CN110525691B - Foldable lunar camp auxiliary construction robot - Google Patents
Foldable lunar camp auxiliary construction robot Download PDFInfo
- Publication number
- CN110525691B CN110525691B CN201910769677.4A CN201910769677A CN110525691B CN 110525691 B CN110525691 B CN 110525691B CN 201910769677 A CN201910769677 A CN 201910769677A CN 110525691 B CN110525691 B CN 110525691B
- Authority
- CN
- China
- Prior art keywords
- lead screw
- camp
- lunar
- mechanical arm
- foldable
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
-
- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a foldable lunar camp auxiliary building robot which comprises a vehicle platform, a vision detection module, a multi-degree-of-freedom mechanical arm and a dismounting and replacing module, wherein the vision detection module, the multi-degree-of-freedom mechanical arm and the dismounting and replacing module are all arranged on the vehicle platform, a plurality of support legs are distributed along the bottom of the vehicle platform, a folding solar panel is arranged on the outer side surfaces of the support legs, and reducing obstacle crossing wheels are arranged at the lower ends of the support legs. The movable support can assist astronauts in building camps, maintaining and repairing camps, is good in moving performance, has excellent obstacle-crossing capability and climbing capability, and assists the astronauts in daily life, including carrying articles, assisting scientific investigation and the like; and the energy supply function can utilize solar energy to generate electricity on the moon surface.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foldable moon camp auxiliary construction robot.
Background
To date, the space agency in various countries has found hundreds of very abundantly available resources on the moon. The lunar exploration and utilization method comprises abundant mineral resources, rare earth elements and helium 3, wherein the resources are rare strategic resources on the earth, so that the method has great significance for exploiting and utilizing lunar resources by establishing a service area on the moon.
The construction of the lunar camp is of great importance for the next-stage lunar exploration scientific investigation. The technical conditions of the current moon space station and the moon detector are not enough to realize deeper and more detailed scientific exploration on the secret of the moon, the current moon detection mode has the defects of small volume of a sampling sample, complicated reciprocating conveying steps, high cost, long and short duration of single exploration, easy deterioration of the sample caused by environmental change and the like, the problems can be effectively solved in the field scientific exploration ground of the moon, the field and the conditions of scientific personnel for the field exploration of the moon are provided, and the method has deeper significance for deeper scientific exploration.
At present, the construction difficulty of a moon base is high, and the construction method on the earth is difficult to implement. Because the lunar soil has the characteristic of being directly used as a protective material without processing, the most feasible mode in theory is to use the lunar soil as a building material to cover the surface of a base, is easy to construct, and plays roles in radiation protection, equipment protection and the like.
The lunar probe is used as the most important carrier in lunar exploration engineering and is one of the most important links in the design of aerospace craft. A lunar probe capable of landing a moon to complete a specified task needs to consider a plurality of harsh conditions, including lunar environment conditions, structural design conditions, motion modes, functional design conditions and the like, and besides the requirements of radiation protection, lunar dust prevention, easy obstacle crossing, realization of temperature control, autonomous energy supply and the like are met, a reasonable motion mode needs to be designed to realize functions of assisting in building a lunar base and the like.
The lunar surface gravity coefficient is smaller than the earth, the day and night temperature difference is large, the terrain is rugged, and large and small meteorite pits are covered, so that very strict requirements are provided for the stability of the lunar probe vehicle. At present, the detection vehicles launched to the moon in various countries generally have the characteristics of complex vehicle body structure, heavy vehicle body, small carrying capacity, easy damage and high manufacturing cost, and can not meet the requirements on detection and development of moon resources. The integration, integration and lightweight of lunar scientific investigation functions such as obstacle crossing, walking, energy collection, sampling and the like are still huge challenges faced by the current lunar vehicle.
The most important task of the lunar camp robot is to build and maintain the lunar camp and assist astronauts in daily life and scientific research. The environmental characteristics of the lunar surface are as follows:
(1) the temperature difference between day and night is large in a high vacuum state, the hottest can reach 127 ℃, and the coldest at night can reach-180 ℃;
(2) a low gravity environment, gravity being only 1/6 of the earth;
(3) the lunar surface and landform has multiple gullies, high mountains, cliffs and the like, and the average gradient of the lunar high region and the like is about 20;
(4) the radiation of the moon surface is large, and dust on the moon surface is easy to adhere;
through relevant data analysis and experience investigation, due to the fact that practice experience of the lunar rover is insufficient, the existing lunar rover is incomplete in aspects of obstacle crossing, sampling, energy self-supply and the like under the conditions, and the integration degree is low, so that the design concept of the lunar rover is provided for the problems.
Based on the background, the foldable lunar base auxiliary construction robot for the functions of lunar surface sampling, soil transportation and the like is designed, and aiming at a plurality of harsh conditions existing in the design of a lunar probe, the foldable lunar camp auxiliary construction robot designed by the project has the advantages of high functional integration, strong environmental adaptability, good movement performance, strong load capacity, small size, flexibility and the like.
