CN104149993B - Biomimetic wriggle tunneling type planetary exploration submergence device - Google Patents
Biomimetic wriggle tunneling type planetary exploration submergence device Download PDFInfo
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- CN104149993B CN104149993B CN201410383224.5A CN201410383224A CN104149993B CN 104149993 B CN104149993 B CN 104149993B CN 201410383224 A CN201410383224 A CN 201410383224A CN 104149993 B CN104149993 B CN 104149993B
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Abstract
The invention provides a biomimetic wriggle tunneling type planetary exploration submergence device which comprises a main tunneling unit, an auxiliary tunneling unit, a feeding unit, a main posture fixing unit and an auxiliary posture fixing unit. The biomimetic wriggle tunneling type planetary exploration submergence device has the advantages of being small in power consumption, small in size, long in life cycle, rich in exploration data and the like, the effective load needing to be carried by a spacecraft is small, and the requirement for the load capacity of a rocket is low. Therefore, when the biomimetic wriggle tunneling type planetary exploration submergence device is adopted for carrying out planetary exploration, on the one hand, the launching cost of the rocket can be lowered; on the other hand, on the premise of the fixed launching capacity of the rocket, the biomimetic wriggle tunneling type planetary exploration submergence device can be delivered to planets further away from the earth, richer deep space exploration data are obtained, and the cognitive level of human beings on the development of the universe can be greatly improved. The biomimetic wriggle tunneling type planetary exploration submergence device is an effective means and mode on the exploration study of deep space extraterrestrial objects, and has the guiding significance in implementation of the domestic future planetary exploration tasks.
Description
Technical field
The present invention relates to planetary detection field, and in particular to a kind of biomimetic peristaltic driving formula planetary detection slips into device.
Background technology
Planetary detection understands the most direct approach in the space world as the mankind, is that each spacefaring nation carries out deep space spy in the world
The main target of survey.To objects outside Earth geology composition, the chemical composition of star earth, physics and mechanical characteristic, and star earth section temperature
The scientific exploration of the aspects such as degree field also increasingly causes the concern of various countries.The U.S., European Space Agency, Japan and other countries are directed to the moon, fire
Star, etc. other planets carried out all kinds of detected events, such as U.S. Apollo, former Soviet Union Luna series detector is all carried out to the moon
Sample acquisition.The U.S., European Space Agency are directed to mars exploration, also develop detector, and have the elder generation of successfully landing and mobile detection
Example.In the unmanned probing activity for different objects outside Earths of successful implementation, the mankind are to objects outside Earth ground Quality Research
With understanding mainly by modes such as Sample acquisition, detections in place.However, when detection is implemented using drive sampling mode, drilling tool
Need the resistance for overcoming entire depth to broadcast TV programs by satellite earth.With the increase of drilling depth, creep into resistance and significantly increase, the drive of driver part
Dynamic power demand is big, thus the volume of driver part, quality will certainly be very big.And in the activity of actual planetary detection, detection dress
The quality put can be limited by rocket carrying capacity, and the working cycle of detection device can be constrained by energy supply, detection
The structure of device can be restricted by lander configuration.Therefore, creep into Sample acquisition investigation depth is shallow, detection time is short, sample
The scientific value of product is limited.And table takes the sample that Sample acquisition can only obtain celestial body top layer, the scientific value of sample is more limited.
The means that are embodied as taken that detect in place are that scientific exploration instrument embedment star earth is implemented detection mission, and in existing row
In star detection mission, detection instrument is not embedded to the deeper position of celestial body geology, the rich and accuracy of detection data
It is limited.Therefore, under the reality that rocket carrying capacity is inadequate, energy supply is limited, develop one kind and be applicable to row
The detector that talent scout surveys is particularly urgent.
The content of the invention
In order to solve the problems, such as technical background, the purpose of this utility model is to provide a kind of biomimetic peristaltic to tunnel formula
Planetary detection slips into device.
