CN110002006A - A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base - Google Patents
A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base Download PDFInfo
- Publication number
- CN110002006A CN110002006A CN201910336772.5A CN201910336772A CN110002006A CN 110002006 A CN110002006 A CN 110002006A CN 201910336772 A CN201910336772 A CN 201910336772A CN 110002006 A CN110002006 A CN 110002006A
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- belt system
- crawler
- lunar
- cantilever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241001061260 Emmelichthys struhsakeri Species 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000000926 separation method Methods 0.000 claims abstract description 6
- 230000006978 adaptation Effects 0.000 claims abstract description 4
- 238000009412 basement excavation Methods 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims abstract description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims description 15
- 230000007306 turnover Effects 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 241001061257 Emmelichthyidae Species 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 9
- 238000007689 inspection Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base, the robot is made of three four crawler-type mobile system of lunar rover, detachable detection system and multi-functional mechanical arm system systems, the work of four crawler-type mobile system dynamic transferring structure of lunar rover point, three tunnels, the cantilever branch of crawler belt system transmission worm gear group transmission and the elastic jackstay branch being directly driven by motor.When walking in the numerous ground of sandstone, crawler belt system cantilever can lift adaptation height by worm gear drive, to reach protection vehicle body, reduce the purpose of friction.And when walking in soft terrain, cantilever can be reduced according to situation, Lai Shiying ground surface environment, move robot more smoothly；The detection robot is separated by ladder, can climb up lunar base by itself small and exquisite figure after separation or region that other large machiness people is difficult to reach is detected；Multifunctional mechanical arm can realize a series of activities such as excavation, crawl, detection.
Description
Technical field
The present invention relates to space travel device therefor field more particularly to a kind of assistance astronaut operation and build moon base
The four crawler type lunar rover devices on ground.
Background technique
Currently, the progress like a raging fire with moon exploration program, goes to the task of moon astronaut also to greatly increase, and build the moon
Base also becomes inexorable trend.Lunar rover device is increasingly becoming research hotspot.Become to realize in the low gravitation of moon menology, temperature
In the environment of change is violent, surface layer is soft and more rubble dust, assistance services are carried out.Therefore design is a can preferably adapt to menology
As chassis, while to assist, astronaut carries out the excavation of moon soil to four crawler types, equipment carrying, moon exploration, campsite are built
The lunar rover device of function.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose to realize a kind of ground that the preferably adaptation moon is changeable
Face ring border and the four crawler type lunar rover devices that can realize multiple functions.
To achieve the above object, the present invention proposes a kind of four crawler type moons assisted astronaut's operation and build lunar base
Ball vehicle device, the lunar rover device can work in unattended situation, while cooperate a variety of components, it can be achieved that a series of
Function, such as article crawl, equipment carrying, sample collection, the excavation of moon soil, lunar exploration, can assist astronaut, build moon base
Zone of ignorance is explored on ground.Meanwhile four crawler-type mobile systems of design can preferably adapt to menology environment, dislike in menology
It can also be with normal movement under bad environment.
The technical solution adopted by the present invention is a kind of four crawler type moon assisted astronaut's operation and build lunar base
Crawler belt system after crawler belt system 2, four crawler-type mobile systems before vehicle device, including lunar rover crust of the device 1, four crawler-type mobile systems
10, crawler belt system transmission worm gear group 18, crawler belt system drive bevel gear 19, crawler belt system transmission roller gear group 20, the bionical inspection of separate type
It surveys robot 29, rod piece 30, turnover panel 31, main body rack plate 32 and four crawler-type mobile system shells 33 is connected in series；
Lunar rover crust of the device 1 is mounted on main body rack plate 32, and four crawler-type mobile system shells 33 are mounted on main body
Under supporting plate 15；Crawler belt system transmission worm gear is installed inside four crawler-type mobile system shells 33 under main body rack plate 15
Group 18, crawler belt system drive bevel gear 19 and crawler belt system are driven roller gear group 20, and crawler belt system transmission worm gear group 18 and crawler belt system pass
Dynamic bevel gear 19 is connected by transmission shaft, and crawler belt system transmission worm gear group 18 and crawler belt system drive bevel gear 19 are passed with crawler belt system respectively
Dynamic roller gear group 20 is connected by transmission shaft, and four by crawler belt system transmission worm gear group 18, crawler belt system drive bevel gear 19 and shoe
Band system transmission roller gear group 20 and its connecting shaft composition gear set form lunar rover moving system power transmission structure.