Disclosure of Invention
The invention aims to solve the technical problems that aiming at the defects in the prior art, the invention provides the foldable lunar camp auxiliary construction robot which can assist astronauts in camp construction, maintenance and repair, has good mobility, excellent obstacle crossing capability and climbing capability, and assists the daily life of the astronauts, including carrying articles, assisting scientific investigation and the like; and the energy supply function can utilize solar energy to generate electricity on the moon surface.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a collapsible type moon camp assists builds robot, includes ride, visual detection module, multi freedom arm and tears the module open and trade, and visual detection module, multi freedom arm and tear the module open and trade and all set up on the ride, and the ride bottom is along distributing there are a plurality of stabilizer blades, and the lateral surface of stabilizer blade is equipped with folding solar panel, and the lower extreme of stabilizer blade is equipped with the reducing and hinders the wheel more.
According to above-mentioned technical scheme, a plurality of stabilizer blades along circumference evenly distributed in ride bottom, the upper end of stabilizer blade is passed through the axis of rotation and is articulated with the ride, and the axis of rotation connection has the stabilizer blade motor.
According to the technical scheme, the variable-diameter obstacle crossing wheel comprises a support frame, a wheel shaft and a wheel driving motor, wherein the wheel shaft is arranged on the support frame through a bearing, the wheel driving motor is connected with the wheel shaft, the wheel driving motor is fixedly arranged on the support frame, the support frame is connected with the lower ends of supporting legs, a plurality of arc tire panels are uniformly distributed on the wheel shaft along the circumferential direction, an electric push rod is connected between each arc tire panel and the wheel shaft, the electric push rod is radially arranged along the wheel shaft, the arc tire panels jointly form obstacle crossing tire surfaces, and the outer surface of each arc tire panel is provided with a pressure sensor.
According to the technical scheme, the visual detection module comprises a base, a rotary lifting mechanism, a push-pull mechanism, an installation table and a camera, wherein the rotary lifting mechanism and the push-pull mechanism are arranged on the base, the installation table is arranged on the rotary lifting mechanism, the bottom of the camera is hinged with the installation table through a hinge shaft, the push-pull mechanism is connected with the tail end of the camera, the rotary lifting mechanism drives the camera to rotate and lift, the push-pull mechanism drives the camera to rotate around the hinge shaft, and the push-pull mechanism enables the camera to adjust the angle in a point mode.
According to the technical scheme, the rotary lifting mechanism comprises an upper barrel, a lower barrel, a gear set and a rotary driving motor, the mounting table is connected with the upper end of the upper barrel through a bearing, the lower end of the upper barrel is sleeved with the lower barrel through threads, the rotary driving motor is connected with the upper barrel through the gear set, and the rotary driving motor drives the upper barrel to rotate and move along the lower barrel through the gear set.
According to the technical scheme, the folding solar panel comprises 3 solar panels, the middle solar panel is fixedly arranged on the support legs, and the two outer solar panels are respectively hinged with the two sides of the middle solar panel through hinges;
outside solar panel is connected with tilting mechanism, tilting mechanism includes first connecting rod, the second connecting rod, the gear shaft, rack and upset motor, the one end and the outside solar panel of first connecting rod are articulated, the other end of first connecting rod is articulated with the one end of second connecting rod, the other end and the gear shaft of second connecting rod are connected, the gear shaft sets firmly on stabilizer blade or middle solar panel through the bearing, the tip of gear shaft is equipped with the gear, the gear shaft passes through wheel and rack toothing, the output shaft of upset motor has the lead screw, the rack cup joints through screw thread and lead screw, upset motor drive lead screw rotates, it makes a round trip linear movement along the lead screw to drive the rack, make the gear shaft rotate and drive outside solar panel upset, the upset motor sets firmly.
According to the technical scheme, one section of the multi-degree-of-freedom mechanical arm is a telescopic arm.
According to the technical scheme, the telescopic arm comprises two short arms which are sleeved with each other, and a screw rod mechanism is connected between the two short arms;
the lead screw mechanism comprises a mechanical arm lead screw and a lead screw motor, the lead screw motor is fixedly arranged on one section of short arm, the output end of the lead screw motor is connected with the mechanical arm lead screw, the mechanical arm lead screw is connected with the other section of short arm through threads, and the lead screw motor drives the mechanical arm lead screw to rotate, so that the short arm sleeved on the lead screw can move up and down along the mechanical arm lead screw.
According to the technical scheme, the disassembling and replacing module comprises a disassembling and replacing module, a mechanical gripper, a drilling mechanism, an illuminating mechanism and a sampling mechanism are sequentially arranged on the disassembling and replacing module along the circumferential direction, and adapter joints are arranged at the upper ends of the mechanical gripper, the drilling mechanism, the illuminating mechanism and the sampling mechanism and are used for being in butt joint with end clamping jaws of the multi-degree-of-freedom mechanical arm.