The present invention is adopted the technical scheme that for solving above-mentioned technical problem：Biomimetic peristaltic driving formula planetary detection is slipped into
Device, determine appearance unit including main driving unit, secondary driving unit, feed unit, master and secondary determines appearance unit；
Main driving unit includes heading end, and heading end is fixedly connected principal screw, extends spiral wing on the outside of principal screw barrel
Piece, principal screw endoporus are connected with main driving motor base by two thin-wall bearings, bearing catch, bearing abutment sleeve, main spiral shell
The upper bearing of rotation is externally provided with spiral end cap, is fixedly connected main driving motor, main driving motor output in main driving motor base
Shaft extension is gone out the hole of main driving motor base bottom and is connected with connecting shaft by flat key, and connecting shaft is fixedly connected heading end, heading end,
Principal screw is fixedly connected, the transition frame that main driving motor base determines appearance unit with master is connected and by the bolt on barrel
It is fixedly connected；
Master determines appearance unit includes transition frame, and transition frame lower is fixedly connected with main driving unit, transition frame endoporus
There is step to be fixedly connected linear electric motors base, linear electric motors base is fixedly connected master and determines appearance linear electric motors, and master determines appearance linear electric motors
Output shaft is threadedly coupled linear electric motors screw, and linear electric motors screw is fixedly connected pushing block, and pushing block is cylindrical for cone, in pushing block
Circular cone position, is uniformly provided with three through holes on transition machine frame hole wall circumference, through hole is fixedly connected determines appearance sleeve, determines appearance hub internal bore
Gap is connected set feeler, and set feeler is stretched into transition frame portion end surface and coordinated with pushing block conical surface arc and contacted,
Transition upper rack is fixedly connected the sliding chute seat of feed unit and creep feed screw；
Feed unit including creep feed motor, creep feed motor is fixed in slave frame, creep feed motor
Output shaft is threadedly coupled creep feed screw；
The sliding chute seat being fixedly connected with transition frame tunnels the guideway of unit, secondary driving by sliding bearing auxiliary connection
Unit includes secondary driving motor, and secondary driving motor is fixed on auxiliary-motor base, and auxiliary-motor base is fixed in slave frame, secondary driving
The output shaft flat key connection little gear of motor, little gear are connected composition gear engagement mechanism, gear ring and pair with gear ring flank engagement
Spiral back segment is fixedly connected, and secondary spiral leading portion is fixedly connected secondary spiral back segment, and secondary spiral back segment is respectively by bearing auxiliary connection electricity
The junction of machine base and slave frame, secondary spiral leading portion and secondary spiral back segment is equipped with dust-proof seal ring, and secondary spiral leading portion passes through
The outer cylinder surface of sliding bearing and transition frame sliding connection, secondary spiral leading portion and secondary spiral back segment is extended with spiral
Fin, gear engagement mechanism have gear positioning sleeve and little bearing positioning sleeve respectively；
Pair determines appearance unit includes that pair determines appearance linear electric motors, and pair is determined appearance linear electric motors and is fixed on secondary machine frame inside, and it is straight that pair determines appearance
Line motor output shaft is threadedly coupled linear electric motors screw, and linear electric motors screw is fixedly connected pushing block, and pushing block is cylindrical for cone,
The circular cone position of pushing block, is uniformly provided with three through holes on slave frame aperture wall circumference, through hole is fixedly connected determines appearance sleeve, determines appearance sleeve
Interior interporal lacuna is connected set feeler, and set feeler stretches into slave frame portion end surface and matches somebody with somebody splice grafting with pushing block conical surface arc
Touch, slave frame upper end fixed seal connection end cap, end cap central have hole, and the service cable hermetically passing hole is stretched in end cap
Portion.
The present invention has the advantages that：Biomimetic peristaltic driving formula planetary detection slip into utensil have small power consumption, small volume,
The advantages of life cycle length, detection data enrich.In the case where energy supply is certain, can work the longer time, Life Cycle
Phase is long；Its small volume, spacecraft need the payload carried little, rocket load capacity are required low.Therefore, using bionical compacted
Dynamic driving formula planetary detection slips into device and carries out planetary detection, on the one hand can reduce rocket launching cost；On the other hand, in rocket
On the premise of emissivities are certain, biomimetic peristaltic driving formula planetary detection slips into device and can be sent to celestial body farther away from the earth, obtains
The survey of deep space data of more horn of plenty are obtained, the human-subject test that the mankind are developed to universe can be greatly improved.For deep space objects outside Earth
Detection study, it is a kind of effective means and mode that biomimetic peristaltic driving formula planetary detection slips into device, the row following to China
The enforcement of star detection mission has directive significance.
Description of the drawings：
Fig. 1 the structural representation of present invention；
The graphics of Fig. 2 present invention.
01- heading ends in figure, 02- connecting shafts, 03- bearing catch, 04- bearing abutment sleeves, the main driving motor bottoms of 05-
Seat, 06- principal screw positioning sleeves, 07- principal screws, 08- spiral end caps, 09- transition frames, 10- linear electric motors screws, 11- pushing blocks,
12- set feelers, 13- linear electric motors bases, 14- pair spiral back segments, 15- pair spiral leading portions, 16- sliding chute seats, the 17- axis of guides
Set, 18- little gears, 19- gear rings, 20- gear positioning sleeves, the little bearing positioning sleeves of 21-, 22- auxiliary-motor bases, 23- slave framves,
24- determines appearance sleeve, and 25- end caps, 26- service cables, 27- pairs determine appearance linear electric motors, 28- creep feed motors, the secondary driving electricity of 29-
Machine, 30- creep feed screws, 31- sliding bearings, 32- master determine appearance linear electric motors, 33- dust-proof seal rings, 35- thin-wall bearings.
