CN113104234A - Lander for realizing lunar surface drilling, surface taking and sampling - Google Patents
Lander for realizing lunar surface drilling, surface taking and sampling Download PDFInfo
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- CN113104234A CN113104234A CN202110217991.9A CN202110217991A CN113104234A CN 113104234 A CN113104234 A CN 113104234A CN 202110217991 A CN202110217991 A CN 202110217991A CN 113104234 A CN113104234 A CN 113104234A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
- B64G1/443—Photovoltaic cell arrays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
Abstract
The invention discloses a lander for realizing lunar drilling, surface sampling and sampling, which comprises a lander main body, a drilling and sampling device, a surface sampling mechanical arm, a solar wing, a propulsion system, a monitoring system and a landing buffer system, wherein the surface sampling mechanical arm is arranged on the landing main body; the meter sampling mechanical arm is arranged on the south side of the upper surface of the lander main body, and the drill sampling device is arranged on the north side of the lander main body; the upper surface of the lander main body is provided with a support which is used for fixedly connecting an external riser, and the distance from the surface of the moon to the sampling mechanical arm is consistent with the distance from the sample container on the top of the riser; the solar wings are arranged at the east and west sides of the lander main body; the landing buffer system is used for absorbing landing impact energy of the lander landing on the moon surface. The invention can realize unmanned automatic sampling of the moon and provide a stable support platform for the takeoff and the ascent of the ascender.
Description
Technical Field
The invention relates to the technical field of lunar landers, in particular to a lander for realizing lunar surface drilling, surface taking and sampling.
Background
The Chang' e lander III successfully realizes the soft landing of the moon in 2013 in 12 months, and opens a new era of lunar surface exploration in China. In the year 1 of 2019, the Chang E four lander successfully lands on the back of the moon, and the new height detected by the lunar surface in China is refreshed again. The prior landers can not realize the automatic sampling return task.
Disclosure of Invention
In view of the above, the invention provides a lander for realizing the drilling, the taking and the sampling of the lunar surface, which can realize unmanned automatic sampling of the moon and provide a stable supporting platform for the takeoff and the rising of an ascender.
The technical scheme adopted by the invention is as follows:
a lander for realizing lunar surface drilling, surface taking and sampling comprises a lander main body, a drilling and sampling device, a surface taking and sampling mechanical arm, a solar wing, a propulsion system, a monitoring system and a landing buffer system;
the meter sampling mechanical arm is arranged on the south side of the upper surface of the lander main body, and the drill sampling device is arranged on the north side of the lander main body; the upper surface of the lander main body is provided with a support for fixedly connecting an external riser, and the distance from the surface of the moon to the sampling mechanical arm is consistent with the distance from the sample container at the top of the riser; the solar wings are arranged at the east and west sides of the lander main body; the landing buffer system is used for absorbing landing impact energy of the landing device landing lunar surface;
after the sample container is packaged, drilling a sampling device to avoid a takeoff ascending channel of the ascender; before the lift-off of the lifter, the lander is electrically and mechanically separated from the lifter, and then the lander is used as a lift-off lifting platform of the lifter to support the lifter to lift off.
Furthermore, the solar wing is a foldable solar wing with two folds, and the normal line of the lower substrate inclines to the south by a certain angle when the solar wing is in an unfolded state.
Furthermore, the landing device also comprises a fluid loop system and a water sublimation system, wherein the fluid loop system is used for balancing the temperature of each single machine device of the landing device, and the water sublimation system actively dissipates heat through solid state sublimation of water; the equipment valves of the fluid loop system and the water sublimation system are arranged on the same landing device main body cabin plate.
Furthermore, the lander main body comprises a cross partition plate, a top plate, a bottom plate and side plates, the cross partition plate is fixed between the top plate and the bottom plate, the side plates are fixed at the edges of the top plate and the bottom plate to form a closed space, and the side plates are fixedly connected with the cross partition plate.
