CN110509288A - Moon campsite auxiliary construction robot - Google Patents
Moon campsite auxiliary construction robot Download PDFInfo
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- CN110509288A CN110509288A CN201910775371.XA CN201910775371A CN110509288A CN 110509288 A CN110509288 A CN 110509288A CN 201910775371 A CN201910775371 A CN 201910775371A CN 110509288 A CN110509288 A CN 110509288A
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- longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of moon campsite auxiliary construction robots, including car body, car body, which is equipped with, folds 3D printing mechanism, spiral soil suction mechanism and Collapsible welding mechanism, and the bottom of car body is equipped with train frame, train frame is equipped with movable pulley, and the bottom of car body is additionally provided with jet engine.The direct printing and making after drawing raw material that can gather materials on the spot improves construction efficiency, to the full extent radiation protection and lunar dust at construction material, saves transport space, realizes that automatic welding, soil suction and 3D printing work, auxiliary construction are particularly suitable for adverse circumstances.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of moon campsite auxiliary construction robot.
Background technique
So far, space agency, various countries, which has been found that, possesses hundreds of available resources very rich on the moon.Wherein
Including mineral resources abundant, rare earth element and helium 3, these resources are all strategic resource rare on the earth, therefore are passed through
Campsite, which is established, in the moon realizes have very great significance with using tool to the exploitation of lunar surveyor.
Building for moon campsite has vital meaning for the lunar exploration scientific investigation in next stage.Lunar space station at present
And the technical conditions of lunar orbiter are not sufficient to realize and carry out the secret of the moon deeper into careful Science Explorations, current
Moon exploration mode is faced with that sample capacity is small, many and diverse at high cost, single of round-trip transport step explores duration short week
The defects of sample caused by phase length and environmental change is perishable, scientific investigation campsite can then efficiently solve above ask to the moon on the spot
Topic, provides scientific personnel to the autoptical place of the moon and condition, has more profound significance to lunar exploration scientific investigation is more goed deep into.
At present lunar base to build difficulty big, it is more difficult to implement tellurian method of construction.Since lunar soil has
Have do not need processing can be directly as the characteristic of protective materials, so theoretically most viable mode utilizes moon itself
The effects of soil covers base surface, is easy to build as building materials, plays radiation protection, protection equipment.
The effect of moon construction robot is then that important auxiliary in the build process of moon campsite builds tool, is the moon
One of important link of engineering construction.One construction robot that construction of base can be carried out on moonscape of design needs to consider
Numerous exacting terms, including the connection of material molding mode, material collection mode, transport of materials mode, material, building materials repairing etc.
In addition to this realization condition of aspect also meets lunar environment condition, structure design condition, motion mode, Functional Design item
Part etc. is meeting radiation protection, anti-lunar dust, is being easy to other than the requirements such as obstacle detouring, the control of realization temperature and autonomous energy supply, it is also necessary to set
Reasonable motion mode is counted out to realize that auxiliary builds the functions such as lunar base.
Huge with earth environment difference on the moon, gravity coefficient is small more than the earth, and day and night temperature is big, and landform is rugged, is covered with
Big and small crater, construction environment is excessively severe, and the adhesion strength, temperature of the slurries such as the gravity of material, cement become on the moon
Change the performances such as intensity of material under huge environment and all receive very big influence, therefore the technology sexual function of construction robot is mentioned
Harsh requirement is gone out.Various countries are also all merely resting on Design Conception level for building the idea of lunar base at present, it is difficult to
Lunar base is built by moon campsite robot assisted.
The most importantly task of moon construction robot be manufacture production construction material, carry out moon campsite build and
Maintenance.The Major Difficulties of moon construction robot work at present are as follows:
(1) day and night temperature is big, and most hot up to 127 DEG C, night is reachable -180 DEG C most cold, and construction material is in the huge alternating of the temperature difference
Adverse circumstances under, the strength of materials can greatly reduce；
(2) low-gravity environment, gravity are only the 1/6 of the earth, and the intensity of building structure is difficult to ensure, it is difficult to " compacting "；
(3) lunar dust disperses, it is difficult to the technique for carrying out aggregation moulding；
(4) moonscape radiation is larger, and lunar surface dust easily adheres to；
(5) adhesive materials such as cement are easy inactivation under vacuum environment, need to safeguard and fix often.