According to the technical scheme, the disassembling and replacing module comprises a tray, a gear transmission group and a conversion motor, the tray is horizontally arranged on the turning table through a bearing, the mechanical gripper, the drilling mechanism, the illuminating mechanism and the sampling machine are sequentially arranged on the tray along the circumferential direction, the conversion motor is connected with the tray through the gear transmission group, and the rotation motor drives the tray to rotate through the gear transmission group.
The invention has the following beneficial effects:
1. the invention can assist astronauts in building camps, maintaining and repairing camps, has good mobility, excellent obstacle-crossing capability and climbing capability, and assists astronauts in daily life, including carrying articles, assisting scientific investigation and the like; energy supply function, solar power generation on the moon surface, etc.
2. The variable-diameter damping wheel is designed, and the wheel surface consists of a plurality of telescopic surface patches which can stretch along with the fluctuation of the terrain, so that the obstacle crossing and damping effects are achieved. Meanwhile, the diameter-variable wheel can rotate in situ and move along any direction; the multifunctional mechanical arm and the dismounting mechanical joint device are mutually matched, so that one arm is multipurpose, equipment of the robot is reduced, and required functions are met; the integral folding solar panel can meet the requirements of energy supply, radiation protection and monthly dust prevention.
Drawings
FIG. 1 is a schematic structural diagram of a foldable lunar camp auxiliary construction robot in the embodiment of the invention;
FIG. 2 is an elevation view of a variable diameter obstacle crossing wheel in a normal configuration in accordance with an embodiment of the present invention;
FIG. 3 is an elevation view of a variable diameter obstacle crossing wheel in a deformed configuration in accordance with an embodiment of the present invention;
FIG. 4 is a schematic obstacle crossing diagram of a variable diameter obstacle crossing wheel according to an embodiment of the invention;
FIG. 5 is a schematic view of an embodiment of the present invention illustrating the connection of a curved tire panel to a wheel axle;
FIG. 6 is a partial K view of FIG. 5;
FIG. 7 is a schematic structural diagram of a folded solar panel according to an embodiment of the present invention;
FIG. 8 is a partial M view of FIG. 7;
FIG. 9 is an elevation view of a vision detection module in an embodiment of the present invention;
FIG. 10 is a view from the direction A of FIG. 9;
FIG. 11 is a schematic diagram of a multi-degree of freedom mechanical arm in an embodiment of the invention;
FIG. 12 is a module for disassembly and replacement in an embodiment of the present invention;
in the figure, 1-variable-diameter obstacle crossing wheel, 2-folding solar panel, 3-vision detection module, 4-multi-degree-of-freedom mechanical arm, 5-dismantling module, 6-obstacle crossing tire tread, 7-pressure sensor, 8-wheel driving motor, 9-caster gear set, 10-support frame, 11-obstacle, 12-wheel shaft, 13-arc tire panel, 14-electric push rod, 15-solar panel, 16-rack, 17-gear shaft, 18-hinge, 19-first connecting rod, 20-second connecting rod, 21-push-pull mechanism, 22-chain, 23-gear set, 24-rotary lifting mechanism, 25-camera, 26-screw rod mechanism, 27-mechanical gripper, 28-drilling mechanism, 29-lighting mechanism, 30-sampling mechanism, 31-conversion joint, 32-tray, 33-gear transmission group, 34-conversion motor, 35-fan-shaped frame and 36-base.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 12, the foldable lunar camp auxiliary construction robot in one embodiment of the invention comprises a vehicle platform, a vision detection module 3, a multi-degree-of-freedom mechanical arm 4 and a replacement module 5, wherein the vision detection module 3, the multi-degree-of-freedom mechanical arm 4 and the replacement module 5 are all arranged on the vehicle platform, a plurality of support legs are distributed along the bottom of the vehicle platform, a folding solar panel 2 is arranged on the outer side surfaces of the support legs, and reducing obstacle crossing wheels 1 are arranged at the lower ends of the support legs.
The robot further comprises a control system, the control system is respectively connected with the vision detection module 3, the multi-degree-of-freedom mechanical arm 4, the dismounting and replacing module 5, the support legs and the variable-diameter obstacle crossing wheels 1, the vision detection module 3, the multi-degree-of-freedom mechanical arm 4, the dismounting and replacing module 5, the support legs and the variable-diameter obstacle crossing wheels 1 are respectively controlled to operate, and the support leg motors are connected with the control system.
Furthermore, a plurality of support legs are uniformly distributed at the bottom of the trolley platform along the circumferential direction, the upper ends of the support legs are hinged with the trolley platform through rotating shafts, and the rotating shafts are connected with support leg motors; the stand bar motor drives a plurality of stand bars to turn inside and outside through the rotating shaft, so that the angles of the stand bars, the vehicle platform and the ground are changed, and the height of the vehicle platform is changed.
Furthermore, the number of the support legs is 3, and the vehicle platform is triangular.
Furthermore, the rotating shaft is fixedly arranged at the upper ends of the support legs, the rotating shaft is arranged on the vehicle platform through a bearing, and the support leg motor drives the rotating shaft to rotate.