Further, the propulsion system comprises an engine, a pressure sensor, a valve and a tank;
the four storage tanks are arranged in a closed space formed by the cross partition plate, the top plate and the bottom plate, and the height of each storage tank is taken as the maximum height of the main body of the lander; the engine is fixed in the middle of the bottom plate, and the lower end of the cross partition plate is provided with a notch to provide an installation space for the engine.
Further, the monitoring system comprises a laser distance measuring sensor, a laser speed measuring sensor, a laser three-dimensional imaging sensor, a microwave distance measuring and speed measuring sensor, an optical imaging sensor and a gamma shutdown sensor;
the laser distance measuring sensor and the laser speed measuring sensor are arranged on the + Y side plate, the laser three-dimensional imaging sensor is arranged on the-Y side plate, the microwave distance measuring and speed measuring sensor is arranged on the + Z side plate, the optical imaging sensor is arranged on the-Z side plate, and the gamma shutdown sensor is arranged on the bottom plate; + X is the moon facing the sky side, + Y is the moon north side, + Z direction is determined according to the right hand rule.
Furthermore, the landing buffer system comprises four sets of landing buffer mechanisms which are respectively arranged on a + Y side plate, a-Y side plate, a + Z side plate and a-Z side plate.
Has the advantages that:
1. the lander provided by the invention carries two sampling devices of drilling sampling and surface sampling, and the lander can realize the drilling and surface sampling heterogeneous sampling of the lunar surface. The drilling sampling device is arranged on the north side of the lander main body, and the meter sampling mechanical arm is arranged on the south side of the upper surface of the lander main body, so that the mutual interference of the movement of the drilling sampling device and the movement of the meter sampling mechanical arm is avoided, and the weight distribution of the two sides of the lander is balanced to a certain degree. Secondly, the distance between the meter taking and sampling mechanical arm and the lunar surface is equivalent to the distance between the meter taking and sampling mechanical arm and the sample container on the top of the riser, so that the length of the arm rod of the meter taking and sampling mechanical arm is optimal. And moreover, the lander provides a stable supporting platform for the takeoff and the rising of the ascender, and the lander is used as the takeoff and rising platform of the ascender to support the takeoff of the ascender.
2. The system is provided with the fluid loop system and the water sublimation system, the fluid loop system can balance the temperature of each single unit device of the lander, and the water sublimation system can actively dissipate heat through solid state sublimation of water, so that the sampling device can continuously work in a lunar high-temperature environment. The centralized layout of the equipment valves of the two thermal control systems on the same deck is beneficial to saving system resources.
3. The landing device takes the height of the storage box as the maximum height of the landing device box body, thereby being beneficial to reducing the height of the mass center of the landing device and enhancing the landing stability.
4. The invention installs the instrument equipment on the deck boards such as the side board, the bottom board and the like, enlarges the effective volume of the box body and is beneficial to reducing the weight of the structural subsystem. The four landing buffer mechanisms are arranged on the outer sides of the four cabin plates of the lander, the size of the closed space of the lander is enlarged, the span of the buffer mechanisms is also enlarged, and the landing stability is enhanced.
5. The invention fixes the riser above the landing device main body through the support, and transfers the force bearing load of the riser downwards through the riser support and the landing device cross partition plate, thereby realizing the requirement of carrying the riser to fly and fall moon.
Drawings
FIG. 1 is an exploded view of the landing gear of the present invention.
FIG. 2(a) is a schematic structural diagram of the interior of the central cabin of the landing gear of the present invention, and FIG. 2(b) is a schematic structural diagram of the interior of the central cabin of the landing gear of the present invention with the storage tank removed.
FIG. 3 is a schematic diagram of the layout of the landing gear top plate according to the present invention.
FIG. 4 is a schematic layout of the landing gear base plate according to the present invention.
FIG. 5 is a schematic view of the layout of the landing gear + Y side plate of the present invention.
FIG. 6 is a schematic view of the layout of the landing gear-Y side plate of the present invention.
FIG. 7 is a schematic view of the layout of the landing gear + Z side plate of the present invention.
FIG. 8 is a schematic view of the layout of the landing gear-Z side plate of the present invention.