Crawler belt system 2 includes preceding crawler belt owner driving wheel 3, preceding crawler belt system carrying roller 4, preceding crawler belt system before four crawler-type mobile systems
Elastic jackstay 5, preceding crawler belt system bottom bar 6, preceding crawler belt system position limiting slide block 7, preceding crawler belt system directive wheel 8 and preceding crawler belt system cantilever 9.Four carry out
Crawler belt system 2 is connect by preceding crawler belt system cantilever 9 with power transmission structure before belt mobile system.Before preceding crawler belt system cantilever 9 is mounted on
On crawler belt system bottom bar 6, crawler belt owner driving wheel 3 and preceding crawler belt system carrying roller 4, preceding crawler belt system bullet before preceding crawler belt system bottom bar 6 is connected with
Property strut 5 be mounted on before on crawler belt system bottom bar 6, before preceding crawler belt system position limiting slide block 7 is mounted on crawler belt system elastic jackstay 5, preceding shoe
5 end of crawler belt system elastic jackstay before band system directive wheel 8 is mounted on.
Crawler belt system 10 includes rear crawler belt system driving wheel 11, rear crawler belt system carrying roller 12, rear shoe after four crawler-type mobile systems
Band system bearing bar 13, rear crawler belt system elastic jackstay 14, rear crawler belt system position limiting slide block 15, rear crawler belt system directive wheel 16 and rear crawler belt system
Cantilever 17.
Crawler belt system 10 is connect by rear crawler belt system cantilever 17 with power transmission arrangment after four crawler-type mobile systems.Crawler belt system afterwards
Cantilever 17 is mounted on rear crawler belt system elastic jackstay 14, rear crawler belt system driving wheel 11, rear crawler belt system position limiting slide block 15 and rear crawler belt
It is that directive wheel 16 is sequentially arranged on rear crawler belt system elastic jackstay 14, rear crawler belt system carrying roller 12 is mounted on rear crawler belt system bearing bar
On 13, rear crawler belt system bearing bar 13 is connected with rear crawler belt system elastic jackstay 14.
Crawler belt system 10 and power transmission structure group after crawler belt system 2, four crawler-type mobile systems before four crawler-type mobile systems
At four crawler-type mobile system of lunar rover, realize that robot is moved freely in menology.
The bionical detection robot 29 of separate type is located under four crawler-type mobile system shells 33, passes through separable magnet peace
Mounted in being connected in series on rod piece 30, rod piece 30 is connected in series and is mounted on turnover panel 31.The bionical detection robot 29 of two groups of separate types,
Rod piece 30 is connected in series and turnover panel 31 forms the detachable detection system of lunar rover.
Multifunctional mechanical arm 21 is mounted on main body rack plate 15, mechanical claw component 22, camera shooting head component 23, scraper bowl structure
Part 24, drill member 25 form mechanical arm hand component and are respectively assembled at the four telescopic chucks for being mounted on and loading on turntable 26
On 27；Turntable 26 is loaded by the spherical surface sheave 28 for being mounted on its bottom, is connected with main body rack plate 15；Multifunctional mechanical arm system
System includes multifunctional mechanical arm 21, mechanical claw component 22, camera shooting head component 23, bucket member 24, drill member 25, loads turntable
26, telescopic chuck 27 and spherical surface sheave 28, multi-functional mechanical arm system can be realized a series of auxiliary astronaut operations and take
Build lunar base function.