Specific embodiment：
The invention will be further described below in conjunction with the accompanying drawings：
Biomimetic peristaltic driving formula planetary detection by Fig. 1 with reference to shown in Fig. 2 slips into device, including main driving unit, secondary driving
Unit, feed unit, master determine appearance unit and secondary determine appearance unit；
Main driving unit includes heading end 01, and heading end 01 is fixedly connected principal screw 07, extends on the outside of 07 barrel of principal screw
Go out helical fin, 07 endoporus of principal screw is by two thin-wall bearings 35, bearing catch 03, bearing abutment sleeve 04 and main driving electricity
Machine base 05 connects, and the upper bearing of principal screw 07 is externally provided with spiral end cap 08, is fixedly connected master in main driving motor base 05
Driving motor 34, the hole that main driving 34 output shaft of motor stretches out 05 bottom of main driving motor base are connected with connecting shaft 02 by flat key
Connect, connecting shaft 02 is fixedly connected heading end 01, heading end 01 is fixedly connected principal screw 07, and main driving motor base 05 determines appearance with master
The transition frame 09 of unit is connected and is fixedly connected by the bolt on barrel；
Master determines appearance unit includes transition frame 09, and 09 bottom of transition frame is fixedly connected with main driving unit, transition frame
09 endoporus has step to be fixedly connected linear electric motors base 13, and linear electric motors base 13 is fixedly connected master and determines appearance linear electric motors 32, main
Determine 32 output shaft of appearance linear electric motors threaded connection linear electric motors screw 10, linear electric motors screw 10 is fixedly connected pushing block 11, pushing block
11 is cylindrical for cone, on the circular cone position of pushing block 11,09 hole wall circumference of transition frame is uniformly provided with three through holes, and through hole is solid
Appearance sleeve 24 is determined in fixed connection, determines interporal lacuna in appearance sleeve 24 and is connected set feeler 12, and set feeler 12 stretches into transition frame
09 portion end surface is contacted with the cooperation of 11 conical surface arc of pushing block, and 09 top of transition frame is fixedly connected the sliding chute seat of feed unit
16 and creep feed screw 30；
Feed unit including creep feed motor 28, creep feed motor 28 is fixed in slave frame 23, creep feed
The output shaft threaded connection creep feed screw 30 of motor 28；
The sliding chute seat 16 being fixedly connected with transition machine tunnels the guideway 17 of unit by 31 auxiliary connection of sliding bearing, secondary
Driving unit includes secondary driving motor 29, and secondary driving motor 29 is fixed on auxiliary-motor base 22, and auxiliary-motor base 22 is fixed on pair
In frame 23, the output shaft flat key connection little gear 18 of secondary driving motor 29, little gear 18 are connected group with 19 flank engagement of gear ring
Into gear engagement mechanism, gear ring 19 is fixedly connected with secondary spiral back segment 14, and secondary spiral leading portion 15 is fixedly connected secondary spiral back segment 14,
Secondary spiral back segment 14 passes through bearing auxiliary connection motor base 22 and slave frame 23, secondary spiral leading portion 15 and secondary spiral back segment 14 respectively
Junction be equipped with dust-proof seal ring 33, secondary spiral leading portion 15 is by sliding bearing 31 and 09 company of being slidably matched of transition frame
Connect, the outer cylinder surface of secondary spiral leading portion 15 and secondary spiral back segment 14 is extended with helical fin, and gear engagement mechanism has respectively
Gear positioning sleeve 20 and little bearing positioning sleeve 21；
Pair determines appearance unit includes that pair determines appearance linear electric motors 27, and pair is determined appearance linear electric motors 27 and is fixed on inside slave frame 23, secondary
Determine 27 output shaft of appearance linear electric motors threaded connection linear electric motors screw 10, linear electric motors screw 10 is fixedly connected pushing block 11, pushing block
11 is cylindrical for cone, is uniformly provided with three through holes on the circular cone position of pushing block, 23 hole wall circumference of slave frame, and through hole is fixed and connected
Connect and determine appearance sleeve 24, determine interporal lacuna in appearance sleeve 24 and be connected set feeler 12, set feeler 12 stretches into 23 part of slave frame
End face is contacted with the cooperation of 11 conical surface arc of pushing block, and 23 upper end fixed seal connection end cap 25 of slave frame, in end cap 25
The heart has hole, and 26 hermetically passing of the service cable hole is stretched into inside end cap 25.
