CN202175203U - Solar energy lunar-landing trolley - Google Patents
Solar energy lunar-landing trolley Download PDFInfo
- Publication number
- CN202175203U CN202175203U CN2010206580351U CN201020658035U CN202175203U CN 202175203 U CN202175203 U CN 202175203U CN 2010206580351 U CN2010206580351 U CN 2010206580351U CN 201020658035 U CN201020658035 U CN 201020658035U CN 202175203 U CN202175203 U CN 202175203U
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- trolley
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The utility model relates to a solar energy lunar-landing trolley, wherein a lunar-landing trolley control center [5] is arranged inside a space formed by a trolley lower housing [3] and a trolley upper housing [8]. A radar antenna [7] arranged at the tail part of the trolley upper housing is formed by four axes and can freely rotate at 360 degrees. Solar cell panels [2] are respectively arranged on both sides of the trolley body. Each solar cell panel [2] formed by four plates can be folded up within the interior of the trolley body and is used for receiving energy and storing the received energy in a storage battery [4]. An intelligent lifting mechanism [1] is provided for the self rescue of the lunar-landing trolley when the lunar-landing trolley is under special circumstances, such as rollover and wheel deadlocking caused by barriers. A visual recognition module I [9] is formed by three axes and can freely rotate at 360 degrees. A visual recognition module II [10] is arranged at the front part of the lunar-landing trolley and is operated in cooperation with the visual recognition module I [9]. The movement turning of the lunar-landing trolley is realized through a turning motor [17]. A lunar-landing trolley sampling and drilling module is formed by a mechanical arm [15], mechanical pincers [14] and a rock stratum drilling mechanism [6]. The mechanical arm [15] is formed by four axes.
Description
Technical field
The utility model relates to a kind of solar power lunar rover vehicle.
Background technology
The moon is as the unique natural satellite of the earth; Very close with the relation of the earth; Lunar Probe Project is as the part of various countries' space program, and its meaning for whole space is equally very great, the just said moon exploration remote control robot of the lunar rover vehicle; As going at moon table and the moon being investigated and the special-use vehicle of collection analysis sample; The performance that it had also directly has influence on the result and the efficient of whole detection, and the existing lunar rover vehicle is divided into driverless operation and has the people to drive two kinds on the lunar rover vehicle, and driverless operation is made up of wheel undercarriage and instrument compartment; Unite power supply with solar cell and storage battery, going of this type lunar rover vehicle is to lean on the ground remote control instruction control; The manned lunar rover vehicle is to be driven in the car of walking on the moonscape by the cosmonaut, is mainly used in the action radius and minimizing physical demands that enlarge the cosmonaut, can deposit rock and soil sampling that the cosmonaut gathers at any time; Each wheel of this type lunar rover vehicle provides power respectively by an engine drive by storage battery, and tire still can keep elasticity at low temperatures; Cosmonaut's bar handle is driven the lunar rover vehicle, can be forward, backward, turn and climbing, with respect to the unpiloted lunar rover vehicle; As if manned lunar rover vehicle work is more extensive, and performance is also more excellent, but launch owing to relating to the work of personnel at moonscape; Various aspects require also corresponding raising, from personnel's training, the expenditure of cost, safety performance all angles, all can face big pressure; Also have many uncertain unknown situation in addition; So the unpiloted lunar rover vehicle is in fact also adopted widely, though and present unmanned lunar rover in these areas relatively the someone drive the lunar rover vehicle some advantages arranged, if in the detection driving process of practical operation, run into situation such as with a varied topography; The difficult processing of meeting, usual way is to get around obstacle.
Summary of the invention
The utility model problem to be solved is to overcome the above-mentioned deficiency that existing unmanned lunar rover exists; A kind of solar power lunar rover vehicle of the complicated ground condition that can tackle in the data acquisition flexibly to be run into is provided, and its technical matters to be solved can be implemented through following scheme.
A kind of solar power lunar rover vehicle, comprise car body upper casing and car body lower casing and constitute the lunar rover vehicle control center and the energy-storage battery of interior volume, radar aerial, solar panel; The visual identification module, bogie side frame one, bogie side frame two, motion motor; Wheel, steering motor, mechanical arm; The machinery pincers, intelligent elevated mechanism, rock stratum probing mechanism.