By related data analysis and experience investigate, due to the moon construction class machine production and come into operation experience not
Foot, current moon detail design materials under the above conditions, moulding, building maintenance etc. are not perfect, integrated
Degree is lower, therefore the design proposes a kind of Design Conception of lunar rover in view of the above problems.
Based on background above, this project devises a kind of welding for lunar base surface and repairing weld seam, draws the moon
Ball clay earth, 3D printing make the moon campsite auxiliary construction robot of the functions such as lunar dust plasticity, for the design of moon Work machine
The many harsh conditions faced at present, the moon campsite auxiliary construction robot of this project design have function integration height, ring
The advantages that border adaptive faculty is strong, Windsor, strong, compact and flexible lifting capacity.
Summary of the invention
The technical problem to be solved by the present invention is in view of the foregoing defects the prior art has, provide a kind of moon battalion
Ground auxiliary construction robot, the direct printing and making after drawing raw material that can gather materials on the spot improve construction efficiency at construction material,
Radiation protection to the full extent and lunar dust save transport space, realize that automatic welding, soil suction and 3D printing work, auxiliary construction, especially
It is suitable for adverse circumstances.
Used technical solution is the present invention to solve above-mentioned technical problem:
A kind of moon campsite auxiliary construction robot, including car body, car body, which is equipped with, folds 3D printing mechanism, spiral suction
Native mechanism and Collapsible welding mechanism, the bottom of car body are equipped with train frame, and train frame is equipped with movable pulley, and the bottom of car body is also set
There is jet engine.
According to above-mentioned technical proposal, jet engine is vector engine.
According to above-mentioned technical proposal, the number of vector engine is 2~4.
According to above-mentioned technical proposal, Collapsible welding mechanism includes guide rail slide block mechanism, multiple degrees of freedom electroplating equipment wielding machine arm, auxiliary
Welding mechanism and plumb joint are helped, multiple degrees of freedom electroplating equipment wielding machine arm is set to the lateral surface of car body by guide rail slide block mechanism, mostly certainly
It is equipped with the protection side wing by degree electroplating equipment wielding machine arm two sides, the protection side wing is arranged on car body, and auxiliary welding machine structure is set to more
Freedom degree electroplating equipment wielding machine arm side, is arranged in guide rail slide block mechanism, and plumb joint is set on multiple degrees of freedom electroplating equipment wielding machine arm.
According to above-mentioned technical proposal, the side of the side wing is protected to be equipped with torsion shaft, the protection side wing passes through torsion shaft and vehicle
Body is hinged, and torsion shaft is connected with overturning motor, and overturning motor drives protection side wing overturning by torsion shaft.
According to above-mentioned technical proposal, guide rail slide block mechanism includes guide rail, slide plate, screw rod and guide rail motor, guide rail motor and
Guide rail is arranged on car body, and slide plate is set on guide rail, and multiple degrees of freedom electroplating equipment wielding machine arm and auxiliary welding machine structure are all set in cunning
On plate, guide rail motor is connect by screw rod with slide plate, and guide rail motor drives slide plate to move along guide rail by screw rod.
According to above-mentioned technical proposal, folding 3D printing mechanism includes fixed frame, folding stand, printing head and storeroom, Gu
Determine frame to be fixedly arranged on car body, fixed frame is equipped with vertical sliding component, slides laterally component, printing head in vertical sliding mechanism
It is set on transverse sliding mechanism, vertical sliding component drives printing head to move up and down along the vertical direction, slides laterally component
Printing head is driven to laterally move, one end of folding stand is hinged by the lower end of rotation axis and fixed frame, and folding stand is equipped with
Longitudinal sliding motion component, longitudinal sliding motion component are equipped with type plate, and folding stand makes folding stand and fixation after rotation axis rotating opening
Frame is mutually perpendicular to and type plate is located at the lower section of printing head, and storeroom is set on car body, printing head by pipeline with
Storeroom connection.
