RU2670836C9 - Robotic complex for creating building elements on a space object - Google Patents

Abstract

FIELD: astronautics.

SUBSTANCE: invention relates to space technology, namely the creation of building elements on a space object. Robotic complex for creating building elements includes executive equipment with a frame, transport platform with robots and energy sources of the complex. Complex has energy sources, elements of temperature stabilization. Power of the working equipment is connected to the sensor of reaching the surface of the space object. Microprocessor situation optimizer, electronic vertical sensor, as well as fragments of the stereoscopic mapping system of the neighborhood of the site and the local radio station are located in a container with a cover. In the bunker are placed autonomous robot-functors, equipped with bi-directional address command communication and personal callsigns, as well as microcontrollers and autonomous power supplies. Bunker is located between the container and the transport platform. On the frame there are means for laying the building elements.

EFFECT: expansion of the functionality of the complex, ensuring the autonomy of the work.

6 cl, 10 dwg

Description

The present invention relates to space technology, and more specifically, to the technique of 3D volume printing according to the principle of layer-by-layer building up of a solid geometric figure.

The materials of the official website of the Federal State Unitary Enterprise “State Space Research and Production Center named after MV Khrunichev” contain proposals on the use of space rockets containing a commercial landing module to deliver commercial cargo of large volumes and masses into outer space, including to the Moon.

In the open sources of the "Lunar Soviet Program" - the official website of the NGO named after S.A. Lavochkina "On the 35th anniversary of the landing of the first self-propelled vehicle Lunokhod 1 on the Moon", the rationale for the use of a wheeled chassis in the conditions of the lunar surface, the placement of electronic equipment in an airtight container heated for a moonlit night, the use of a solar battery and a backup battery are given. The expediency of using the lunar vertical sensor when performing a research task related to the movement of an object on the ground, and the availability of command control from the Earth are described.

The disadvantage of the self-propelled apparatus is the limitedness of its actions due to the research task and the presence of command control from the Earth.

A known method and device for managing objects using flexible communication RU 2017659 from 06.28.1991, the Method includes connecting objects to the working section of the flexible connection of the material in the solid state, the formation of a stock of flexible communication from the material in a viscous-fluid state and giving the working area a flexible connection movement relative to objects with the simultaneous formation of a flexible communication working section from its supply depending on the set and current parameters with the possibility of changing the physical and mechanical characteristics of this section: cross-sectional profile, surface characteristics and material, while forming a reserve by transferring the flexible bond material from a solid-phase to a viscous-fluid state.

In a device that implements the extrusion method — the conversion of the physicomechanical characteristics of a material from a solid-phase to a viscous-flowing state, a description is given of the automatics for controlling the extrusion process and figures of a possible technical solution.

The disadvantage of the device is associated with functional limitations due to the emphasis on supporting tasks, providing flexible communication and the need to indicate the parameters of the relative movement of objects.

The well-known "Complex of development tools for obtaining Not ³ from the lunar soil" according to patent RU 2328599 (12.12.2006). The complex includes traction, soil collection, transporting and receiving-processing facilities. The traction means is made in the form of two mechanisms of the same type, equipped with removable traction amplifiers with the ground. Removable amplifiers are located symmetrically on both sides of the traction means. The processing facility is located outside the soil development zone. The receiving means is a series of natural dumps of the lunar soil formed by throwing soil from the development zone to the processing facility. The complex is equipped with a receiving-emitting device mounted on a towing vehicle for preliminary heating of the soil.

The disadvantages of the device are: the bulkiness of the devices placed in the space conditions of the moon and the complexity of the algorithm for implementing the technology of the explosive process, requiring immediate intervention by a specialist.

Known "Device for the manufacture of volumetric parts and structures in outer space" according to patent RU 2438939 (08.26.2010). It contains an electron beam former, microelectric motors interconnected with a movable platform. On the surface of the platform are placed a manufactured three-dimensional object, a wire feed system, a computer system and a container. The electron beam former and the wire feed system are located on the back of the top lid of the container. In addition, the first platform fixed on the outer surface of the space station, the second platform and trusses connecting the first platform with the second platform were introduced. On the back of the top lid of the container is a video monitoring device. The lid of the container is placed between the first platform and the second platform at a distance that allows for optimal operation of the wire feed device, video monitoring device and safe operation of the electron beam former. The lower base of the micro-electric motors is connected to the surface of the second platform, directed towards the space station. The upper microelectric motor is connected to a movable platform. An electron beam former, a wire feed system, a video control device, and micromotors are connected to a computer.