Main driving unit can complete to turn round cutting function；It is latent that secondary driving unit can realize that the star earth that will be cut is transported to
Enter device rear end；Feed unit is capable of achieving to make the dive action of master/slave driving unit；Determining appearance unit, can will to slip into device frame relative
Fix in the star earth of periphery, while providing driving dive pressure for tunneling unit, it is also possible to prevent from slipping into the generation torsion of device body
Turn.And the conveying of electric energy that this is slipped into needed for device and signal is then by slipping into the cable of device tail end transmitting.
Workflow：Pair determine appearance unit and acts on making to slip into device rear end to fix with periphery star earth first.Determine appearance unit specifically real
Apply process：Pair is determined appearance linear electric motors 27 and is turned round, and motor lead screw shaft makes the pushing block 11 being fixed on screw with screw effect thereon
Downward linear motion is produced, and the linear motion of pushing block 11 drives set feeler 12 to stretch out and device body slipped into the effect of star earth hole wall
And make to slip into device and fix relative to hole wall, determine appearance action and complete.
It is after the completion of determining appearance action, master/slave to tunnel unit and drilling depth cell operation.Main driving unit specific implementation process：It is main
Driving 34 drive connection axle 02 of motor is turned round, and power is reached heading end 01 by key transmission by connecting shaft 02.In thin-wall bearing 35
In the presence of, heading end 01 is relative to frame gyration and cuts star earth.Secondary driving unit specific implementation process：Secondary driving electricity
29 driving pinion 18 of machine is turned round, the secondary spiral leading portion 15 times that little gear 18 is driven gear wheel 19 and fixed with gear wheel 19
Turn, and secondary spiral leading portion 15 is connected with secondary spiral back segment 14, so whole pair spiral is with respect to frame seat gyration, in motion
During the star earth of its front end is transported to the rear end for slipping into device.Feed unit specific implementation process：In master/slave driving unit work
During work, feed unit work.Creep feed motor 28 is turned round, and screw axis thereon are turned round and 30 structure of creep feed screw
Into screw pair.In the presence of lead screw shaft, creep feed screw 30 produces downward straight line fortune with the sliding chute seat 16 being fixed thereon
It is dynamic.Because sliding chute seat 16 is connected with main driving unit, main driving unit does dive action.When it is main driving unit dive it is certain
After depth, feed unit quits work, and pair determines appearance cell operation.Master determines appearance cell operation flow process and determines appearance cell operation flow process with pair
Unanimously.Terminate when master determines appearance cell operation, pair is determined appearance linear electric motors 27 and inverted, and is retracted into set feeler 12 and slips into device body
In.Then, creep feed motor 28 is inverted, and makes master/slave driving unit produce the action of relative constriction, because now master determines appearance list
Unit is fixed with hole wall, so secondary driving unit produces downward dive action.Repeat this process, slip into device wriggling dive.
Claims (1)
1. a kind of biomimetic peristaltic driving formula planetary detection slips into device, including main driving unit, secondary driving unit, feed unit, master
Determine appearance unit and pair determine appearance unit, it is characterised in that：
Main driving unit includes heading end (01), and heading end (01) is fixedly connected principal screw (07), on the outside of principal screw (07) barrel
Extend helical fin, principal screw (07) endoporus passes through two thin-wall bearings (35), bearing catch (03), bearing abutment sleeves
(04) it is connected with main driving motor base (05), the upper bearing of principal screw (07) is externally provided with spiral end cap (08), main driving electricity
Main driving motor (34) is fixedly connected in machine base (05), and main driving motor (34) output shaft stretches out main driving motor base (05)
The hole of bottom is connected with connecting shaft (02) by flat key, and connecting shaft (02) is fixedly connected heading end (01), and heading end (01) is fixed
Connection principal screw (07), the transition frame (09) that main driving motor base (05) determines appearance unit with master are connected and by barrel
On bolt be fixedly connected；
Biomimetic peristaltic driving formula planetary detection slips into that device determine appearance unit comprising master and pair is determined two sets of appearance unit and determines appearance unit, main to determine appearance
Unit includes transition frame (09), and transition frame (09) bottom is fixedly connected with main driving unit, and transition frame (09) endoporus has
Step is fixedly connected first linear electric motors base (13), and first linear electric motors base (13) is fixedly connected master and determines appearance straight-line electric