Wherein, 1-top plate, 2-solar wing I, 3-Z side plate, 4-landing buffer mechanism I, 5-drilling sampling device, 6- + Y side plate, 7-landing buffer mechanism II, 8-Y side plate, 9-landing buffer mechanism III, 10-solar wing II, 11- + Z side plate, 12-landing buffer mechanism IV, 13-central cabin body, 14-storage box, 15-variable thrust engine, 16-sampling mechanical arm, 17-primary encapsulation device, 18-directional antenna, 19-payload panoramic camera turntable, 20-gamma shutdown sensor, 21-laser speed measurement sensor, 22-laser distance measurement sensor, 23-landing topography sensor, 24-laser three-dimensional imaging sensor, 25-microwave distance measuring and speed measuring sensor, 26-optical imaging sensor, 27-water sublimation system and 28-fluid loop system.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a lander for realizing lunar surface drilling, surface taking and sampling, which comprises a lander main body, a drilling and sampling device 5, a surface taking and sampling mechanical arm 16, a solar wing, a propulsion system, a monitoring system and a landing buffer system, as shown in figure 1.
In the process of acquiring a moon sample by the meter sampling mechanical arm 16, more mechanical arm movement positions need to be judged according to images, so that the meter sampling mechanical arm 16 is arranged on the south side of a top plate 1 of the lander main body, and the drill sampling device 5 is arranged on the north side of the lander main body; the upper surface of the lander main body is provided with a support for fixedly connecting an external riser, and the distance from the meter-taking sampling mechanical arm 16 to the lunar surface is consistent with the distance from the meter-taking sampling mechanical arm 16 to a sample container on the top of the riser, so that the length of the arm rod of the meter-taking sampling mechanical arm 16 is optimal. The layout of the drilling sampling device 5 requires that the drilling mechanism and the drill rod up-and-down movement path are complete and have no interference, so that the storage box 14 and the buffer mechanism need to be avoided, and meanwhile, the device is far away from the riser as far as possible to ensure the take-off safety.
The landing device is located in the northern hemisphere of the moon, and sunlight irradiates from south to north, so that the solar wing I2 and the solar wing II 10 are respectively arranged on the east side and the west side of the landing device body; since the engine for hover translation control needs to be laid out at the top of the lander, the width of the sun wing is restricted. The height of the solar wing can be obtained according to the width of the solar wing, the too high solar wing cannot be provided with a pressing point in the space occupied by the riser, and the solar wing of the lander can be designed into a double-folding deployable solar wing. Because the altitude angle of the high latitude sun in the northern hemisphere of the moon is lower, in order to increase the lunar surface power generation power of the solar wing, the solar wing needs to be installed in a south-inclined mode, namely the normal line of the substrate of the solar wing is inclined to the south by a certain angle in the unfolded state, so that the lunar surface working energy requirement is met.
The landing buffer system is used for absorbing landing impact energy of the landing device landing lunar surface; the monitoring system, the propulsion system and the landing buffer system work together to successfully land the lander on the surface of the moon safely and stably.
After the sample container is packaged, drilling a sampling device 5 to avoid a takeoff ascending channel of the ascender; before the lift-off of the lifter, the lander is electrically and mechanically separated from the lifter, and then the lander is used as a lift-off lifting platform of the lifter to support the lifter to lift off.
The main body of the lander comprises a cross partition plate, a top plate 1, a bottom plate and side plates, wherein the cross partition plate is fixed between the top plate 1 and the bottom plate, the side plates are fixed at the edges of the top plate 1 and the bottom plate to form a closed space, namely a central cabin body 13, and the side plates are fixedly connected with the cross partition plate. The side plates include a + Y side plate 6, a-Y side plate 8, a + Z side plate 11 and a-Z side plate 3, wherein + X is the moon side facing the sky side, + Y is the north moon side, and + Z direction is determined according to the right hand rule.
As shown in fig. 3, the top plate 1 is further provided with a metering primary packaging device 17, a directional antenna 18 and a payload panoramic camera turntable 19.