Compared with prior art, the robot by four crawler-type mobile system of lunar rover, detachable detection system and
Three systems of multi-functional mechanical arm system are constituted, and the work of four crawler-type mobile system dynamic transferring structure of lunar rover point, three tunnels is carried out
The power that power source generates is passed into remaining branch with system's transmission roller gear group, by crawler belt system drive bevel gear driven pedrail
It is branch, the cantilever branch of crawler belt system transmission worm gear group transmission and the elastic jackstay branch being directly driven by motor.Three branches
Pass through the on-off of clutch control power.The needs of meeting lunar rover device upward slope, descending with this or walk in different terrain.When
When walking in the numerous ground of sandstone, crawler belt system cantilever can lift adaptation height by worm gear drive, to reach protection vehicle body, subtract
The purpose to rub less.And when walking in soft terrain, cantilever can be reduced according to situation, Lai Shiying ground surface environment, make robot more
It is smoothly mobile；The detachable detection system of lunar rover is mounted in four crawler-type mobile system shells, by the bionical inspection of separate type
Robot and the composition of the elevating mechanism comprising rod piece and reprint is connected in series are surveyed, which is separated by ladder, separation
Lunar base can be climbed up by itself small and exquisite figure afterwards or region that other large machiness people is difficult to reach is detected；It is multi-functional
Mechanical arm system is by multifunctional mechanical arm, the hand structure including mechanical claw component, camera shooting head component, bucket member and drill member
Part and including the loading turntable of telescopic chuck and spherical surface sheave form, through two parts cooperate can be achieved excavate, crawl, detection
Equal a series of activities.Detection robot of the invention can climb up moon base by itself small and exquisite figure after separating with lunar rover device
It detects in the region that ground or other large machiness people are difficult to reach.
Detailed description of the invention
Fig. 1 is four crawler type lunar rover device appearance figures.
Fig. 2 is that four crawler type lunar rover devices look up outside drawing.
Fig. 3 is the four crawler type lunar rover device appearance figures for removing shell.
Fig. 4 is lunar rover moving system power transmission structure schematic diagram.
Fig. 5 is single group caterpillar drive system schematic diagram.
Fig. 6 is crawler belt system schematic diagram before four crawler-type mobile systems.
Fig. 7 is crawler belt system schematic diagram after four crawler-type mobile systems.
Fig. 8 is the detachable detecting system schematic diagram of lunar rover.
Fig. 9 is the bionical detection robot schematic diagram of separate type.
Figure 10 is multifunctional mechanical arm schematic diagram.
Figure 11 is to load turntable schematic diagram.
Figure 12 is hand component schematic diagram.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in detail.
As shown in Figure 1,2 and 3, four crawler type lunar rover device of one kind described in the embodiment of the present invention, including lunar rover dress
Set crawler belt system 2, preceding crawler belt owner driving wheel 3, preceding crawler belt system carrying roller 4, preceding crawler belt system bullet before shell 1, four crawler-type mobile systems
Property strut 5, preceding crawler belt system bottom bar 6, preceding crawler belt system position limiting slide block 7, preceding crawler belt system directive wheel 8, preceding crawler belt system cantilever 9, four crawler belts
Crawler belt system 10, rear crawler belt system driving wheel 11, rear crawler belt system carrying roller 12, rear crawler belt system bearing bar 13, rear shoe after formula mobile system
Band system elastic jackstay 14, rear crawler belt system position limiting slide block 15, rear crawler belt system directive wheel 16, rear crawler belt system cantilever 17, the transmission of crawler belt system
Worm gear 18, crawler belt system drive bevel gear 19, crawler belt system transmission roller gear group 20, multifunctional mechanical arm 21, mechanical claw component
22, it images head component 23, bucket member 24, drill member 25, load turntable 26, telescopic chuck 27, spherical surface sheave 28, separation
Rod piece 30, turnover panel 31, main body rack plate 32, four crawler-type mobile system shells 33 is connected in series in the bionical detection robot 29 of formula；
Lunar rover moving system power transmission structure, including crawler belt system are installed on four crawler-type mobile system shells 33
Transmission worm gear group 18, crawler belt system drive bevel gear 19, crawler belt system are driven roller gear group 20.
The work of three tunnels of mobile system power transmission structure point, crawler belt system are driven roller gear group 20 and move what power source generated
Power passes to remaining branch, is driven by 19 driven pedrail system branch of crawler belt system drive bevel gear, crawler belt system transmission worm gear group 18
Cantilever branch and the elastic jackstay branch being directly driven by motor.Three branches pass through the on-off of clutch control power.