Further, said solar panel is collapsible, and may be folded into lunar rover vehicle inside, and the collected energy of solar panel can be stored in the energy-storage battery, supplies lunar rover vehicle work to use.
Said mechanical arm has two, and all is four, and co-operation is accomplished and surveyed and sample requirement.It is Based Intelligent Control that mechanism is drilled in said rock stratum, can reach the purpose of deep layer sampling, and mechanical arm, machinery pincers are drilled mechanism's mutual group with the rock stratum and become lunar rover vehicle sampling drilling module.The visual identification module is divided two parts, and visual identification module one is a three-axis structure, and ability is freely rotated and folded for 360 °, and visual identification module two is contained in car body lower casing front end.Kinematic scheme is six to take turns, the every wheel by its motion of self-movement motor control, and every upper end of taking turns all is equipped with the control of independent steering motor it is turned to.Bogie side frame one is connected for pin with bogie side frame two, and bogie side frame two can rotate on bogie side frame one around axle.Intelligent elevated mechanism can be intelligent elevated when lunar rover vehicle rollover and wheel are stuck by obstacle, reaches the purpose of saving oneself.Radar aerial is contained in car body lower casing afterbody, constitutes by four, can 360 ° freely rotates.The electro-hydraulic bumper is housed on each wheel, by control center's control, can automatic lifting when running into obstacle.
Adopt the solar power lunar rover vehicle of this technical scheme, can be implemented under complex environment and the unpredictable moon exploration situation, realization lunar rover vehicle obstacle detouring efficiently hinders ability and sampling ability, reaches the purpose that moonscape fully and is accurately surveyed.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention
Fig. 2 is the front view of this lunar rover vehicle
Fig. 3 is the birds-eye view of this lunar rover vehicle
Fig. 4 is the left view of this lunar rover vehicle
Fig. 5 is the rock stratum probing structural scheme of mechanism of this lunar rover vehicle
Fig. 6 is the intelligent elevated structural scheme of mechanism of this lunar rover vehicle
The practical implementation method
Solar power lunar rover vehicle as depicted in figs. 1 and 2 comprises car body lower casing [3], car body upper casing [8], radar aerial [7], solar panel [2], intelligent elevated mechanism [1], rock stratum probing mechanism [6], visual identification module one [9], visual identification module two [10], bogie side frame one [19], bogie side frame two [21], deflecting plate [16], electro-hydraulic bumper [20], parallel rod [12], steering motor [17], motion motor [11], wheel hub [13], tire [18], mechanical arm [15], machinery pincers functional components such as [14].
Control center [5] (surrounding in the space at car body upper casing [8] and car body lower casing [3]) is used for the intellectuality of whole lunar rover vehicle, the operation of automation, and at the feedback information of the various sensors of background process, how the final decision lunar rover vehicle comes executable operations.
Radar aerial [7] keeps in touch with earth mster-control centre, transmits each item detection data in real time.By the ground control center lunar rover vehicle is carried out remote control control.Radar aerial is four axle construction, and ability is freely rotated for 360 °, to reach best reception and to transmit effect data.
Solar panel [2], energy-storage battery [4] (being incorporated in the control center) constitute the energy supplyystem of lunar rover vehicle jointly, are each item functional activity energize of the lunar rover vehicle; Solar panel [2] is contained in the lunar rover vehicle both sides, and every side is four plate structures, for pin connects, reaches the function of folded turnover between plate and the plate.Solar panel [2] can freely be adjusted the angle with light when lunar rover vehicle is advanced in different physical features angles, reaches the function that obtains energy to greatest extent.
Lunar rover vehicle is equipped with two places visual identification module, and visual identification module one [9] is a three-axis structure, and 360 ° of free motions of ability can fold in the car.This structure makes the comprehensive moonscape ground condition that detects of visual identification module one [9] ability, broadens one's vision, and obtains more environmental information.Visual identification module two [10] is contained in car body lower casing the place ahead, and inside is provided with the key lighting system, can be used for the illumination in the lunar rover vehicle traveling process and cooperates the main driving trace of visual identification module one [9] common co-operative control lunar rover vehicle.Visual identification module one [9] and visual identification module two [10] also are used to coordinate the extracting sampling action of two mechanical arms simultaneously, make it to gather accurately sample.