Furthermore, the variable-diameter obstacle crossing wheel 1 comprises a support frame 10, a wheel shaft 12 and a wheel driving motor 8, the wheel shaft 12 is arranged on the support frame 10 through a bearing, the wheel driving motor 8 is connected with the wheel shaft 12, the wheel driving motor 8 is fixedly arranged on the support frame 10, the support frame 10 is connected with the lower ends of support legs, a plurality of arc-shaped tire panels 13 are uniformly distributed on the wheel shaft 12 along the circumferential direction, an electric push rod 14 is connected between each arc-shaped tire panel 13 and the wheel shaft 12, the electric push rod 14 is radially arranged along the wheel shaft 12, the plurality of arc-shaped tire panels 13 jointly form an obstacle crossing tire tread 6, a pressure sensor 7 is arranged on the outer surface of each arc-shaped tire panel 13, and the electric push rod 14 and the pressure sensor 7 are both connected; when the pressure sensor 7 on one of the arc tire panels 13 detects that an obstacle 11 exists, the corresponding electric push rods 14 are shortened to drive the corresponding arc tire panel 13 to retract, the lengths of the other electric push rods 14 are unchanged to avoid the obstacle 11, after all the obstacles 11 are completely crossed, the electric push rods 14 retract simultaneously, and the arc tire panels 13 are spliced into a whole circle to form the obstacle crossing tire surface 6.
Further, the wheel driving motor 8 is connected with the wheel shaft 12 through the caster gear set 9, and the wheel driving motor 8 drives the wheel shaft 12 to rotate through the caster gear set 9.
Furthermore, fan-shaped frames 35 are respectively arranged on two sides of the arc-shaped tire panel 13, and two ends of the electric push rod 14 are respectively connected with the fan-shaped frames 35 and the wheel axle 12.
Further, the vision detection module 3 includes a base 36, a rotary lifting mechanism 24, a push-pull mechanism 21, an installation table and a camera 25, the rotary lifting mechanism 24 and the push-pull mechanism 21 are disposed on the base 36, the installation table is disposed on the rotary lifting mechanism 24, the bottom of the camera 25 is hinged to the installation table through a hinge shaft, the push-pull mechanism 21 is connected to the tail end of the camera 25, the rotary lifting mechanism 24 drives the camera 25 to rotate and lift, the push-pull mechanism 21 drives the camera 25 to rotate around the hinge shaft, and the push-pull mechanism 21 enables the camera 25 to adjust the angle of the camera 25 in a point mode.
Further, the push-pull mechanism 21 is a slider-crank mechanism or a push-pull cylinder/electric cylinder, and two ends of the slider-crank mechanism or the push-pull cylinder/electric cylinder are respectively connected with the base 36 and the tail end of the camera 25.
Further, rotatory elevating system 24 includes barrel, gear train 23 and rotation driving motor down, and the mount table passes through the bearing to be connected with the upper end of last barrel, and the mount table can rotate for last barrel level, and the lower extreme of going up the barrel cup joints with barrel down through the screw, and rotation driving motor passes through gear train 23 and is connected with last barrel, and rotation driving motor passes through gear train 23 and drives the rotatory along lower barrel lift removal of barrel.
Further, a rotation driving motor is fixedly arranged on the base 36, and a transmission chain 22 is connected between the rotation driving motor and the input end of the gear set 23.
Furthermore, the folding solar panel 2 comprises 3 solar panels 15, the middle solar panel 15 is fixedly arranged on the support legs, and the two outer solar panels 15 are respectively hinged with two sides of the middle solar panel 15 through hinges 18;
outside solar panel 15 is connected with tilting mechanism, tilting mechanism includes first connecting rod 19, second connecting rod 20, gear shaft 17, rack 16 and upset motor, the one end of first connecting rod 19 is articulated with outside solar panel 15, the other end of first connecting rod 19 is articulated with the one end of second connecting rod 20, the other end of second connecting rod 20 is connected with gear shaft 17, gear shaft 17 sets firmly on stabilizer blade or middle solar panel 15 through the bearing, the tip of gear shaft 17 is equipped with the gear, gear shaft 17 passes through wheel and rack 16 meshing, the output shaft of upset motor has the lead screw, rack 16 cup joints with the lead screw through the screw thread, upset motor drive lead screw rotates, drive rack 16 along the lead screw straight line that makes a round trip, make gear shaft 17 rotate and drive outside solar panel 15 upset, the upset motor sets firmly on ride or stabilizer blade.
Further, one section of the multi-degree-of-freedom mechanical arm 4 is a telescopic arm.
Further, the telescopic arm comprises two short arms which are sleeved with each other, and a screw rod mechanism 26 is connected between the two short arms;
the screw rod mechanism 26 comprises a mechanical arm screw rod and a screw rod motor, the screw rod motor is fixedly arranged on one section of short arm, the output end of the screw rod motor is connected with the mechanical arm screw rod, the mechanical arm screw rod is connected with the other section of short arm through threads, and the screw rod motor drives the mechanical arm screw rod to rotate so that the short arm sleeved on the mechanical arm screw rod can move up and down along the mechanical arm screw rod; the telescopic arm is formed, and articles in a specific area or a deeper area can be grabbed.