According to above-mentioned technical proposal, rotation axis is connected with folding motor, fold motor by rotation axis Foldable frame around
Rotation axis rotation.
According to above-mentioned technical proposal, vertical sliding component includes vertical guide, vertical slide plate, vertical screw rod and vertical driving
Motor, vertical guide is vertically arranged, and on fixed frame, vertical slide plate is set in vertical guide, and vertical driving motor passes through perpendicular
It is connect to screw rod with vertical slide plate, vertical driving motor is fixedly arranged on fixed frame, and vertical driving motor is driven by vertical screw rod
Vertically guide rail is mobile for vertical slide plate；
Sliding laterally component includes cross slide way, cross slide, cross lead screw and horizontal drive motor, and cross slide way is along horizontal
To being arranged on vertical slide plate, cross slide is set on cross slide way, and horizontal drive motor is sliding by cross lead screw and laterally
Plate connection, horizontal drive motor are fixedly arranged on vertical slide plate, and horizontal drive motor drives cross slide along horizontal by cross lead screw
Direction guiding rail is mobile；
Longitudinal sliding motion component includes longitudinal rail, longitudinal slide, longitudinal screw mandrel and vertical drive motor, and longitudinal rail is along vertical
To being arranged on folding stand, longitudinal slide is set on longitudinal rail, and vertical drive motor passes through longitudinal screw mandrel and longitudinal slide
Connection, vertical drive motor are fixedly arranged on folding stand, and vertical drive motor drives longitudinal slide to lead along longitudinal direction by longitudinal screw mandrel
Rail is mobile.
According to above-mentioned technical proposal, spiral soil suction mechanism includes screw pump, conveyer belt and transport motor, and the one of screw pump
End is hinged with one end of conveyer belt, and the other end of conveyer belt is connect with car body.
According to above-mentioned technical proposal, car body is cone, and the bottom of cone is equipped with central plate, and train frame and vector engine are equal
It is set to the bottom of central plate.
The invention has the following advantages:
Spiral soil suction mechanism, which is used to for the soil on the moon being delivered to, folds 3D printing mechanism, fold 3D printing mechanism with
Lunar soil is 3D printing material, and material and part needed for printing building lunar base can gather materials on the spot and draw raw material
Direct printing and making improves construction efficiency at construction material afterwards, can be to it near lunar base by Collapsible welding mechanism
Repair welding is carried out, eliminates weld seam, collapsible 3D printing module is easy to carry, and light weight small in size, arrangement for closed configuration can be to the full extent
Radiation protection and lunar dust save transport space, realize that automatic welding, soil suction and 3D printing work, auxiliary construction are particularly suitable for disliking
Bad environment；The present invention, which can be used in the welding on lunar base surface and repairing weld seam, absorption lunar soil, 3D printing, moulds lunar dust
Property etc. functions moon campsite auxiliary construction robot, many harsh items that the design for moon Work machine faces at present
Part, the moon campsite auxiliary construction robot of this project design is high with function integration, environment-adapting ability is strong, movenent performance
Well, the advantages that lifting capacity is strong, compact and flexible.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of moon campsite auxiliary construction robot in the embodiment of the present invention；
Fig. 2 is the rearview of Fig. 1；
Fig. 3 is the structural schematic diagram of Collapsible welding mechanism under off working state in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of Collapsible welding mechanism under working condition in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of spiral soil suction mechanism under folded state in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of spiral soil suction mechanism under unfolded state in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of collapsible 3D printing module under folded state in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of collapsible 3D printing module under unfolded state in the embodiment of the present invention；
In figure, 1- Collapsible welding mechanism, 2- vector engine, the spiral soil suction mechanism of 3-, 4- folding 3D printing mechanism,
5- train frame, 6- protect the side wing, 7- guide rail slide block mechanism, 8- multiple degrees of freedom electroplating equipment wielding machine arm, 9- auxiliary welding machine structure, 10-
Plumb joint, 11- screw pump, 12- conveyer belt, 13- transport motor, 14- longitudinal rail, 15- cross slide way, 16- vertical guide,
17- printing head, 18- type plate.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Shown in referring to Fig.1~Fig. 8, moon campsite auxiliary construction robot in one embodiment provided by the invention, packet
Car body is included, car body, which is equipped with, folds 3D printing mechanism 4, spiral soil suction mechanism 3 and Collapsible welding mechanism 1, the bottom of car body
Equipped with train frame 5, train frame 5 is equipped with movable pulley, and the bottom of car body is additionally provided with vector engine 2；Spiral soil suction mechanism 3 uses
In by the soil on the moon be delivered to fold 3D printing mechanism 4, fold 3D printing mechanism 4 using lunar soil as 3D printing material,
Material and part needed for printing building lunar base.