The propulsion system is provided with 7500N variable- thrust engine 15 and 4 492L volume storage tanks 14, is filled with 2100kg of propellant and carries a plurality of attitude control engines, electric explosion valves, self-locking valves and pressure sensors. As shown in fig. 2(a), four storage tanks 14 are arranged in the closed space formed by the cross partition plate, the top plate 1 and the bottom plate, and are arranged side by side in two rows, and the height of each storage tank 14 is taken as the maximum height of the main body of the landing device; as shown in fig. 2(b), the variable thrust engine 15 is fixed in the middle of the bottom plate, and the lower end of the cross partition is provided with a notch to provide an installation space for the engine.
The monitoring system comprises a laser ranging sensor 22, a laser speed measuring sensor 21, a laser three-dimensional imaging sensor 24, a landing terrain sensor 23, a microwave ranging and speed measuring sensor 25, an optical imaging sensor 26 and a gamma shutdown sensor 20; as shown in fig. 5, the laser distance measuring sensor 22 and the laser speed measuring sensor 21 are arranged on the + Y side plate 6; as shown in fig. 6, the landing topography sensor 23 and the laser three-dimensional imaging sensor 24 are arranged on the-Y side plate 8; as shown in fig. 7, the microwave distance-measuring speed-measuring sensor 25 is arranged on the + Z side plate 11; as shown in fig. 8, the optical imaging sensor 26 is disposed on the-Z side plate 3, and as shown in fig. 4, the gamma-off sensor 20 is disposed on the bottom plate.
The landing buffer system comprises four sets of landing buffer mechanisms: the landing buffer mechanism I4, the landing buffer mechanism II 7, the landing buffer mechanism III 9 and the landing buffer mechanism IV 12 are respectively arranged on the outer sides of the + Y side plate 6, the-Y side plate 8, the + Z side plate 11 and the-Z side plate 3, the size of the central cabin box body is enlarged, the span of the buffer mechanism is also enlarged, and the landing stability is enhanced.
In order to enable the continuous operation of the sampling device in a high-temperature environment of the moon, the lander is also provided with a fluid circuit system 28 and a water sublimation system 27, as shown in fig. 8, arranged on the-Z side plate 3. The fluid loop system 28 is used for balancing the temperature of each single unit device of the lander, and the water sublimation system 27 actively dissipates heat through water solid state sublimation; the equipment valves of the fluid circuit system 28 and the water sublimation system 27 are laid out on the same landing gear body deck. While placing the electronics requiring thermal conductivity on the same deck as much as possible facilitates reducing the length of the fluid circuit system 28.
The surface lunar soil acquisition mechanical arm 16 moves to the position above the surface lunar soil acquisition primary packaging device 17 and puts lunar soil into the surface lunar soil acquisition mechanical arm. After completion of the collection of the moon sample, the riser carried by the lander needs to return the moon sample to the earth. The force bearing load of the riser is transferred downwards by arranging the riser support and the cross partition plate of the lander, so that the requirement of carrying the riser to fly and fall the moon is met. Meanwhile, after the drilling and sampling device 5 finishes sample collection and encapsulation, the drilling and sampling device 5 avoids a takeoff ascending channel of the ascender. Before the lift-off of the lifter, the electric separation and the mechanical separation of the lander and the lifter are realized, and then the lander is used as a lift-off lifting platform of the lifter to support the lifter to lift-off.