Meanwhile four crawler belt system 10 is installed on four crawler belts after crawler belt system 2, four crawler-type mobile systems before crawler-type mobile system
Outside formula mobile system shell 33.Crawler belt system 2 includes preceding crawler belt owner driving wheel 3, the load-bearing of preceding crawler belt system before four crawler-type mobile systems
Take turns 4, preceding crawler belt system elastic jackstay 5, preceding crawler belt system bottom bar 6, preceding crawler belt system position limiting slide block 7, preceding crawler belt system directive wheel 8, preceding crawler belt
It is cantilever 9；Crawler belt system 10 includes rear crawler belt system driving wheel 11, rear crawler belt system carrying roller 12, rear shoe after four crawler-type mobile systems
Band system bearing bar 13, rear crawler belt system elastic jackstay 14, rear crawler belt system position limiting slide block 15, rear crawler belt system directive wheel 16, rear crawler belt system
Cantilever 17.
Turnover panel 31 is mounted under four crawler-type mobile system shells 33, be connected in series rod piece 30 be mounted on turnover panel 31 it
On, the bionical detection robot 29 of separate type is by magnetic connection in series connection 30 end of rod piece.
Multifunctional mechanical arm 21 and loading turntable 26 are mounted on main body rack plate 32, wherein it includes flexible for loading turntable 26
Formula chuck 27 and spherical surface sheave 28.Four kinds of hand components are stored in by telescopic chuck 27 and are loaded on turntable 26, wherein hand
Component includes mechanical claw component 22, camera shooting head component 23, bucket member 24 and drill member 25.When this system works, mechanical arm
The loading turntable direction equipped with hand building is first gone to, the hand needed for being located at the hand coupling part of end on arm and working is passed through
The docking of portion's component.After hand component and mechanical arm are completed, then go to corresponding position and excavated, grabbed, detected etc. one
Series of tasks.
Above-described embodiment is only intended to clearly illustrate the invention example, and not has to the invention
The restriction of body embodiment.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Guarantor of any obvious changes or variations extended out within spirit and principle still in the invention claim
It protects among range.
Claims (4)
1. a kind of four crawler type lunar rover devices assisted astronaut's operation and build lunar base, it is characterised in that: including the moon
Crawler belt system (2), preceding crawler belt owner driving wheel (3), preceding crawler belt system carrying roller before ball vehicle crust of the device (1), four crawler-type mobile systems
(4), preceding crawler belt system elastic jackstay (5), preceding crawler belt system bottom bar (6), preceding crawler belt system position limiting slide block (7), preceding crawler belt system directive wheel
(8), crawler belt system (10), rear crawler belt system driving wheel (11), rear crawler belt system after preceding crawler belt system cantilever (9), four crawler-type mobile systems
Carrying roller (12), rear crawler belt system bearing bar (13), rear crawler belt system elastic jackstay (14), rear crawler belt system position limiting slide block (15), rear shoe
Band system directive wheel (16), crawler belt system transmission worm gear group (18), crawler belt system drive bevel gear (19), is carried out rear crawler belt system cantilever (17)
Band system's transmission roller gear group (20), multifunctional mechanical arm (21), mechanical claw component (22), camera shooting head component (23), scraper bowl structure
Part (24), loads turntable (26), telescopic chuck (27), spherical surface sheave (28), the bionical detection machine of separate type at drill member (25)
Rod piece (30), turnover panel (31), main body rack plate (32) and four crawler-type mobile system shells (33) are connected in series in device people (29)；
Lunar rover crust of the device (1) is mounted on main body rack plate (32), and four crawler-type mobile system shells (33) are mounted on master
Under body support frame plate (32), crawler belt system is installed inside the four crawler-type mobile system shells (33) under main body rack plate (32)
Transmission worm gear group (18), crawler belt system drive bevel gear (19) and crawler belt system transmission roller gear group (20), crawler belt system transmission worm gear
Group (18) is connected with crawler belt system drive bevel gear (19) by transmission shaft, crawler belt system transmission worm gear group (18) and crawler belt system transmission cone
Gear (19) is connected with crawler belt system transmission roller gear group (20) by transmission shaft respectively, and four by crawler belt system transmission worm gear group
(18), crawler belt system drive bevel gear (19) and crawler belt system transmission roller gear group (20) and its connecting shaft composition gear set form the moon
Ball vehicle mobile system power transmission structure；Crawler belt system (2) is passed by preceding crawler belt system cantilever (9) and power before four crawler-type mobile systems