Further, the number of vector engine 2 is 3, and the number of train frame 5 is also 3.
Further, 3D printing mechanism 4, spiral soil suction mechanism 3 and Collapsible welding mechanism 1 are folded and is all set in car body
Lateral surface.
Further, Collapsible welding mechanism 1 includes guide rail slide block mechanism 7, multiple degrees of freedom electroplating equipment wielding machine arm 8, auxiliary weldering
Connection mechanism 9 and plumb joint 10, multiple degrees of freedom electroplating equipment wielding machine arm 8 are set to the lateral surface of car body by guide rail slide block mechanism 7, mostly certainly
It is equipped with the protection side wing 6 by 8 two sides of degree electroplating equipment wielding machine arm, the protection side wing 6 is arranged on car body, and auxiliary welding machine structure 9 is arranged
In 8 side of multiple degrees of freedom electroplating equipment wielding machine arm, it is arranged in guide rail slide block mechanism 7, plumb joint 10 is set to multiple degrees of freedom bonding machine
On tool arm 8.
Further, the side of the side wing 6 is protected to be equipped with torsion shaft, the protection side wing 6 is hinged by torsion shaft and car body,
Torsion shaft is connected with overturning motor, and overturning motor drives the protection side wing 6 to overturn by torsion shaft；When operating, side is protected
The wing 6 is turned into vertical state, is arranged in the two sides of multiple degrees of freedom electroplating equipment wielding machine arm 8, forms protective plate, when off working state,
The protection side wing 6 is turned into straightened condition, reduces occupied space.
Further, guide rail slide block mechanism 7 includes guide rail, slide plate, screw rod and guide rail motor, and guide rail motor and guide rail are arranged
In on car body, slide plate is set on guide rail, and multiple degrees of freedom electroplating equipment wielding machine arm 8 and auxiliary welding machine structure 9 are all set on slide plate, is led
Rail motor is connect by screw rod with slide plate, and guide rail motor drives slide plate to move along guide rail by screw rod.
Further, folding 3D printing mechanism 4 includes that fixed frame, folding stand, printing head 17 and storeroom, fixed frame are solid
On car body, fixed frame is equipped with vertical sliding component, and component is slid laterally in vertical sliding mechanism, and printing head 17 is arranged
In on transverse sliding mechanism, vertical sliding component drives printing head 17 to move up and down along the vertical direction, slides laterally component band
Dynamic printing head 17 laterally moves, and one end of folding stand is hinged by the lower end of rotation axis and fixed frame, and folding stand is equipped with
Longitudinal sliding motion component, longitudinal sliding motion component are equipped with type plate 18, and folding stand makes folding stand and consolidate after rotation axis rotating opening
Determine that frame is mutually perpendicular to and type plate 18 is located at the lower section of printing head 17, storeroom is set on car body, and printing head 17 is logical
Piping is connect with storeroom.