The disadvantages of the device are: the use of technology for manufacturing 3D objects in a limited-sized device - a container or on the surface of a space station and the presence of an active observer.

The prototype of the invention is a “Robotic system, including delivery vehicles for excavation robots in two stages and additionally people for controlling robots [Press Release (09.24.2015) Official site of the London architecture firm Foster + Partners: project for the construction of the lunar base]. The robotic system implements a 3D-printing program in the construction of premises from the material of space soil - regolith.

The disadvantage of the proposed concept for the construction of the lunar base is its limitedness due to the certainty of the problem being solved and the need for operator intervention in the process.

The technical result of the invention is to expand the intellectual capabilities of the device, eliminating the presence of a person on a space object when creating building elements that are finished products.

The essence of a robotic complex containing executive equipment, combined frame, wheeled transport platform with robots, energy sources of the complex. Energy sources, including rechargeable batteries, solar cells, and temperature stabilization elements are housed in a container with a lid. Executive equipment includes a sensor for touching the surface of a space object, a microprocessor-based optimizer for situations, an electronic vertical sensor, as well as a stereoscopic display system for the location of the complex and a local radio communication station, placed in a container with a lid. The lens assembly associated with the stereoscopic display system is located on the frame of the delivery vehicles. A bunker of autonomous robotic functors equipped with bi-directional addressable command communication and personal callsigns, as well as microcontrollers and autonomous power sources is installed on the wheeled transport platform, the hopper is located between the container and the wheeled transport platform.

A hinged ladder is installed at the base of the hopper of autonomous robotic functors for their transition from the hopper to the ground surface. At the same time, the functor-digger robot located in the bunker is connected to the energy sources of the complex and is equipped with a transceiver for exchanging address-command information with the local radio communication station and microcontroller. The microcontroller provides control of autonomous power sources, the mechanisms of movement of funnel-diggers and the functional actions of their working tools. The functor-digger robot also has a set of working tools, which is mounted on a storage hopper. The working tool corresponds to the functional purpose of the robot. The 3D printing functor robot also has a storage hopper equipped with a package of extruding presses with heaters. On the frame there are installed means for laying building elements (finished products).

List of figures

FIG. 1. The location of the equipment of the robotic complex in the landing module: 1 - frame, 2 - container, 3 - hopper, 4 - wheeled transport platform, 5 - sensor for touching the surface of a space object, 9 - container cover, 12 - lens unit, 14 - gangway, 16 - means of laying the finished product, 01 - functor-digger, 02 - functor 3D-printing (F *);

FIG. 2. The block diagram of the functional connections of the robotic complex: 1 - frame, 2 - container, 3 - hopper for functors, 4 - wheeled transport platform, 5 - surface touch sensor, 6 - microprocessor optimizer for situations, 7 - elements of temperature stabilization, 8 - electronic vertical sensor, 9 - container lid, 10 - battery, 11 - electronic charge sensor, 12 - lens assembly, 13 - stereoscopic imaging system, 14 - gangway, 15 - local radio communication station, 16 - styling devices, 17 - mechanical switch power supply com Lexus of the surface touch sensor 5 (the power supply complex of the complex is bipolar (not grounded) in Fig. 2 is designated as point 03 = "A"), 18 - a stepping motor for opening, 19 - a stepping motor for turning, 20 - elements of a solar battery, 21 - a stepping motor all-round visibility, 22 - stepping motor for sector visibility, 23 - electromechanical latch, 24 - stepping motor for descent / raising the ladder, 25 - stepping motor for turning the hopper, 26 - electromechanical latch for functors combined with detachable connection 04- and 05 = S * to energy sources complex - t chka 03 = "A"), 27 - a stepping motor for lowering / lifting a cable with a tongs, 28 - a stepping motor for moving the trolley along the boom, 29 - a stepping motor for turning a boom, 30 - a stepping motor for lifting a boom, 31 - an electromechanical boom lock installation, 32 - local radio transponder, 33 - microcontroller, 34 - power supply unit with a solar panel and battery, 35 - storage hopper, 36 - extruding press package with heaters, 37 - electronic battery charging sensor, 38 - step move fir-tree of opening the lid of the storage hopper, 39 - stepper motor for turning the lid, 40 - motor-wheels of the functor, 41 - mechanical soil level sensor, 42 - screw conveyor motor, 43 - stepper motor for vertical movement of the motor with a screw conveyor, 44 - electronic temperature sensor extruder, 45 - a stepper motor for moving a plate with funnels, 46 - a stepper motor for longitudinal movement of a motor with a screw conveyor, 68 - a stepper motor of a turning unit 67 (see FIG. 8);