Be positioned at inferoanterior two mechanical arms of car body lower casing [15] and machinery pincers [14], adopt four axle construction, highly free, can be stretched over the specified point in the spatial dimension flexibly, realize the sampling and the simple function of repairing of lunar rover vehicle through the machinery pincers.Simultaneously, rock stratum probing mechanism [6] can drill sampling to moon deep layer, and the sample of gathering is carried out analyzing and testing.
Like Fig. 5, rock stratum probing mechanism [6] comprises drill bit [6-1], fixed platform [6-2], rotary electric machine [6-3], fixedly guide pillar [6-4], drill pipe [6-5], drill pipe delivery platform [6-6].Algorithm: 1, at first whole rock stratum probing mechanism [6] moves downward up to the contact moonscape; 2, rotary electric machine [6-3] rotates and moves downward along guide pillar [6-4], and drill bit contact moonscape also gos deep into downwards gradually; 3, after rotary electric machine [6-3] arrives fixed platform [6-2], begin counter-rotating, and drill pipe [6-5] and rotary electric machine [6-3] are broken away from; 4, rotary electric machine [6-3] upward movement subsequently begins after outreaching to go up at guide pillar [6-4] and rotates, and rotary electric machine [6-3] is contacted with next drill pipe [6-5]; 5, rotary electric machine [6-3] rotates and drill pipe [6-5] is fixed on it then, and then rotary electric machine [6-3] is being with drill pipe [6-5] to go up backward rotation at guide pillar [6-4], and [6-5] contacts with previous drill pipe, and screws in wherein.Then circulation step 2～5 requires the degree of depth up to getting into, and begins sampling.
The lunar rover vehicle kinematic scheme is made up of bogie side frame one [19], bogie side frame two [21], deflecting plate [16], electro-hydraulic bumper [20], parallel rod [12], steering motor [17], motion motor [11], wheel hub [13], tire [18] etc.Six self-movement motors [11] are controlled moving forward and backward of each wheel respectively in traveling process.Six independently steering motor [17] control turning to of each wheel respectively.When running into obstacle; Pressure sensor on the wheel can pass to control center with pressure information; The up-down of control center's automatically regulating electro-hydraulic bumper [20] is to realize the level all the time of car body all around, in lifting process; Parallel rod [12] guarantees that wheel axis is vertical all the time with the deflecting plate plane, makes and advances steadily.When running into big obstacle, not only electro-hydraulic bumper [20] work, bogie side frame two [21] also relatively rotates on bogie side frame one [19] around axle, to clear the jumps.The Total tune work of kinematic scheme can realize lunar rover vehicle steadily advancing at complex road surface.
Intelligent elevated system [1] can carry out intelligent elevated under the situation that lunar rover vehicle is turned on one's side and wheel is stuck by the obstacle winding, reaches the purpose of saving oneself.Its structure comprises: main rotary shaft [1-1] is fixed on the lunar rover vehicle, and sliding bar [1-2] is fixed on the main rotary shaft [1-1], can sway.Slip cap [1-3] is enclosed within on the sliding bar [1-2]; Its other end auxiliary connection turning cylinder [1-4]; Rolling disc [1-5] is fixed on the cover [1-8], can rotate around secondary turning cylinder [1-4], and lifting shaft [1-7] is enclosed within cover [1-8] inner face; Can carry out intelligent elevated operation, lifting shaft [1-7] can rotate through axle with support ground disk [1-6].Appeal structure member synthetic operation is implemented in saving oneself in emergency circumstances.