Further, vertical sliding component includes vertical guide 16, vertical slide plate, vertical screw rod and vertical driving motor,
Vertical guide 16 is vertically arranged, and on fixed frame, vertical slide plate is set in vertical guide 16, and vertical driving motor passes through perpendicular
It is connect to screw rod with vertical slide plate, vertical driving motor is fixedly arranged on fixed frame, and vertical driving motor is driven by vertical screw rod
Vertically guide rail 16 is mobile for vertical slide plate；
Sliding laterally component includes cross slide way, cross slide, cross lead screw and horizontal drive motor, and cross slide way is along horizontal
To being arranged on vertical slide plate, cross slide is set on cross slide way, and horizontal drive motor is sliding by cross lead screw and laterally
Plate connection, horizontal drive motor are fixedly arranged on vertical slide plate, and horizontal drive motor drives cross slide along horizontal by cross lead screw
Direction guiding rail 15 is mobile；
Longitudinal sliding motion component includes longitudinal rail 14, longitudinal slide, longitudinal screw mandrel and vertical drive motor, longitudinal rail 14
Longitudinally arranged on folding stand, longitudinal slide is set on longitudinal rail 14, and vertical drive motor is by longitudinal screw mandrel and indulges
It is connected to slide plate, vertical drive motor is fixedly arranged on folding stand, and vertical drive motor drives longitudinal slide edge by longitudinal screw mandrel
Longitudinal rail 14 is mobile.
Further, car body is cone, and storeroom is set in the hollow cavity of car body cone, spiral soil suction mechanism 3
Output end is docked with storeroom.
Further, rotation axis is connected with folding motor, folds motor and is turned by rotation axis Foldable frame around rotation axis
It is dynamic.
Further, spiral soil suction mechanism 3 includes screw pump 11, conveyer belt 12 and transport motor 13, screw pump 11
One end and one end of conveyer belt 12 are hinged, and the other end of conveyer belt 12 is connect with car body.
Further, conveyer belt 12 is equipped with transport motor 13 for driving conveyer belt 12 to operate.
Further, car body is cone, and the bottom of cone is equipped with central plate, and train frame 5 and vector engine 2 are all set in
The bottom of central plate.
Further, cone is trigone or rectangular pyramid.
Further, there are three vector engines 2 for the bottom of central plate, because moonscape does not have air, by machine
Device people carries the energy, independent of outside air, is converted by high-speed jet and generates thrust, and construction robot is pushed to be detached from
Moonscape can fly upwards.The main purpose of installation vector engine 2 is that lunar base is assisted to build and safeguard base
Ground, it is generally the case that the height in base generally all can be the high several times of the person, to meet the needs of inner space.Robot is auxiliary
It helps when building lunar base, object height can be risen to by vector engine 2, carry out the operation such as welding, safeguard moon campsite.
The developing direction of lunar base is there are also using lunar soil as raw material at present, by process, the frame etc. in component base, with
Lunar soil is that raw material can solve the problems, such as to transport material difficulty from the earth toward the moon.Construction robot includes spiral soil suction mechanism
3, moonscape soil can be collected, provides raw material for 3D printing module.By 3D printing technique, robot can assist building the moon
Ball base constructs complicated shell.
The working principle of the invention:
The design of Collapsible welding mechanism
Collapsible welding mechanism 1 is installed on the inner wall of side plate, as shown in figure 3, being the work of construction robot folded form
Module.Socket part point is by a professional multiple degrees of freedom electroplating equipment wielding machine arm 8, auxiliary welding machine structure 9, guide rail slide block mechanism 7 and work
State protects the side wing 6 to form.When welding portion work, plumb joint 10 is set to move to institute by guide rail slide block mechanism 7 first
Position is needed, the working condition protection mechanism of starter two sides protects welding, and auxiliary welding machine structure 9 can be timely
Welding material, auxiliary positioning pad are supplemented, multivariant electroplating equipment wielding machine arm makes the completeness of welding higher, precision
It is higher, guarantee is given to building for entire lunar base.
Spiral soil suction mechanism
It due to moonscape rarefaction of air, is covered almost without atmosphere, therefore relies on gas pressure intensity difference and lunar dust is inhaled
Work of knocking off is infeasible.Therefore this programme devises spiral rare earth mechanism.When motor drives pump shaft rotation, screw rod one
Aspect is rotated around the axis of itself, and on the other hand it is rolled along sleeve inner surface again, then forms the sealed chamber of pump.Screw rod is every
It circles, the soil in seal chamber pushes ahead a screw pitch, and with the continuous rotation of screw rod, soil is with spiral fashion from one
A seal chamber presses to another seal chamber, finally squeezes out the pump housing.Screw pump 11 is a kind of novel conveying machinery, has structure letter
It is single, safe and reliable, easy maintenance, be unearthed continuous uniform, pressure stablize the advantages that.Pass through 12 mechanism of conveyer belt later
Soil is transported to corresponding storeroom and gives over to 3D printing material and the use of lunar base surfacecti proteon film.