Further, the disassembling and replacing module 5 comprises a disassembling and replacing module 5, a mechanical gripper 27, a drilling mechanism 28, an illuminating mechanism 29 and a sampling mechanism 30 are sequentially arranged on the disassembling and replacing module 5 along the circumferential direction, conversion joints 31 are arranged at the upper ends of the mechanical gripper 27, the drilling mechanism 28, the illuminating mechanism 29 and the sampling mechanism 30, and the conversion joints 31 are used for being in butt joint with end clamping jaws of the multi-degree-of-freedom mechanical arm 4.
Further, the disassembling and replacing module 5 comprises a tray 32, a gear transmission group 33 and a conversion motor 34, the tray 32 is horizontally arranged on the vehicle platform through a bearing, the mechanical gripper 27, the drilling mechanism 28, the illuminating mechanism 29 and the sampling machine are sequentially arranged on the tray 32 along the circumferential direction, the conversion motor 34 is connected with the tray 32 through the gear transmission group 33, and the rotation motor drives the tray 32 to rotate through the gear transmission group 33; the mechanical gripper 27, the drilling mechanism 28, the illumination mechanism 29 and the sampling mechanism 30 arranged on the tray 32 are rotated to the corresponding replacement positions, which facilitates the replacement of different tools by the end gripper of the multi-degree-of-freedom robot arm 4.
Further, each motor is connected with the control system.
The working principle of the invention is as follows:
as shown in fig. 2-4, the variable-diameter obstacle crossing wheel 1 is composed of a cylinder, a tire patch, a motor, a gear, a support frame 10 and the like, and has special lunar surface topography and uneven fluctuation, thereby providing higher requirements for the mobility of the lunar vehicle. Therefore, the moving module of the robot is designed into a variable-diameter obstacle crossing wheel, and the driving mode is 'motor-bevel gear train-half shaft output' driving. In a normal state, as shown in fig. 2, when there is an obstacle 11 in the front, the machine vision detection module on the vehicle body detects the obstacle 11, the wheel starts to deform, the electric push rod 14 stretches and retracts to eject the tire patch outwards, as shown in fig. 3, the radius of the obstacle-crossing wheel is increased, and meanwhile, a gap is left between each tire patch to ensure that the tire patches do not interfere with each other when stretching. When the force sensor detects that the pressure on the surface of the tire is too large, too small or uneven, the electric push rod 14 can perform feedback adjustment to change the diameter of the tire patch, so that the tire patch is attached to the barrier 11 and is stressed stably. When the robot runs on the moon surface, the surface of the wheel deforms when encountering a convex ground surface or rock, as shown in fig. 4, the surface sheet contacting with the convex obstacle 11 extends inwards along the radius direction, and the contact point of the obstacle 11 and the ground is ensured to be a point on the outer circumference of the whole wheel, so that the buffer and shock absorption effects are achieved, the stability of the main body is ensured, and the obstacle crossing performance is good, as shown in fig. 5-6, the electric push rod 14 inside the tire is schematically illustrated. Meanwhile, the support frame 10 has good hardness and height, light overall weight and good telescopic performance, and the outer surface of the dough sheet is provided with regular dents and has good ground gripping performance so as to obtain a high moving speed. The wheels can rotate around the Z axis along any direction, the robot can move in a turning way at any time, the robot has good flexibility and excellent obstacle-crossing capability and climbing capability, and the climbing capability angle is 25-30 degrees.
The solar panel is turned over, the gravity of the moon surface is small, so that the moon dust is easy to suspend, and the influence on the robot is generated. The design of the turnover solar panel can block the moon dust outside, the structure of the turnover solar panel is shown in figures 7-8, when the solar energy is turned over, the motor drives the rack 16 to translate, the gear is driven to rotate, and then the connecting rod is driven to rotate, one end of the connecting rod is fixedly connected to the solar panel 15 to form a four-bar mechanism, and therefore the turnover motion of the solar panel 15 is achieved. Such a design protects the solar panel 15 from lunar dust on the one hand and increases the area of the solar panel 15 on the other hand.
The vision detection module is characterized in that due to the particularity of the lunar environment, the lunar surface is uneven, and the terrains such as gravels and abrupt slopes are common, so that the detection vehicle needs to plan a walking route in advance to carry out a series of activities, and avoid collision or side turning. The vision detection module 3 can record and shoot the whole visible range of the detection vehicle through the camera 25 without dead angles in all directions, and analyze data by using the technologies such as thermal imaging and the like to finally calculate the optimal walking route. The vision detection module 3 is shown in fig. 9 to 10 as a whole.