Pass structure connection；Before preceding crawler belt system cantilever (9) is mounted on crawler belt system bottom bar (6), preceding crawler belt system bottom bar (6) is connected to preceding crawler belt
Owner's driving wheel (3) and preceding crawler belt system carrying roller (4), it is preceding before preceding crawler belt system elastic jackstay (5) is mounted on crawler belt system bottom bar (6)
Before crawler belt system position limiting slide block (7) is mounted on crawler belt system elastic jackstay (5), preceding crawler belt system directive wheel (8) is mounted on preceding crawler belt system
Elastic jackstay (5) end；Preceding crawler belt owner driving wheel (3), preceding crawler belt system carrying roller (4), preceding crawler belt system elastic jackstay (5), preceding shoe
Band system bottom bar (6), preceding crawler belt system position limiting slide block (7), preceding crawler belt system directive wheel (8) and preceding crawler belt system cantilever (9) form four crawler belts
Crawler belt system (2) before formula mobile system；Crawler belt system (10) is passed by rear crawler belt system cantilever (17) and power after four crawler-type mobile systems
Dynamic structure connection；Crawler belt system cantilever (17) is mounted on rear crawler belt system elastic jackstay (14) afterwards, rear crawler belt system driving wheel (11), after
Crawler belt system position limiting slide block (15) and rear crawler belt system directive wheel (16) are sequentially arranged on rear crawler belt system elastic jackstay (14), rear crawler belt
It is that carrying roller (12) is mounted on rear crawler belt system bearing bar (13), rear crawler belt system bearing bar (13) and rear crawler belt system elastic jackstay
(14) it is connected；Crawler belt system driving wheel (11), rear crawler belt system carrying roller (12), rear crawler belt system bearing bar (13), rear crawler belt system bullet afterwards
Property strut (14), rear crawler belt system position limiting slide block (15), rear crawler belt system directive wheel (16), rear crawler belt system cantilever (17) form four crawler belts
Crawler belt system (10) after formula mobile system；Crawler belt system after crawler belt system (2), four crawler-type mobile systems before four crawler-type mobile systems
(10) and power transmission structure forms four crawler-type mobile system of lunar rover, realizes that robot is moved freely in menology；
The bionical detection robot (29) of separate type is located under four crawler-type mobile system shells (33), passes through separable magnet peace
Mounted in rod piece (30) are connected in series, rod piece (30) are connected in series and are mounted on turnover panel (31)；The bionical detection machine of two groups of separate types
Rod piece (30) and turnover panel (31) the composition detachable detection system of lunar rover are connected in series in people (29)；The detection robot and the moon
By itself small and exquisite figure can climb up lunar base after the separation of ball vehicle device or other large machiness people be difficult to the region reached into
Row detection；
Multifunctional mechanical arm (21) is mounted on main body rack plate 15, mechanical claw component (22), camera shooting head component (23), scraper bowl
Component (24), drill member (25) composition mechanical arm hand component are respectively assembled at four for being mounted on and loading on turntable (26) and stretch
On contracting formula chuck (27), turntable (26) are loaded by the spherical surface sheave (28) for being mounted on its bottom, are connected with main body rack plate 15；
Multifunctional mechanical arm (21), camera shooting head component (23), bucket member (24), drill member (25), loads mechanical claw component (22)
Turntable (26), telescopic chuck (27) and spherical surface sheave (28) form multi-functional mechanical arm system, realize a series of auxiliary aerospace
Member and builds lunar base function at operation.
2. a kind of four crawler type lunar rovers dress assisted astronaut's operation and build lunar base according to claim 1
It sets, it is characterised in that: four crawler-type mobile system of lunar rover is moved by crawler belt system (2), four crawler types before four crawler-type mobile systems
Crawler belt system (10) and include that crawler belt system transmission worm gear group (18), crawler belt system drive bevel gear (19), crawler belt system are driven after dynamic system
The power transmission structure of roller gear group (20) forms；The work of three tunnels of mobile system power transmission structure point, crawler belt system transmission circle
The power that power source generates is passed to remaining branch by stud wheel group (20), by crawler belt system drive bevel gear (19) driven pedrail system
Branch, the cantilever branch of crawler belt system transmission worm gear group (18) transmission and the elastic jackstay branch being directly driven by motor；Three branch
Road passes through the on-off of clutch control power；The needs of to meet lunar rover device upward slope, descending or walk in different terrain；When
When walking in the numerous ground of sandstone, crawler belt system cantilever can lift adaptation height by worm gear drive；And walk in soft terrain
When, cantilever can be reduced according to situation, and Lai Shiying ground surface environment moves robot steadily.