Collapsible 3D printing module design
Collapsible 3D printing module is in closed state in an inactive state, is attached to another with lesser occupancy volume
On side plate inner wall.When conversion is in working condition, printing mechanism is using the soil of moonscape as raw material, printing building lunar base
Required material and part.As shown in figure 5, longitudinal rail 14, vertical guide 16 and cross slide way 15 are respectively the 3D printing mould
Tri- axis rail of X, Y, Z of block, printing head 17 can be slided by belt pulley in Y-axis guide rail, and Y-axis guide rail bracket can be led in Z axis
It is moved on rail, type plate 18 can move in X-axis, be driven by motor and electric pushrod.
The environmental characteristic of lunar surface determines the functional characteristic of moon campsite auxiliary construction robot, corresponding to be, this
Robot meets following structure function: drawing and assemble the functional module of lunar dust, lunar soil；Utilize 3D printing technique and the moon
Soil carries out the 3D printing module of printing part；The auxiliary welding machine structure of weld seam repair maintenance is carried out in moon campsite environs
9 etc..
The structure design and power source design of moon campsite auxiliary construction robot, such as collapsible 3D printing module, spiral shell
Rotating soil suction mechanism 3, Collapsible welding mechanism 1, vector engine 2 etc.；For difficult pain spot of drawing materials on the moon, novelty is mentioned
3 plate of exit spiral type soil suction mechanism come to moonscape lunar dust and lunar soil draw materials；The moon is built on the moon
The moulding processing difficulties of material innovatively propose collapsible 3D printing module, can be unfolded under lunar environment, to building
Material carries out 3D printing, and small in size shared by movement and carrying；Severe for lunar base local environment, lunar base needs
The demands such as timed maintenance repair welding, have installed welding mechanism additional in robot.
This programme devises a kind of Collapsible welding mechanism 1, can carry out repair welding to it near lunar base, eliminates weldering
Seam；Spiral soil suction mechanism 3 can draw construction material in moonscape, provide material for 3D printing module moulding；Collapsible 3D
Print module is easy to carry, light weight small in size, can be used for the moulding processing of construction material；Arrangement for closed configuration can be prevented to the full extent
Radiation and lunar dust save transport space, can be welded, soil suction and 3D printing work.
Above is only presently preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this,
Therefore according to equivalence changes made by scope of the present invention patent, still belong to protection scope of the present invention.
Claims (10)
1. a kind of moon campsite auxiliary construction robot, which is characterized in that including car body, car body, which is equipped with, folds 3D printer
Structure, spiral soil suction mechanism and Collapsible welding mechanism, the bottom of car body are equipped with train frame, and train frame is equipped with movable pulley, vehicle
The bottom of body is additionally provided with jet engine.
2. moon campsite auxiliary construction robot according to claim 1, which is characterized in that jet engine is vector hair
Motivation.
3. moon campsite auxiliary construction robot according to claim 1, which is characterized in that Collapsible welding mechanism includes
Guide rail slide block mechanism, multiple degrees of freedom electroplating equipment wielding machine arm, auxiliary welding machine structure and plumb joint, multiple degrees of freedom electroplating equipment wielding machine arm is by leading
Rail slide block mechanism is set to the lateral surface of car body, and multiple degrees of freedom electroplating equipment wielding machine arm two sides are equipped with the protection side wing, protect the side wing
It is arranged on car body, auxiliary welding machine structure is set to multiple degrees of freedom electroplating equipment wielding machine arm side, is arranged in guide rail slide block mechanism, welds
Connector is set on multiple degrees of freedom electroplating equipment wielding machine arm.