Machine (32), master are determined appearance linear electric motors (32) output shaft and are threadedly coupled first linear electric motors screw (10), first linear electric motors
Screw (10) is fixedly connected first pushing block (11), and first pushing block (11) is cylindrical for cone, in first pushing block (11)
Circular cone position, is uniformly provided with three through holes on transition frame (09) hole wall circumference, through hole is fixedly connected first and determines appearance sleeve
(24), determine the interior interporal lacuna of appearance sleeve (24) and be connected first set feeler (12) for first, first set feeler (12)
Stretch into transition frame (09) portion end surface to contact with first pushing block (11) conical surface arc cooperation, transition frame (09) top
It is fixedly connected the sliding chute seat (16) and creep feed screw (30) of feed unit；
Feed unit including creep feed motor (28), creep feed motor (28) is fixed in slave frame (23), wriggle into
To output shaft threaded connection creep feed screw (30) of motor (28)；
The sliding chute seat (16) being fixedly connected with transition frame tunnels the guideway of unit by sliding bearing (31) auxiliary connection
(17), secondary driving unit includes secondary driving motor (29), and secondary driving motor (29) is fixed on auxiliary-motor base (22), auxiliary-motor bottom
Seat (22) is fixed in slave frame (23), output shaft flat key connection little gear (18) of secondary driving motor (29), little gear (18)
It is connected composition gear engagement mechanism with gear ring (19) flank engagement, gear ring (19) is fixedly connected with secondary spiral back segment (14), secondary spiral shell
Rotation leading portion (15) is fixedly connected secondary spiral back segment (14), and secondary spiral back segment (14) pass through bearing auxiliary connection motor base (22) respectively
Dust-proof seal ring (33), secondary spiral shell are equipped with the junction of slave frame (23), secondary spiral leading portion (15) and secondary spiral back segment (14)
Rotation leading portion (15) passes through sliding bearing (31) and transition frame (09) sliding connection, after secondary spiral leading portion (15) and secondary spiral
The outer cylinder surface of section (14) is extended with helical fin, and gear engagement mechanism has gear positioning sleeve (20) and little bearing fixed respectively
Position set (21)；
Pair determines appearance unit includes that pair determines appearance linear electric motors (27), and pair is determined appearance linear electric motors (27) and is fixed on slave frame (23) inside,
Pair is determined appearance linear electric motors (27) output shaft and is threadedly coupled second linear electric motors screw (10), second linear electric motors screw (10)
It is fixedly connected second pushing block (11), second pushing block (11) is cylindrical for cone, in the circular cone position of pushing block, slave frame (23)
Three through holes are provided with hole wall circumference uniformly, through hole is fixedly connected second and determines appearance sleeve (24), and second is determined appearance sleeve (24)
Interior interporal lacuna is connected second set feeler (12), second set feeler (12) stretch into slave frame (23) portion end surface with
Second pushing block (11) conical surface arc coordinates contact, slave frame (23) upper end fixed seal connection end cap (25), end
There is hole at lid (25) center, and it is internal that end cap (25) is stretched in service cable (26) the hermetically passing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410383224.5A CN104149993B (en) | 2014-08-06 | 2014-08-06 | Biomimetic wriggle tunneling type planetary exploration submergence device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410383224.5A CN104149993B (en) | 2014-08-06 | 2014-08-06 | Biomimetic wriggle tunneling type planetary exploration submergence device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104149993A CN104149993A (en) | 2014-11-19 |
| CN104149993B true CN104149993B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410383224.5A Active CN104149993B (en) | 2014-08-06 | 2014-08-06 | Biomimetic wriggle tunneling type planetary exploration submergence device |
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| CN (1) | CN104149993B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107959266B (en) * | 2018-01-05 | 2020-06-19 | 北京航空航天大学 | Embedded sectional type cable cover |
| CN109057707A (en) * | 2018-06-28 | 2018-12-21 | 武汉大学 | A kind of bionical suslik intelligence driving system |
| CN110318746A (en) * | 2019-05-22 | 2019-10-11 | 南京航空航天大学 | A kind of bionical drilling mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2850850C (en) * | 2011-10-13 | 2019-11-26 | Paul Roberts | Robotic servicing multifunctional tool |
| CN103419945B (en) * | 2013-08-30 | 2016-01-20 | 哈尔滨工业大学 | A kind of impact penetration type star earth of escapement that utilizes slips into device |
| CN103419946B (en) * | 2013-08-30 | 2015-09-02 | 哈尔滨工业大学 | A kind of impact penetration type star earth of double nuts cycling mechanism that utilizes slips into device |
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| CN104149993A (en) | 2014-11-19 |
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