FIG. 3. Electronic vertical sensor: 47 - bowl, 48 - hinge, 49 - pendulum, 50 - contact pads, 51 - microcontroller;

FIG. 4. The funnel-digger 01 (F1): 26 - electromechanical clamp of the functor in the hopper 3 combined with detachable connection 04 (S *) to the energy sources of the complex - point 03 ("A"), 53 - case with placed in it: 32 - local radio transponder, 33 - microcontroller, 34 - power supply unit with a solar panel, a battery and 37 - an electronic sensor for charging the battery, 35 - storage hopper, 52 - cover of a functor-digger with solar panels on the power unit located on the inside 34, 38 - sha lid opening motor, 39 - lid rotation stepping motor, 40 - functor motor-wheels, 41 - mechanical soil level sensor in the storage hopper, 66 - screw conveyor with 42 - electric motor with 65 - cone mill and 67 - rotation unit with 68 - a stepper motor of the rotation unit (see Fig. 2, Fig. 8), 43 - a stepper motor for vertical movement of the screw conveyor 66;

FIG. 5. 3D printing functor 02 (F2): 26 — electromechanical lock of the functor in hopper 3 combined with detachable connection 05 (S *) to the complex’s energy sources - point 03 (“A”), 53 - case with the following placed in it: 32 - a local radio transponder, 33 - a microcontroller, 34 - a power supply unit with a solar panel with a battery and 37 - an electronic battery charging sensor, 35 - a storage hopper, 36 - a package of extruding presses with heaters, 37 - an electronic battery charging sensor batteries, 38 - stepping motor for opening the covers and, 39 — a stepper motor for turning the lid, 40 — the motor-wheels of the functor, 41 — the mechanical sensor of the ground level in the storage hopper, 52 — the cover of the 3D printing functor with the solar panels of the power supply unit located on the inside, 34, 54 — the bottom of the hopper -driver of 3D printing functor, 46 - stepper motor for longitudinal movement of the bottom of the storage hopper of the 3D printing functor;

FIG. 6. The structure of the extruder press with a separate screw and with a heater - 36 (see Fig. 2 and Fig. 5), 42 - electric motor of the screw of the extruder press, 43 - stepper motor for controlling the extruder, 44 - electronic temperature sensor, 55 - screw 56 - sleeve, 57 - hole for the funnel, 58 - elastic connection, 59 - extruder, 60 - heater, 61 - extruder head

FIG. 7. Layout of extruding presses with heaters 36 3D printing functor F2: 35 - storage hopper, 40 - functor motor-wheels, 41 - mechanical ground level sensor in the storage hopper, 45 - stepping plate displacement motor with funnels, 54 - the bottom of the funnel storage hopper, 55 - auger, 56 - sleeve, 57 - hole for the funnel, 62 - plate with funnels.

FIG. 8. Functional tool of the F1 functor: 42 - screw conveyor electric motor, 63 - conveyor window (end K1), 64 - screw conveyor screw, 65 - bevel cutter, 66 - screw conveyor, 67 - rotation unit, 68 - step motor, 69 - and 70 - locking rings, 71 - conveyor window (end K2).

FIG. 9. Diagram of the modes of "collection" and "discharge". F1 - functor-digger, F2 - functor 3D-printing, 43 - stepper motor for vertical movement of the functional tool of functor F1 (see Fig. 4), 52 - cover functor-digger, 66 - screw conveyor in the "unload" mode, K1 - the working end of the screw conveyor 66 with a taper cutter and a rotation unit (see Fig. 4, Fig. 8), K2 - the opposite end of the screw conveyor 66, the dotted image of the screw conveyor corresponds to the "collection" mode, A - regolith movement in the "unload" mode ", B - trajectory of opening the cover 52 in the" collection "mode, C - direction regolith movement in the collection mode.

FIG. 10. Means of laying 16 building elements (see Fig. 1). 31 - an arrow with an electromechanical lock, 27 - a stepping motor for lowering / lifting a cable with a tongs, 28 - a stepping motor for moving the trolley along the boom, 29 - a stepping motor for turning the boom, 30 - a stepping motor for lifting the boom.

Connection structure of a robotic complex.