When lunar rover vehicle after moonscape lands, assignment instructions is sent in the ground control center, vehicle-borne master controller brings into operation after receiving instruction.Solar panel folding and expanding on the lunar rover vehicle, the reception solar power of starting working.The visual identification module is started working, and surrounding environment is scanned seizure, sends information to ground control center through radar aerial, reacts in the ground control center, decision lunar rover vehicle travel direction.In the process of moving, constantly surrounding environment being scanned and take pictures, information is constantly passed to the ground control center, reacts in the ground control center, the decision sampling position.Lunar rover vehicle leaves for the sampling position automatically subsequently, kinematic scheme automatically regulating car body balance in the traveling process.If in the traveling process, lunar rover vehicle rollover or wheel are stuck by obstacle, and intelligent elevated mechanism can react to environment of living in, goes up and down, and lunar rover vehicle is extricated oneself from a predicament, and reaches the purpose of saving oneself.After arriving sampling site; Mechanical arm is started working with the machinery pincers, and the sample detection district that the soil that collects, rock sample is put into control center carries out analyzing and testing, simultaneously; Rock stratum probing mechanism drops to moonscape; And moonscape drilled, with the sample collection of moon deep layer, deliver to detection zone and carry out analyzing and testing.Through the compound sensor on the lunar rover vehicle, element compositions, gravitational field etc. that can measure magnetic field, Lunar surface temperature, moonscape and the deep layer of different periods of the moon are physics and chemical data basically.
This lunar rover vehicle is more comprehensively surveyed moonscape with realization through the coordinate operation of a whole functional component.
Claims (3)
1. solar power lunar rover vehicle is characterized in that in the space that car body lower casing and car body upper casing are constituted, placing control center, and radar aerial is contained in car body lower casing afterbody; Be four axle construction, can 360 ° freely rotate that solar panel is positioned at the vehicle body both sides; Every side is made up of four blocks of plates, is foldable to interior of body, and with the store energy that receives in storage battery; Intelligent elevated mechanism is contained in the lunar rover vehicle both sides, and visual identification module one is a three-axis structure, can 360 ° freely rotates and folding; Visual identification module two is contained in the lunar rover vehicle front portion, also comprises the sampling drilling module, and this sampling drilling module comprises mechanical arm and rock stratum probing mechanism.
2. solar power lunar rover vehicle according to claim 1; It is characterized in that: kinematic scheme is six to take turns; The every wheel by its motion of self-movement motor control; The control of independent steering motor all is housed on every the wheel, and it turns to, and bogie side frame one is connected for pin with bogie side frame two, and bogie side frame two can rotate on bogie side frame one around axle.
3. solar power lunar rover vehicle according to claim 1 is characterized in that: the electro-hydraulic bumper is housed on each wheel, and by control center's control, can automatic lifting when running into obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206580351U CN202175203U (en) | 2010-12-14 | 2010-12-14 | Solar energy lunar-landing trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206580351U CN202175203U (en) | 2010-12-14 | 2010-12-14 | Solar energy lunar-landing trolley |
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| CN202175203U true CN202175203U (en) | 2012-03-28 |
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| CN2010206580351U Expired - Fee Related CN202175203U (en) | 2010-12-14 | 2010-12-14 | Solar energy lunar-landing trolley |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103197681A (en) * | 2013-04-12 | 2013-07-10 | 北京空间飞行器总体设计部 | Universal mobile control method suitable for lunar surface patroller |
| CN104590586A (en) * | 2014-10-17 | 2015-05-06 | 哈尔滨工业大学 | Annular shock absorber four-wheel vehicle manned lunar vehicle mobile system |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