4. moon campsite auxiliary construction robot according to claim 3, which is characterized in that the side of the protection side wing is set
There is torsion shaft, the protection side wing is hinged by torsion shaft and car body, and torsion shaft is connected with overturning motor, and overturning motor passes through overturning
Axis drives protection side wing overturning.
5. moon campsite auxiliary construction robot according to claim 3, which is characterized in that guide rail slide block mechanism includes leading
Rail, slide plate, screw rod and guide rail motor, guide rail motor and guide rail are arranged on car body, and slide plate is set on guide rail, multiple degrees of freedom weldering
It connects mechanical arm and auxiliary welding machine structure is all set on slide plate, guide rail motor is connect by screw rod with slide plate, and guide rail motor passes through
Screw rod drives slide plate to move along guide rail.
6. moon campsite auxiliary construction robot according to claim 1, which is characterized in that folding 3D printing mechanism includes
Fixed frame, folding stand, printing head and storeroom, fixed frame are fixedly arranged on car body, and fixed frame is equipped with vertical sliding component, are erected
Component is slid laterally on straight sliding equipment, printing head is set on transverse sliding mechanism, and vertical sliding component drives printing spray
Head moves up and down along the vertical direction, slides laterally component and printing head is driven to laterally move, one end of folding stand passes through rotation
The lower end of axis and fixed frame is hinged, and folding stand is equipped with longitudinal sliding motion component, and longitudinal sliding motion component is equipped with type plate, folding stand
After rotation axis rotating opening, makes folding stand and fixed frame is mutually perpendicular to and type plate is located at the lower section of printing head, store
Room is set on car body, and printing head is connect by pipeline with storeroom.
7. moon campsite auxiliary construction robot according to claim 6, which is characterized in that rotation axis is connected with folding electricity
Machine folds motor and is rotated by rotation axis Foldable frame around rotation axis.
8. moon campsite auxiliary construction robot according to claim 6, which is characterized in that vertical sliding component includes perpendicular
Direction guiding rail, vertical slide plate, vertical screw rod and vertical driving motor, vertical guide is vertically arranged on fixed frame, vertical slide plate
It is set in vertical guide, vertical driving motor is connect by vertical screw rod with vertical slide plate, and vertical driving motor passes through vertical
Screw rod drives vertical slide plate, and vertically guide rail is mobile；
Sliding laterally component includes cross slide way, cross slide, cross lead screw and horizontal drive motor, cross slide way transversely cloth
It is placed on vertical slide plate, cross slide is set on cross slide way, and horizontal drive motor is connected by cross lead screw and cross slide
It connects, horizontal drive motor drives cross slide transversely guide rail movement by cross lead screw；
Longitudinal sliding motion component includes longitudinal rail, longitudinal slide, longitudinal screw mandrel and vertical drive motor, longitudinal rail cloth along longitudinal direction
It being placed on folding stand, longitudinal slide is set on longitudinal rail, and vertical drive motor is connect by longitudinal screw mandrel with longitudinal slide,
Vertical drive motor drives longitudinal slide guide rail movement along longitudinal direction by longitudinal screw mandrel.
9. moon campsite auxiliary construction robot according to claim 1, which is characterized in that spirally soil suction mechanism includes
Screw pump, conveyer belt and transport motor, one end of screw pump and one end of conveyer belt are hinged, and the other end and car body of conveyer belt connect
It connects.
10. moon campsite auxiliary construction robot according to claim 1, which is characterized in that car body is cone, cone
Bottom is equipped with central plate, and train frame and vector engine are all set in the bottom of central plate.
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| CN201910775371.XA CN110509288A (en) | 2019-08-21 | 2019-08-21 | Moon campsite auxiliary construction robot |
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| CN201910775371.XA CN110509288A (en) | 2019-08-21 | 2019-08-21 | Moon campsite auxiliary construction robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112620647A (en) * | 2020-12-15 | 2021-04-09 | 华中科技大学 | High-strength part 3D printing method and device for lunar environment |
| CN114876204A (en) * | 2022-06-21 | 2022-08-09 | 上海君荬自动化科技有限公司 | Printing building system for building parts and building base under microgravity environment |
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