The general equipment of the robotic complex located in the launching module of the rocket launcher is shown in FIG. 1. The equipment in the module is combined by a frame 1. It provides a fixed placement of the container 2, hopper 3, wheeled transport platform with all the driving wheels (motor wheels) 4, the surface touch sensor 5, the lens unit 12, the ladder 14, which ensures the transition of functors to the ground to carry out its functions, means for laying building elements 16. In the hopper 3 there is a functor-digger F1 and a 3D printing functor F2. Frame 1 has three points of support. Two of them are placed at one end of the wheeled transport platform 4. Between them there is a ladder 14. The third support is located on the opposite side of the platform 4 along the middle line between the first pair of wheels, forming angles sufficient for the work of the stacking means with the first supports 16.

In FIG. 2 presents a general diagram of the functional relationships of the robotic complex. The diagram shows the relationship between the blocks and the executive elements of the complex included in them.

Frame 1 provides mechanical connections between the executive elements of the complex during their delivery to the space object and the functioning of the elements during the execution of the relevant work. The units of the complex are: container 2, hopper 3, wheeled transport platform 4 and surface touch sensor 5. The executive elements located in container 2 are: microprocessor optimizer 6, temperature stabilization elements 7, electronic vertical sensor 8, container cover 9 (see Fig. 1), a rechargeable battery 10, an electronic charge sensor 11, a stereoscopic display system 13, a local radio communication station 15, a mechanical power switch of the complex 17 (in Fig. 2, the power network of the complex is not shown, but indicated by dot "A").

On the lid of the container 9 are placed: a stepping motor for opening 18 of the lid of the container, a stepping motor for turning 19 elements of the solar battery 20

The lens assembly 12, located on the rack of the frame 1 (see Fig. 1), has a stepping motor with a circular view of 21 lenses and a stepping motor of the sector of view 22. Between the lens assembly 12 and the container 2 on the rack of the frame 1 are placed means for stacking 16 building elements (finished products) (see. Fig. 1 and Fig. 8).

The ladder 14 has an electromechanical latch 23 and a stepper motor 24 for lowering / raising the ladder.

The hopper 3 for functors has a stepping motor for turning the hopper 25 and electromechanical latches 26 for fixing the functors F1 and F2.

Functors F1 and F2. equipped with transponders of local radio communications 32, microcontrollers 33, power supply units with a solar panel and battery 34, storage bins 35. In this case, the power supply units are connected to electronic charging sensors 37, stepper motors for opening the lid 38, stepper motors for turning the lid 39; storage bins 35 are equipped with motor wheels 40, mechanical ground level sensors 41 in the storage bunker 35, functional tools: 66 screw conveyor with an electric motor 42 taper cutter 65 turning unit 67 at the funnel-digger (see Fig. 4) and a package of electric motors 42 screws of the extruder presses at the 3D printing functor (see Fig. 6), 43 a stepper motor for vertical movement of the screw conveyor 66 with an electric motor 42 with a conical mill 65, a turning unit 67 at the functor-digger F1 and a package of motors 43 of the screws of the extruder presses at 3D printing functor F2.

The functor F2 is additionally equipped with an electronic temperature sensor of the extruder 44, a stepper motor for moving the plate with funnels 45, and a plate with funnels 62.

In FIG. 3 is a detailed diagram of an electronic vertical sensor. In the general scheme of the robotic complex shown in FIG. 2, the vertical sensor occupies the 8th position. It contains a bowl 47 divided into four equal segments. A pendulum 49 is suspended on the hinge 48, in the center of the bowl circumference. On the inner surface of the bowl 47, the contact pads 50 are evenly spaced. The intervals between them characterize the degree measure of the vertical sensor 8. The outputs from the contact pads 50 are connected to the inputs of the microcontroller 51. The signals of each segment coming in to the corresponding input of the microcontroller 51, correspond to a deviation towards one of the four "geographical" directions of the space object. The signal from the contact pad located on the inner surface in the center of the bowl 47 corresponds to the absence of deviation from the vertical. The signals are sent to the microcontroller 51, which according to the appropriate program calculates in which "geographical" direction and at what angle from the vertical the contact area is located, to which the pendulum is touching. From the output of the microcontroller 51, the signal is fed to the input 4 of the microprocessor 6 (Fig. 2).

In FIG. 4 shows the design features of the funnel-digger. In the general scheme of the robotic complex (Fig. 2) it is represented as F1. For functional actions, it has a storage hopper 35 (Fig. 4), placed on a wheel base with all the driving wheels (motor wheels) 40, while the storage hopper 35 is a triangular pyramid, the base of which rests on top of the wheel base. The other three faces of the pyramid are rigidly connected to the stand, resting on a wheel base. The upper transverse face of the drive hopper 35 is rigidly connected to the stator of the vertical stepping motor 43, and its rotor is connected through the transmission mechanism to the shell of a screw conveyor with an electric motor 42 (see Fig. 8). For ease of understanding, the ends of the screw conveyor are marked K1 and K2. In FIG. 4, the top of the screw conveyor is shown shortened. Inside, at the bottom of the storage hopper 35, is a mechanical sensor level 41 soil filling.