In 12 months in 2020, the Chang 'e five lander successfully realizes the first unmanned automatic lunar sampling and returning task in China, wherein the moon sample is successfully collected by a drilling and sampling device and a meter sampling mechanical arm carried by the Chang' e five lander. And a solid foundation is laid for the follow-up study of the lunar sample.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A lander for realizing lunar surface drilling, surface taking and sampling is characterized by comprising a lander body, a drilling and sampling device, a surface taking and sampling mechanical arm, a solar wing, a propulsion system, a monitoring system and a landing buffer system;
the meter sampling mechanical arm is arranged on the south side of the upper surface of the lander main body, and the drill sampling device is arranged on the north side of the lander main body; the upper surface of the lander main body is provided with a support for fixedly connecting an external riser, and the distance from the surface of the moon to the sampling mechanical arm is consistent with the distance from the sample container at the top of the riser; the solar wings are arranged at the east and west sides of the lander main body; the landing buffer system is used for absorbing landing impact energy of the landing device landing lunar surface;
after the sample container is packaged, drilling a sampling device to avoid a takeoff ascending channel of the ascender; before the lift-off of the lifter, the lander is electrically and mechanically separated from the lifter, and then the lander is used as a lift-off lifting platform of the lifter to support the lifter to lift off.
2. The landing gear for realizing lunar surface drilling and surface sampling as claimed in claim 1, wherein the solar wing is a bifold deployable solar wing, and the normal line of the substrate is inclined to south by a certain angle when the solar wing is in an open state.
3. The landing gear for realizing the lunar drilling and sampling as claimed in claim 1, wherein the landing gear further comprises a fluid loop system and a water sublimation system, the fluid loop system is used for balancing the temperature of each single machine of the landing gear, and the water sublimation system actively dissipates heat through water solid state sublimation; the equipment valves of the fluid loop system and the water sublimation system are arranged on the same landing device main body cabin plate.
4. The landing gear for realizing the lunar surface drilling and sampling of the claim 1, wherein the landing gear body comprises a cross partition plate, a top plate, a bottom plate and a side plate, the cross partition plate is fixed between the top plate and the bottom plate, the side plate is fixed at the edge of the top plate and the edge of the bottom plate to form a closed space, and the side plate is fixedly connected with the cross partition plate.
5. The lander for implementing a lunar surface drilling surface sampling of claim 4, wherein said propulsion system comprises an engine, a pressure sensor, a valve and a tank;
the four storage tanks are arranged in a closed space formed by the cross partition plate, the top plate and the bottom plate, and the height of each storage tank is taken as the maximum height of the main body of the lander; the engine is fixed in the middle of the bottom plate, and the lower end of the cross partition plate is provided with a notch to provide an installation space for the engine.
6. The lander for implementing lunar surface drilling surface sampling according to claim 4, wherein the monitoring system comprises a laser ranging sensor, a laser speed measuring sensor, a laser three-dimensional imaging sensor, a microwave ranging speed measuring sensor, an optical imaging sensor and a gamma shutdown sensor;
the laser distance measuring sensor and the laser speed measuring sensor are arranged on the + Y side plate, the laser three-dimensional imaging sensor is arranged on the-Y side plate, the microwave distance measuring and speed measuring sensor is arranged on the + Z side plate, the optical imaging sensor is arranged on the-Z side plate, and the gamma shutdown sensor is arranged on the bottom plate; + X is the moon facing the sky side, + Y is the moon north side, + Z direction is determined according to the right hand rule.
7. The landing gear for realizing the lunar surface drilling and sampling according to claim 4, wherein the landing buffer system comprises four sets of landing buffer mechanisms respectively arranged on a + Y side plate, a-Y side plate, a + Z side plate and a-Z side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110217991.9A CN113104234A (en) | 2021-02-26 | 2021-02-26 | Lander for realizing lunar surface drilling, surface taking and sampling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110217991.9A CN113104234A (en) | 2021-02-26 | 2021-02-26 | Lander for realizing lunar surface drilling, surface taking and sampling |
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| CN113104234A true CN113104234A (en) | 2021-07-13 |
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| CN202110217991.9A Pending CN113104234A (en) | 2021-02-26 | 2021-02-26 | Lander for realizing lunar surface drilling, surface taking and sampling |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113788162A (en) * | 2021-09-18 | 2021-12-14 | 北京空间飞行器总体设计部 | High-performance Mars vehicle |
| CN116165002A (en) * | 2022-11-11 | 2023-05-26 | 南京航空航天大学 | Landing device for realizing lunar surface drilling, surface sampling and sampling |
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Application publication date: 20210713 |