3. a kind of four crawler type lunar rovers dress assisted astronaut's operation and build lunar base according to claim 1
It sets, it is characterised in that: the detachable detection system of lunar rover is mounted in four crawler-type mobile system shells (33), by separate type
Bionical detection robot (29) and the composition of the elevating mechanism comprising rod piece (30) turnover panel (31) are connected in series, the detection robot are logical
Ladder separation is crossed, lunar base can be climbed up by itself small and exquisite figure after separation or other large machiness people is difficult to the region reached
It is detected.
4. a kind of four crawler type lunar rovers dress assisted astronaut's operation and build lunar base according to claim 1
It sets, it is characterised in that: multi-functional mechanical arm system is by multifunctional mechanical arm (21) and including mechanical claw component (22), camera structure
Part (23), the hand component of bucket member (24) and drill member (25) and including telescopic chuck (27) and spherical surface sheave
(28) loading turntable (26) composition cooperates through two parts and realizes excavation, crawl, detection a series of activities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336772.5A CN110002006B (en) | 2019-04-25 | 2019-04-25 | Four-crawler-type lunar vehicle device for assisting astronauts in working and building lunar base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336772.5A CN110002006B (en) | 2019-04-25 | 2019-04-25 | Four-crawler-type lunar vehicle device for assisting astronauts in working and building lunar base |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110002006A true CN110002006A (en) | 2019-07-12 |
| CN110002006B CN110002006B (en) | 2020-10-13 |
Family
ID=67174117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910336772.5A Expired - Fee Related CN110002006B (en) | 2019-04-25 | 2019-04-25 | Four-crawler-type lunar vehicle device for assisting astronauts in working and building lunar base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110002006B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN111409866A (en) * | 2020-04-03 | 2020-07-14 | 中国北方车辆研究所 | Wheel-track combined type lunar vehicle with high trafficability |
| CN111591372A (en) * | 2020-07-07 | 2020-08-28 | 哈尔滨学院 | Intelligent transportation robot |
| CN114986471A (en) * | 2022-06-19 | 2022-09-02 | 北京工业大学 | Rigid-flexible crawler type robot |
| US20230121022A1 (en) * | 2021-10-19 | 2023-04-20 | Lunar Outpost Inc. | Extendable conductor for thermal management |
| CN116101460A (en) * | 2022-12-02 | 2023-05-12 | 青岛海洋地质研究所 | Crawler robot capable of changing underwater pose and pose changing method thereof |
| WO2023115207A1 (en) * | 2021-12-20 | 2023-06-29 | Macdonald, Dettwiler And Associates Inc. | System, method, and device for dust tolerant robotic interface |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040163863A1 (en) * | 2003-02-21 | 2004-08-26 | Beck Michael S. | Hub drive and method of using same |
| CN102189546A (en) * | 2011-05-26 | 2011-09-21 | 江苏科技大学 | Multifunctional mechanical arm for planet exploration vehicle |
| CN206085023U (en) * | 2016-08-22 | 2017-04-12 | 昆明理工大学 | Crawler -type lunar surface material detection robot |
| CN107187616A (en) * | 2016-09-07 | 2017-09-22 | 南京航空航天大学 | A kind of Space lander and its method of work of integrated landing buffer and walking function |
| RU176098U1 (en) * | 2017-04-17 | 2017-12-28 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Mobile robotic planet rover for carrying out transport and technological work |
-
2019
- 2019-04-25 CN CN201910336772.5A patent/CN110002006B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040163863A1 (en) * | 2003-02-21 | 2004-08-26 | Beck Michael S. | Hub drive and method of using same |
| CN102189546A (en) * | 2011-05-26 | 2011-09-21 | 江苏科技大学 | Multifunctional mechanical arm for planet exploration vehicle |