| CN105235468A (en) * | 2015-10-22 | 2016-01-13 | 哈尔滨工业大学 | Active suspension type Mars rover moving mechanism |
| CN106914882A (en) * | 2015-12-28 | 2017-07-04 | 中国科学院沈阳自动化研究所 | One kind is pecked and takes sampling robot |
| CN107776913A (en) * | 2017-09-29 | 2018-03-09 | 北京空间飞行器总体设计部 | A kind of rope servicing unit sailed out of suitable for probe vehicles |
| CN108572350A (en) * | 2018-03-12 | 2018-09-25 | 上海卫星工程研究所 | A kind of Mars time surface layer exploring antenna Symmetric Orthogonal layout method |
| CN108639380A (en) * | 2018-03-29 | 2018-10-12 | 北京空间技术研制试验中心 | Lunar surface sniffing robot |
| CN109178057A (en) * | 2018-08-21 | 2019-01-11 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | It can ranging antidetonation geological radar trolley |
| CN109176457A (en) * | 2018-10-23 | 2019-01-11 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism having obstacle crossing function and robot system |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN109305390A (en) * | 2018-09-27 | 2019-02-05 | 哈尔滨工业大学 | Anchor pull-type star catalogue mobile device and its moving method |
| CN109520768A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of objects outside Earth sampling apparatus and its method of sampling |
| CN110014434A (en) * | 2019-04-19 | 2019-07-16 | 昆明理工大学 | A kind of lunar base construction robot |
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN111015620A (en) * | 2019-11-25 | 2020-04-17 | 北京空间飞行器总体设计部 | Flying and walking integrated robot suitable for weak gravity star-watch detection |
| CN111452996A (en) * | 2020-05-07 | 2020-07-28 | 青田昙正测量仪器有限公司 | Spark detector side-turning protection device |
| CN111890328A (en) * | 2020-07-28 | 2020-11-06 | 武汉理工大学 | Multifunctional robot |
-
2010
- 2010-12-14 CN CN2010206580351U patent/CN202175203U/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103197681A (en) * | 2013-04-12 | 2013-07-10 | 北京空间飞行器总体设计部 | Universal mobile control method suitable for lunar surface patroller |
| CN104590586A (en) * | 2014-10-17 | 2015-05-06 | 哈尔滨工业大学 | Annular shock absorber four-wheel vehicle manned lunar vehicle mobile system |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
| CN105235468A (en) * | 2015-10-22 | 2016-01-13 | 哈尔滨工业大学 | Active suspension type Mars rover moving mechanism |
| CN106914882A (en) * | 2015-12-28 | 2017-07-04 | 中国科学院沈阳自动化研究所 | One kind is pecked and takes sampling robot |
| CN106914882B (en) * | 2015-12-28 | 2023-08-18 | 中国科学院沈阳自动化研究所 | Pecking sampling robot |
| CN107776913A (en) * | 2017-09-29 | 2018-03-09 | 北京空间飞行器总体设计部 | A kind of rope servicing unit sailed out of suitable for probe vehicles |
| CN108572350A (en) * | 2018-03-12 | 2018-09-25 | 上海卫星工程研究所 | A kind of Mars time surface layer exploring antenna Symmetric Orthogonal layout method |
| CN108639380A (en) * | 2018-03-29 | 2018-10-12 | 北京空间技术研制试验中心 | Lunar surface sniffing robot |
| CN109178057A (en) * | 2018-08-21 | 2019-01-11 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | It can ranging antidetonation geological radar trolley |
| CN109305390B (en) * | 2018-09-27 | 2020-07-14 | 哈尔滨工业大学 | Anchoring and dragging type star catalogue moving device and moving method thereof |
| CN109305390A (en) * | 2018-09-27 | 2019-02-05 | 哈尔滨工业大学 | Anchor pull-type star catalogue mobile device and its moving method |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN109176457A (en) * | 2018-10-23 | 2019-01-11 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism having obstacle crossing function and robot system |
| CN109520768A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of objects outside Earth sampling apparatus and its method of sampling |
| CN109520768B (en) * | 2018-12-29 | 2023-12-29 | 中国科学院沈阳自动化研究所 | Extraterrestrial celestial body sampling device and sampling method thereof |
| CN110014434A (en) * | 2019-04-19 | 2019-07-16 | 昆明理工大学 | A kind of lunar base construction robot |
| 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 |
| CN111015620A (en) * | 2019-11-25 | 2020-04-17 | 北京空间飞行器总体设计部 | Flying and walking integrated robot suitable for weak gravity star-watch detection |
| CN111015620B (en) * | 2019-11-25 | 2021-09-03 | 北京空间飞行器总体设计部 | Flying and walking integrated robot suitable for weak gravity star-watch detection |
| CN111452996A (en) * | 2020-05-07 | 2020-07-28 | 青田昙正测量仪器有限公司 | Spark detector side-turning protection device |
| CN111890328A (en) * | 2020-07-28 | 2020-11-06 | 武汉理工大学 | Multifunctional robot |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120328 Termination date: 20121214 |