月球大深度保真取芯探矿机器人系统构想与设计
Scheme and Design of a Lunar Large-depth and In-situ Condition-holding Coring Robot System
作者：谢和平(深圳大学 广东省深地科学与地热能开发利用重点实验室 深地科学与绿色能源研究院 土木与交通工程学院，广东 深圳 518060;四川大学 水力学与山区河流开发保护国家重点实验室 水利水电学院，四川 成都 610065)；张国庆(深圳大学 机电与控制工程学院，广东 深圳 518060)；罗通(深圳大学 机电与控制工程学院，广东 深圳 518060)；高明忠(深圳大学 广东省深地科学与地热能开发利用重点实验室 深地科学与绿色能源研究院 土木与交通工程学院，广东 深圳 518060;四川大学 水力学与山区河流开发保护国家重点实验室 水利水电学院，四川 成都 610065)；李存宝(深圳大学 广东省深地科学与地热能开发利用重点实验室 深地科学与绿色能源研究院 土木与交通工程学院，广东 深圳 518060)；刘涛(四川大学 新能源与低碳技术研究院，四川 成都 610065)
Author：XIE Heping(Guangdong Provincial Key Lab. of Deep Earth Sciences and Geothermal Energy Exploitation and Utilization, Inst. of Deep Earth Sciences and Green Energy, College of Civil and Transportation Eng., Shenzhen Univ., Shenzhen 518060, China;State Key Lab. of Hydraulics and Mountain River Eng., College of Water Resource & Hydropower, Sichuan Univ., Chengdu 610065, China)；ZHANG Guoqing(College of Mechatronics and Control Eng., Shenzhen Univ., Shenzhen 518060, China)；LUO Tong(College of Mechatronics and Control Eng., Shenzhen Univ., Shenzhen 518060, China)；GAO Mingzhong(Guangdong Provincial Key Lab. of Deep Earth Sciences and Geothermal Energy Exploitation and Utilization, Inst. of Deep Earth Sciences and Green Energy, College of Civil and Transportation Eng., Shenzhen Univ., Shenzhen 518060, China;State Key Lab. of Hydraulics and Mountain River Eng., College of Water Resource & Hydropower, Sichuan Univ., Chengdu 610065, China)；LI Cunbao(Guangdong Provincial Key Lab. of Deep Earth Sciences and Geothermal Energy Exploitation and Utilization, Inst. of Deep Earth Sciences and Green Energy, College of Civil and Transportation Eng., Shenzhen Univ., Shenzhen 518060, China)；LIU Tao(Inst. of New Energy and Low-carbon Technol., Sichuan Univ., Chengdu 610065, China)
收稿日期：2020-02-08 年卷（期）页码：2020,52(2):1-9
期刊名称：工程科学与技术
Journal Name：Advanced Engineering Sciences
关键字：月球;大深度保真取芯;机器人;月球探测
Key words：moon;large-depth and in-situ condition-holding coring;robot;lunar exploration
基金项目：国家自然科学基金委重大科研仪器研制项目（51827901）
中文摘要
开展月球取芯是人类探索月球、获取月球地质信息、了解地月系及太阳系起源与演化的重要举措。针对目前人类月球取芯存在的“取不深”“取不真”的技术瓶颈，从月球月壤/月岩地质成分与特性入手，在国际上首次提出月球大深度保真取芯探矿思路，在综合考虑大深度取芯钻杆搭接、取芯机器人构型设计、取芯过程自掘进与支撑、原位保真取芯控制、样本原位封装与返回等要素的基础上，提出月球大深度保真取芯探矿机器人系统构想。针对所提出的构想进行机器人系统实施技术方案设计，具体设计了多级分段式取芯器、自掘进取芯机器人、柱坐标取芯器存储机器人、气压轴向推进与气压支撑、旋转复合超声冲击钻进、保真膜及微流道原位环境控制、蜂窝状样本保真腔、月球样本保真返回等技术实施方案。基于上述构想及技术实施方案，本文系统总结了月球大深度保真取芯机器人系统设计需解决的关键技术问题及解决思路。本研究将为人类进行月球及其他行星大深度保真取芯探矿提供技术方案参考。研究成果将有助于人类真实地了解月球深部原位地质信息，为月球演化科学探索提供技术支撑。
英文摘要
Carrying out large-depth and in-situ condition-holding coring of the moon is an important measure for humans to explore the moon, obtain geological information of the moon, and understand the origin and evolution of the earth-moon system and solar system. Aiming at the existed "no deep" and "unreal" technical bottlenecks during moon coring, this paper started with the geological compositions and properties of the lunar soil/rock, for the first time in the world proposed the idea of large-depth and in-situ condition-holding coring of the moon, on the basis of comprehensive consideration of factors such as drill rod connection in large depth coring, configuration design of coring robot, self-drilling and holding in coring process, in-situ condition-holding coring control, sample in-situ sealing and return, etc., proposed the scheme of a lunar large-depth and in-situ condition-holding coring robot system. According to the proposed scheme, the layout and design of the robot system was implemented, specifically, the design of a multi-segmented corer, a self-drilling coring robot, a cylindrical coordinate coring robot, a pneumatic axial propelling and pneumatic fixing, a turning and ultrasonic shock combining drilling, in-situ condition-holding based on condition-holding film and microfluidics, honeycomb-like sample condition-holding cavity, lunar sample in-situ condition-holding return etc. were implemented. Based on the above schemes and technical designs, this paper systematically summarized the key technical problems and solutions for the design of the lunar large-depth and in-situ condition-holding coring robot system. The research provided a technical reference for humans to carry out large-depth and in-situ condition-holding coring exploration on the moon and other planets. The research results will help humans to truly understand the deep in-situ geological information of the moon, and provide technical support for the scientific exploration of lunar evolution.
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