The visual detection module 3 controls the camera 25 to move in the vertical direction in a thread transmission mode by using a screw rod mechanism 26, the motor drives the gear to rotate, the gear transmits motion to the threaded sleeve, and the rotation of the threaded sleeve enables the screw rod to translate in the vertical direction, so that the vertical motion of the camera 25 is realized; the operation of the camera 25 of raising and lowering the head is finished by adopting a crank-slider mechanism, a motor drives a crank to rotate, the crank transmits motion to a connecting rod, the connecting rod enables a slider to move in the vertical direction, and then the camera 25 is driven to rotate around the axis, so that the operation of raising and lowering the head of the camera 25 is realized; the chain 22 mechanism and the gear transmission are adopted to realize 360-degree dead-angle-free rotation of the camera 25 around the vertical direction.
The multifunctional mechanical arm module mainly comprises a multi-degree-of-freedom mechanical arm 4 and a plurality of detachable mechanical joints. The mechanical arm part adopts a hydraulic mechanism, a belt pulley mechanism, a worm gear mechanism, a screw rod mechanism 26 and a link mechanism. As shown in the general schematic of the multi-function manipulator module of figure 11. The motor drives the driving wheel to rotate, the driving wheel is transmitted to the driven wheel through the belt, and the driven wheel is fixedly connected with the worm, so that the worm is driven to rotate, the worm wheel slowly rotates, and the whole mechanical arm is driven to rotate in the vertical direction;
because the end part of the gripper of the whole mechanical arm can generate large moment to the root part of the mechanical arm when the mechanical arm works, a hydraulic mechanism with high working efficiency and high reliability is designed to drive the whole mechanical arm to rotate in the vertical direction; in consideration of the dimpled complexity of the lunar surface, the conventional mechanical arm cannot effectively grab objects lower than the horizontal plane, so that the screw rod mechanism 26 is designed to be adopted at the second section of the mechanical arm, the length of the mechanical arm can be increased if necessary, and the working performance of the mechanical arm is improved to a greater extent; a connecting rod mechanism is designed at the end part of the mechanical arm, so that the maximum freedom degree can be realized in a certain specific area, and the movement of the root part of the mechanical arm is not required to be excessively depended on.
The dismounting module, as shown in fig. 12, the dismounting module 5 has a sheave mechanism at the bottom, and a gripper, a searchlight, a sampling mechanism 30, etc. at the upper part, the relative positions of the mechanical joints are fixed, and the sheave mechanism drives the mechanical joints to periodically rotate. The robot arm switching function can be simply realized by setting a specific position for the robot arm. When the mechanical arm joint is changed into the sampling mechanism 30, the task of collecting soil samples is mainly completed, and the soil samples are analyzed by a lunar base to detect lunar soil components. When the moon campsite robot assists in building a moon base, the mechanical arm is replaced by the searchlight, a light source can be provided, and astronauts can conveniently work in places with insufficient light. The mechanical joint module and the mechanical arm are disassembled and replaced in a matching way, so that the effect of one arm with multiple purposes is achieved.
In summary, the lunar camp robot has structural design and power source design, such as a folding solar panel, a variable-diameter obstacle crossing wheel 1, a multifunctional mechanical arm, a camera module and the like; aiming at the lack of solar energy on the moon, the foldable solar panel is innovatively provided to increase the area of the solar panel block, and the solar panel is unfolded for the second time and occupies small volume; aiming at the rugged ground on the moon and the limited walking stability of the lunar vehicle, the variable-diameter obstacle crossing wheel 1 is innovatively provided, when an obstacle is encountered, a tire patch moves forward along the outline of the obstacle 11 under the action of the electric push rod 14, and the stability of the lunar vehicle in the moving process is increased; dimensional parameters of various structures in the device, etc.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (9)
1. A foldable lunar camp auxiliary building robot is characterized by comprising a vehicle platform, a vision detection module, a multi-degree-of-freedom mechanical arm and a dismantling and replacing module, wherein the vision detection module, the multi-degree-of-freedom mechanical arm and the dismantling and replacing module are all arranged on the vehicle platform;
the folding solar panel comprises 3 solar panels, the middle solar panel is fixedly arranged on the support legs, and the two outer solar panels are respectively hinged with the two sides of the middle solar panel through hinges;
outside solar panel is connected with tilting mechanism, tilting mechanism includes first connecting rod, the second connecting rod, the gear shaft, rack and upset motor, the one end and the outside solar panel of first connecting rod are articulated, the other end of first connecting rod is articulated with the one end of second connecting rod, the other end and the gear shaft of second connecting rod are connected, the gear shaft sets firmly on stabilizer blade or middle solar panel through the bearing, the tip of gear shaft is equipped with the gear, the gear shaft passes through wheel and rack toothing, the output shaft of upset motor has the lead screw, the rack cup joints with the lead screw through the screw thread, upset motor drive lead screw rotates, it makes a round trip linear movement along the lead screw to drive the rack, make the gear shaft rotate.
2. The foldable moon camp auxiliary construction robot as claimed in claim 1, wherein the plurality of support legs are evenly distributed at the bottom of the ride along the circumferential direction, the upper ends of the support legs are hinged with the ride through a rotating shaft, and the rotating shaft is connected with a support leg motor.
