, and will not block the laser propagation path.
[0044] When the free mass block 410 impacts the anvil 430 forward, generating a rock-breaking impact load, the reverse balancing mass block 610, under the action of the balancing spring 620, synchronously generates a reverse inertial force, producing a motion opposite to the forward impact direction of the free mass block 410. This offsets part of the recoil, reducing the instantaneous reaction force and impulse transmitted to the robotic arm connecting seat and the robotic arm end, effectively suppressing overall vibration, and significantly reducing interference with the attitude control of the lunar robotic arm. This is particularly suitable for low-gravity, weak-constraint operating environments on the lunar surface. By adjusting the number of replaceable counterweight rings 630 and the position of the pre-tightening adjusting sleeve 640, the reverse inertial response of the reverse balancing mass block 610 can be matched with the impact frequency and impact energy of the free mass block 410, achieving the best reaction force offsetting effect.
[0045] The ratio of the mass m1 of the free mass block 410 to the axial equivalent mass m2 of the front impact anvil 430, the non-rotating rock breaker 500, and the rock contact surface satisfies the condition: 0.8 ≤ m1 / m2 ≤ 1.2, to optimize the impact energy transfer efficiency; preferably, m1 / m2 = 1. In this embodiment, the free mass block 410 is made of GCr15 bearing steel, with an outer diameter of 84.00 mm, a central through hole 411 diameter of 22.00 mm, an axial length of 58.00 mm, and a C0.5 chamfer on the end face edges. The theoretical finished product mass is 2.337 kg, the engineering nominal mass is 2.34 kg, and the finished product weight is controlled between 2.32 and 2.36 kg. The ratio of the mass m1 of the free mass block 410 to the axial equivalent mass m2 of the front impact anvil 430, the non-rotating rock breaker 500, and the rock contact area is set to m1 / m2 ≈ 1, that is, m2 is also taken as 2.34 kg. This mass ratio, ranging from 0.8 to 1.2 and close to 1, maximizes the impact energy transfer efficiency. Under these mass matching conditions, the free mass block 410 has a pre-impact velocity of no less than 1.20 m / s, an effective recovery coefficient of no less than 0.30, a single contact time of no more than 0.25 ms, and a total effective contact area of the 12 impact teeth 530 of no more than 24 mm. 2 At impact, it can transmit approximately 0.711 J of single-shot energy and 1.824 N·s impulse to the front end, generating a peak nominal contact stress of approximately 477.6 MPa, which is higher than the compressive strength of 341 MPa of un-laser-weakened basalt, demonstrating reliable rock-breaking capability. Before impact, continuous laser treatment locally thermally weakens the lunar rock, further reducing the rock-breaking threshold and allowing thermal cracks and impact cracks to interpenetrate, thereby improving rock-breaking efficiency and reliability.
[0046] This embodiment provides a lunar surface laser and ultrasonic impact combined rock breaking method, using the lunar surface laser and ultrasonic impact combined rock breaking device as described above, including the following steps: Step 1: Connect this device to the end of the lunar robotic arm via the robotic arm connector. During operation, the lunar robotic arm moves the device to the target lunar rock surface, causing the impact teeth 530 of the non-rotating rock-breaking head 500 to contact the lunar rock surface and provide a holding force. The magnitude of the holding force is adjusted within the range of 5N to 10N, so that the impact teeth 530 stably adheres to the rock surface and prevents the device from bouncing off the rock surface as a whole when impacted by the free mass block 410. In this embodiment, the holding force is 8N. Step 2: Then, the continuous laser module 700 is activated. The continuous laser propagates along the central axis of the main shell 100, passing sequentially through the second light-transmitting hole 251 of the hollow pre-tightening screw 250, the first light-transmitting hole 310 of the hollow amplitude transformer 300, the central through hole 411 of the free mass block 410, the third light-transmitting hole 611 of the reverse balance mass block 610, and the central light-transmitting hole 511 of the non-rotating rock-breaking head 500, irradiating the center of the contact area on the lunar rock surface, causing the lunar rock to locally heat up and generate thermal stress microcracks, thereby reducing the equivalent damage threshold of the lunar rock. Step 3: Start the ultrasonic transducer module 200. The ultrasonic transducer module 200 generates axial ultrasonic vibration, which is amplified by the hollow amplitude transformer 300 and drives the free mass block 410 to reciprocate axially in the closed guide impact cavity 450. Step 4: The free mass block 410 moves forward and impacts the front impact anvil 430. The impact load is transmitted through the front impact anvil 430 and the balance module mounting shell 650 to the impact tooth block 530 of the non-rotating rock breaking head 500. The impact tooth block 530 applies discrete impacts to the periphery of the lunar rock area after laser thermal weakening, so that the thermal cracks and impact cracks are interconnected, realizing the peeling and fragmentation of the lunar rock. Step 5: While the free mass block 410 is impacting forward, the counterbalance mass block 610, under the action of the balance spring 620, generates a motion opposite to the forward impact direction of the annular free mass block 410, thus offsetting the reaction impulse transmitted to the end of the robotic arm. Step Six: During the rock breaking process, the rock chips generated enter the chip removal channel 570 through the gap between the impact teeth 530, and are guided by the inclined chip removal groove 560 on the rock breaking head body 510 to the chip removal hole 541 of the chip guide sleeve 540 for discharge. At the same time, the chip guide notch 551 circumferentially set on the dust collection and chip guide ring 550 is aligned with the chip removal channel 570 to further guide the rock chips to be discharged along the predetermined path, preventing the rock chips from accumulating at the front end of the rock breaking head body 510 and affecting the laser irradiation and impact effect. Step 7: After completing the single-point rock-breaking task, the robotic arm drives the device to move to the next target position and repeats the above steps to achieve continuous, efficient, and low-disturbance in-situ rock-breaking operations on the lunar surface.