| CN206085023U (en) * | 2016-08-22 | 2017-04-12 | 昆明理工大学 | Crawler -type lunar surface material detection robot |
| CN107187616A (en) * | 2016-09-07 | 2017-09-22 | 南京航空航天大学 | A kind of Space lander and its method of work of integrated landing buffer and walking function |
| RU176098U1 (en) * | 2017-04-17 | 2017-12-28 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Mobile robotic planet rover for carrying out transport and technological work |
Non-Patent Citations (1)
| Title |
|---|
| 郭晓林等: "基于模型试验的履带车动力学研究方案设计", 《农业装备与车辆工程》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN110525691B (en) * | 2019-08-20 | 2021-04-20 | 武汉理工大学 | Foldable lunar camp auxiliary construction robot |
| CN111409866A (en) * | 2020-04-03 | 2020-07-14 | 中国北方车辆研究所 | Wheel-track combined type lunar vehicle with high trafficability |
| CN111409866B (en) * | 2020-04-03 | 2021-08-03 | 中国北方车辆研究所 | Wheel-track combined type lunar vehicle with high trafficability |
| CN111591372A (en) * | 2020-07-07 | 2020-08-28 | 哈尔滨学院 | Intelligent transportation robot |
| CN111591372B (en) * | 2020-07-07 | 2020-12-08 | 哈尔滨学院 | Intelligent transportation robot |
| US20230121022A1 (en) * | 2021-10-19 | 2023-04-20 | Lunar Outpost Inc. | Extendable conductor for thermal management |
| WO2023115207A1 (en) * | 2021-12-20 | 2023-06-29 | Macdonald, Dettwiler And Associates Inc. | System, method, and device for dust tolerant robotic interface |
| CN114986471A (en) * | 2022-06-19 | 2022-09-02 | 北京工业大学 | Rigid-flexible crawler type robot |
| CN114986471B (en) * | 2022-06-19 | 2024-07-12 | 北京工业大学 | Rigid-flexible crawler-type robot |
| CN116101460A (en) * | 2022-12-02 | 2023-05-12 | 青岛海洋地质研究所 | Crawler robot capable of changing underwater pose and pose changing method thereof |
| CN116101460B (en) * | 2022-12-02 | 2023-09-01 | 青岛海洋地质研究所 | Crawler robot capable of changing underwater pose and pose changing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110002006B (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110002006A (en) | A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base | |
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN103273985B (en) | Quadruped stair climbing robot mechanism | |
| CN105292298A (en) | Three-section machine body type hexapod robot with transportation function and operation function fused | |
| Russell | Odex I: The first functionoid | |
| US20110040427A1 (en) | Hybrid mobile robot | |
| CN111976859B (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN103770823B (en) | Stair active obstacle is taken turns | |
| CN214875226U (en) | Moving device of robot and robot | |
| CN207607560U (en) | A kind of wheel-track combined sniffing robot of leg | |
| CN208897198U (en) | A kind of bionical spider sniffing robot | |
| CN109641628A (en) | Chassis vehicle | |
| CN104986231A (en) | Excavator chassis capable of performing conversion between walking mode with wheels and walking mode with crawler belts | |
| CN110667723A (en) | Bionic all-terrain robot | |
| CN101157372A (en) | A step wheel combined mobile robot | |
| CN109367642A (en) | A kind of bionical hexapod robot of cephalothorax abdomen separate type | |
| CN111038611A (en) | Multi-mode mobile robot | |
| Guowei et al. | Development of robotic spreader for earthquake rescue | |
| Hunt et al. | A rapidly reconfigurable robot for assistance in urban search and rescue | |
| CN112519914B (en) | Wheel-leg robot for field detection | |
| CN103303381A (en) | Search and rescue robot and moving pattern thereof | |
| CN110282036B (en) | Combined search and rescue robot | |
| CN100551761C (en) | Single soldier anti-terrorism robot | |
| Oliveira et al. | A review on locomotion systems for RoboCup rescue league robots | |
| CN204587063U (en) | The adjustable dual-purpose type excavating machine of a kind of wheelbase |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201013 |