3. The foldable moon camp auxiliary construction robot as claimed in claim 1, wherein the variable-diameter obstacle crossing wheel comprises a support frame, a wheel shaft and a wheel driving motor, the wheel shaft is arranged on the support frame through a bearing, the wheel driving motor is connected with the wheel shaft, the wheel driving motor is fixedly arranged on the support frame, the support frame is connected with the lower ends of the support legs, a plurality of arc-shaped tire panels are uniformly distributed on the wheel shaft along the circumferential direction, an electric push rod is connected between each arc-shaped tire panel and the wheel shaft, the electric push rods are arranged along the radial direction of the wheel shaft, the plurality of arc-shaped tire panels jointly form obstacle crossing tire surfaces, and a pressure sensor is arranged on the outer surface of each arc-shaped tire panel.
4. The foldable lunar camp auxiliary building robot according to claim 1, wherein the vision detection module comprises a base, a rotary lifting mechanism, a push-pull mechanism, a mounting table and a camera, the rotary lifting mechanism and the push-pull mechanism are arranged on the base, the mounting table is arranged on the rotary lifting mechanism, the bottom of the camera is hinged with the mounting table through a hinge shaft, the push-pull mechanism is connected with the tail end of the camera, the rotary lifting mechanism drives the camera to rotate and lift, the push-pull mechanism drives the camera to rotate around the hinge shaft, and the push-pull mechanism enables the camera to adjust the angle of the camera in a point mode.
5. The foldable moon camp auxiliary construction robot as claimed in claim 4, wherein the rotary lifting mechanism comprises an upper barrel, a lower barrel, a gear set and a rotary driving motor, the mounting table is connected with the upper end of the upper barrel through a bearing, the lower end of the upper barrel is sleeved with the lower barrel through threads, the rotary driving motor is connected with the upper barrel through the gear set, and the rotary driving motor drives the upper barrel to rotate and move along the lower barrel in a lifting mode through the gear set.
6. The foldable lunar camp auxiliary construction robot as recited in claim 1, wherein one of the sections of the multi-degree-of-freedom mechanical arms is a telescopic arm.
7. The foldable lunar camp auxiliary construction robot as claimed in claim 6, wherein the telescopic arm comprises two short arms which are sleeved with each other, and a screw rod mechanism is connected between the two short arms;
the lead screw mechanism comprises a mechanical arm lead screw and a lead screw motor, the lead screw motor is fixedly arranged on one section of short arm, the output end of the lead screw motor is connected with the mechanical arm lead screw, the mechanical arm lead screw is connected with the other section of short arm through threads, and the lead screw motor drives the mechanical arm lead screw to rotate, so that the short arm sleeved on the lead screw can move up and down along the mechanical arm lead screw.
8. The foldable lunar camp auxiliary construction robot as claimed in claim 1, wherein the disassembling and replacing module comprises a disassembling and replacing module, a mechanical gripper, a drilling mechanism, an illuminating mechanism and a sampling mechanism are sequentially arranged on the disassembling and replacing module along the circumferential direction, and conversion joints are arranged at the upper ends of the mechanical gripper, the drilling mechanism, the illuminating mechanism and the sampling mechanism and are used for being in butt joint with end clamping jaws of the multi-degree-of-freedom mechanical arm.
9. The foldable moon camp auxiliary construction robot as claimed in claim 8, wherein the disassembling and replacing module comprises a tray, a gear transmission set and a conversion motor, the tray is horizontally arranged on the vehicle platform through a bearing, the mechanical gripper, the drilling mechanism, the illuminating mechanism and the sampling machine are sequentially arranged on the tray along the circumferential direction, the conversion motor is connected with the tray through the gear transmission set, and the rotation motor drives the tray to rotate through the gear transmission set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769677.4A CN110525691B (en) | 2019-08-20 | 2019-08-20 | Foldable lunar camp auxiliary construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769677.4A CN110525691B (en) | 2019-08-20 | 2019-08-20 | Foldable lunar camp auxiliary construction robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110525691A CN110525691A (en) | 2019-12-03 |
| CN110525691B true CN110525691B (en) | 2021-04-20 |
Family
ID=68663746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910769677.4A Active CN110525691B (en) | 2019-08-20 | 2019-08-20 | Foldable lunar camp auxiliary construction robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110525691B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071499B (en) * | 2019-12-31 | 2021-06-22 | 中国科学院空间应用工程与技术中心 | Material cabin external exposure device |