[0047] Based on the requirements of lunar rock hardness and operational efficiency, the continuous laser power and the excitation frequency of the ultrasonic transducer module 200 can be adjusted to achieve dynamic optimization of rock breaking parameters. When the impact tooth block 530 is worn or damaged, it can be replaced by removing the fixing screws to ensure long-term stable operation of the device.
[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A lunar surface laser and ultrasonic impact composite rock-breaking device, comprising a main outer shell (100); characterized in that, Also includes: A robotic arm connector is located at the rear end of the main housing (100) and is used to connect to the end of the lunar robotic arm. A continuous laser module (700) is disposed at the rear end of the main housing (100) and is used to generate a continuous laser beam that propagates along the central axis of the main housing (100); An ultrasonic transducer module (200) is disposed inside the main housing (100) and is used to generate axial ultrasonic vibration; A hollow amplitude transformer (300) is connected to the ultrasonic transducer module (200) to amplify the ultrasonic vibration. The hollow amplitude transformer (300) is provided with a first light-transmitting hole (310) along the central axis for the continuous laser to pass through. A closed-guide inertial impact module (400) is disposed in front of the hollow amplitude transformer (300) and includes a closed-guide impact cavity (450). A ring-shaped free mass block (410) is provided inside the closed-guide impact cavity (450). The free mass block (410) can slide back and forth along the axial direction of the closed-guide impact cavity (450). The free mass block (410) is provided with a central through hole (411) through which the continuous laser passes. A front impact anvil (430) is disposed in front of the free mass block (410) to receive the impact of the free mass block (410); A non-rotating rock-breaking head (500) is connected to the front of the front impact anvil (430). The non-rotating rock-breaking head (500) is provided with a central light-transmitting hole (511) and circumferentially arranged impact teeth (530). The continuous laser is irradiated onto the rock surface through the central light-transmitting hole (511). The impact teeth (530) are used to apply the impact load transmitted by the front impact anvil (430) to the rock. A passive reverse balancing module (600) is disposed inside the main housing (100) and between the front impact anvil (430) and the non-rotating rock-breaking head (500). It includes a reverse balancing mass block (610) and a balancing spring (620). During the impact process, the movement direction of the reverse balancing mass block (610) is opposite to the forward impact direction of the free mass block (410) to counteract the reaction impulse transmitted to the end of the robotic arm.
2. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 1, characterized in that, The ratio of the mass m1 of the free mass block (410) to the axial equivalent mass m2 of the front impact anvil (430), the non-rotating rock breaker (500) and the rock satisfies: 0.8≤m1 / m2≤1.
2.
3. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 1, characterized in that, The passive reverse balancing module (600) further includes a replaceable counterweight ring (630), a preload adjusting sleeve (640), and a stroke limiting sleeve (660); the replaceable counterweight ring (630) is disposed in front of and / or behind the reverse balancing mass block (610), and the number of replaceable counterweight rings (630) is set to one or more; the preload adjusting sleeve (640) is disposed between the reverse balancing mass block (610) and the balance spring (620); the stroke limiting sleeve (660) is disposed in front of the reverse balancing mass block (610) and is used to limit the stroke of the reverse balancing mass block (610).
4. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 1, characterized in that, The non-rotating rock breaker (500) includes a rock breaker body (510), and the front end of the rock breaker body (510) is provided with a plurality of impact teeth (530) along the circumferential direction. The plurality of impact teeth (530) are detachably installed on the rock breaker body (510), and the gap between each impact tooth (530) forms a chip removal channel (570).
5. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 4, characterized in that, The front end of the rock-breaking head body (510) is provided with an annular chip guide sleeve (540), and the chip guide sleeve (540) is provided with a chip discharge hole (541) corresponding to the chip discharge channel (570); the rock-breaking head body (510) is provided with an inclined chip discharge groove (560) corresponding to the chip discharge hole (541), and the inclined chip discharge groove (560) is connected to the chip discharge hole (541).
6. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 5, characterized in that, The front end of the impact tooth block (530) forms a wedge-shaped, prismatic, conical, or arc-shaped impact surface.
7. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 5 or 6, characterized in that, The rock-breaking head body (510) is provided with a central light-transmitting window, which is located at the center of the rock-breaking head body (510). Multiple impact teeth (530) are evenly distributed around the central light-transmitting window. The front end and rear end of the central light-transmitting window are respectively provided with a front-mounted replaceable sacrificial protection window (522) and a centrally retractable main protection window (521). The main protection window (521) is located at the rear end of the central light-transmitting window and is fixed by a light-transmitting window pressure ring (523). The sacrificial protection window (522) is located at the front end of the central light-transmitting window and is fixed by a splash-proof pressure ring (524). The front end of the rock-breaking head body (510) is provided with an annular dust-collecting and chip-guiding ring (550). The dust-collecting and chip-guiding ring (550) is provided with a chip-guiding notch (551) circumferentially. The chip-guiding notch (551) is provided with the chip discharge channel (570) and is used to discharge the rock chips generated by rock breaking.
8. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 1, characterized in that, The ultrasonic transducer module (200) includes a rear cover (210), a piezoelectric ceramic sheet (220), an electrode sheet (230), a front cover (240), and a hollow pre-tightening screw (250). The piezoelectric ceramic sheet (220) and the electrode sheet (230) are alternately stacked to form a piezoelectric stack. The rear cover (210) and the front cover (240) clamp the piezoelectric stack. The hollow pre-tightening screw (250) provides a pre-tightening force. The hollow pre-tightening screw (250) is provided with a second light-transmitting hole (251) through which the continuous laser passes.
9. The lunar surface laser and ultrasonic impact composite rock-breaking device according to claim 1, characterized in that, The continuous laser module (700) generates a continuous laser with a wavelength of 900nm to 1100nm and a power range of 50W to 500W.
10. A method for breaking rocks on the lunar surface using a combination of laser and ultrasonic impact, characterized in that, The lunar surface laser and ultrasonic impact combined rock-breaking device as described in any one of claims 1 to 9 includes the following steps: Step 1: Move the non-rotating rock-breaking head (500) to the target lunar rock surface using a lunar robotic arm, so that the impact tooth block (530) contacts the lunar rock surface and provides holding force; Step 2: Activate the continuous laser module (700). The continuous laser propagates along the central axis of the main shell (100) and passes through the second light-transmitting hole (251) of the hollow pre-tightening screw (250), the first light-transmitting hole (310) of the hollow amplitude transformer (300), the central through hole (411) of the free mass block (410), the third light-transmitting hole (611) of the reverse balance mass block (610), and the central light-transmitting hole (511) of the non-rotating rock-breaking head (500) in sequence. It irradiates the center of the contact area on the lunar rock surface, causing the lunar rock to locally heat up and generate thermal stress microcracks, thereby reducing the equivalent damage threshold of the lunar rock. Step 3: Start the ultrasonic transducer module (200). The ultrasonic transducer module (200) generates axial ultrasonic vibration, which is amplified by the hollow amplitude transformer (300) and drives the free mass block (410) to reciprocate along the axis in the closed guide impact cavity (450). Step 4: The free mass block (410) moves forward and impacts the front impact anvil (430). The impact load is transmitted through the front impact anvil (430) and the balance module mounting shell (650) to the impact tooth block (530) of the non-rotating rock breaking head (500). The impact tooth block (530) applies discrete impact to the periphery of the lunar rock area after laser thermal weakening, so that the thermal crack and the impact crack are interconnected, realizing the peeling and fragmentation of the lunar rock. Step 5: While the free mass block (410) is impacting forward, the counterbalance mass block (610) under the action of the balance spring (620) generates a motion opposite to the forward impact direction of the ring-shaped free mass block (410), thus offsetting the reaction impulse transmitted to the end of the robotic arm. Step 6: Rock chips generated during rock breaking enter the chip removal channel (570) through the gap between the impact teeth (530), and are guided by the inclined chip removal groove (560) on the rock breaking head body (510) to the chip removal hole (541) of the chip guide sleeve (540) for discharge.