| CN111152862B (en) * | 2020-01-09 | 2021-09-14 | 盐城内拉智能科技有限公司 | Robot walking mechanism and walking method |
| CN111645460B (en) * | 2020-06-16 | 2024-04-05 | 北京电子科技职业学院 | Deformable obstacle crossing wheel based on lantern mechanism |
| CN112077822B (en) * | 2020-09-22 | 2021-12-21 | 武汉轻工大学 | Wheel diameter mechanism and manipulator |
| CN112124629B (en) * | 2020-09-27 | 2022-03-15 | 西北工业大学 | Planet detector and system |
| CN112848790B (en) * | 2021-03-23 | 2022-04-29 | 吉林大学 | Bionic walking wheel surface with soft lunar surface and high traction performance |
| CN113285656A (en) * | 2021-06-03 | 2021-08-20 | 江苏德恩医疗器械有限公司 | Movable photovoltaic power generation device |
| CN113830313A (en) * | 2021-09-26 | 2021-12-24 | 沈阳航空航天大学 | Folding solar aircraft and control method thereof |
| CN114654443B (en) * | 2022-05-24 | 2022-08-12 | 浙大城市学院 | Eccentric semi-spherical wheel type self-adaptive robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198497A (en) * | 1999-01-05 | 2000-07-18 | Nissan Motor Co Ltd | Space survey traveling vehicle |
| CN101954836A (en) * | 2010-09-21 | 2011-01-26 | 中国矿业大学 | Diameter-variable wheel for automatically adapting to road surface |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN106099729A (en) * | 2016-08-29 | 2016-11-09 | 国网河南鄢陵县供电公司 | Outdoor cabinet type transformer station ventilation moistureproof system |
| KR20170113771A (en) * | 2016-03-25 | 2017-10-13 | 자동차부품연구원 | Exploration rover |
| CN206598673U (en) * | 2017-04-10 | 2017-10-31 | 刘莎 | A kind of integrated damping and the wheel of radius variable |
| CN110002006A (en) * | 2019-04-25 | 2019-07-12 | 北京工业大学 | A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base |
| CN110104212A (en) * | 2019-05-11 | 2019-08-09 | 北京工业大学 | A kind of auxiliary builds the lunar rover of lunar base and lunar rock sample collection |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040163869A1 (en) * | 2003-02-21 | 2004-08-26 | Chun Wendell H. | Articulated vehicle suspension system shoulder joint |
-
2019
- 2019-08-20 CN CN201910769677.4A patent/CN110525691B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198497A (en) * | 1999-01-05 | 2000-07-18 | Nissan Motor Co Ltd | Space survey traveling vehicle |
| CN101954836A (en) * | 2010-09-21 | 2011-01-26 | 中国矿业大学 | Diameter-variable wheel for automatically adapting to road surface |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| KR20170113771A (en) * | 2016-03-25 | 2017-10-13 | 자동차부품연구원 | Exploration rover |
| CN106099729A (en) * | 2016-08-29 | 2016-11-09 | 国网河南鄢陵县供电公司 | Outdoor cabinet type transformer station ventilation moistureproof system |
| CN206598673U (en) * | 2017-04-10 | 2017-10-31 | 刘莎 | A kind of integrated damping and the wheel of radius variable |
| CN110002006A (en) * | 2019-04-25 | 2019-07-12 | 北京工业大学 | A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base |
| CN110104212A (en) * | 2019-05-11 | 2019-08-09 | 北京工业大学 | A kind of auxiliary builds the lunar rover of lunar base and lunar rock sample collection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110525691A (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110525691B (en) | Foldable lunar camp auxiliary construction robot | |
| CN109955049B (en) | Vertical posture adjusting system for large-scale assembly | |
| CN109698475B (en) | Overhead high-voltage transmission line live working robot | |
| CN109861133B (en) | Multi-split overhead high-voltage transmission line mobile robot and reconfigurable method thereof | |
| CN102490171A (en) | Robot for disposing dangerous goods and ammunition | |
| CN110587575A (en) | Efficient tool changing robot for shield machine | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN102434117B (en) | Drill rod assembling and disassembling mechanical arm of myriameter well drill | |
| CN102490643A (en) | Large-scale wind turbine blade transporter and transportation method | |
| CN210790958U (en) | Shield constructs machine high-efficient tool changing robot | |
| CN102962834B (en) | A kind of inspection robot for high-voltage transmission lines mechanism | |
| CN112110384A (en) | Auxiliary stacking robot | |
| CN111942491A (en) | UP and UPS based parallel connection mechanism wheel foot mobile robot | |
| CN114055424A (en) | Intelligent obstacle-removing inspection robot and obstacle-removing method thereof | |
| CN110630279B (en) | Shield machine with robot tool changing function | |
| CN105172472A (en) | Disassembly and assembly trolley for automobile tire | |
| CN207448477U (en) | Gantry robot | |
| CN215097512U (en) | Military manned vehicle capable of turning around in situ | |
| CN107416446B (en) | It is a kind of precision mounting rail on robot arm device | |
| CN210908815U (en) | Novel slide rail type tool changing system for shield | |
| CN108622809B (en) | Tunnel hoisting robot | |
| CN212558556U (en) | Mechanized goods bridge | |
| CN109516094B (en) | Remote pushing device | |
| CN109514522B (en) | Remote pushing mechanism capable of steering control | |
| CN102887186A (en) | Wind turbine pole climbing robot |
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 |