On the outside of the base of the triangular pyramid (vertical wall) of the storage hopper 35, a case 53 is fixed, an electromechanical lock 26 is placed on its outer wall combined with a detachable connection S1 (see Fig. 2) to the energy sources of the complex - point "A". Case 53 contains: a local radio communication transponder 32 (see Fig. 2) for exchanging address-command information with a local radio communication station 15 (see Fig. 2), a microcontroller 33, a power supply unit 34 with a solar panel and a battery (see Fig. 2), an electronic charging sensor 37 (see Fig. 2).

The solar cell panels are located on the inside of the lid 52. It is connected to the vertical wall of the storage hopper 35 by a stepper motor for opening the lid 38 and a stepper motor for turning the lid 39.

In FIG. 5 shows the 3D printing functor F2 (see FIG. 2).

The 3D printing functor F2 for functional actions has a case 53 located on the outer side of the vertical wall of the storage hopper 35, on the outer wall of which there is an electromechanical lock 26 (combined with the detachable connection S2 * to the energy sources of the complex - point “A” (see FIG. . 2)). Case 53 contains: a local radio communication transponder 32 for exchanging address-command information with a local radio communication station 15, a microcontroller 33, a power supply unit 34 with a solar panel and a battery (the solar panel is located on the inside of the cover 52), an electronic charging sensor 37 , cover 52 with a stepping motor for opening the cover 38 and a stepping motor for turning the cover 39. The storage hopper 35 is placed on a wheel base with all driving wheels (motor wheels) 40, the profile of the storage hopper 35 is straight golnik with a movably attached extruding press package with heaters 36. They are fixed on the outside of the bottom of the storage hopper 54 (Fig. 7), moved by a stepper motor 46 (Fig. 5). The bottom moves along the movement of the functor. On the inner side of the wall of the storage hopper 35, a mechanical sensor for filling the soil level 41 is fixed.

In FIG. 6 shows an extruder with a separate screw and with a heater. The extruder with a separate screw and heater has an electric motor 42 connected to the screw 55, enclosed in a sleeve 56, having a window 57 and ending with an elastic connection 58 with an extruder 59 with a heater 60 and an extruder head 61, a stepping motor for changing the position of 43 in the vertical plane of the extruder 59. Before The extruder head 61 is equipped with an electronic temperature sensor 44. A silicon diode can be used as the basis of the sensor, which, when heated, maintains a linear characteristic in a wide range of eratur.

In FIG. 7 shows a package of extruding presses 36 from the front of the storage hopper 35 of the 3D printing functor F2. The extruding press package with heaters 36 has a sliding contact with the movable bottom 54 of the storage hopper 35. The 3D printing function F.2 at the lower edge of the longitudinal walls of the storage hopper 35 has longitudinal grooves on both sides holding the movable bottom 54, but not interfering with the longitudinal his movement. On the lower side of the movable bottom in the transverse direction is attached a plate 62 with longitudinal windows controlled by a stepper motor 45, as one electromechanical valve. Between the gate valve and the wheel base with all the driving wheels (motor-wheels) 40 there is a package of extruding presses with heaters 36, with screws 55, contacting sleeves 56 and having funnels 57, against which in the movable bottom 54 there are windows similar to the windows of the plate 62 .

In FIG. 8 shows a functional tool of functor F1, comprising a screw conveyor 66 with an electric motor 42, a window of a conveyor 63 from the side of the end K1, a window of the conveyor 71 from the side of the end K2, a screw of the screw conveyor 64, an electric motor of the screw conveyor 42 which is rigidly fixed to the shaft and a conical cutter 65 is also rigidly fixed with a shaft. The rotation unit 67 is connected to the stepper motor 68 and two locking rings 69 and 70.

In FIG. 9 shows a diagram of a hardware solution for the collection and unloading modes. The screw conveyor 66 (see Fig. 8) contains a conical cutter 65, loosening and deepening the working tool into the ground. The rotation unit 67 with the stepper motor 68 and two locking rings 69 and 70, providing axial alignment of the shell K1 relative to the shell K2 by means of the stepper motor 68. The locking ring 69 is fixed to the shell K1 and closes the chamber of the stepper motor 68. The locking ring 70 is fixed on the edge shell K2, eliminates the longitudinal divergence of the shells.

In FIG. 10 presents the means of laying 16 building elements (finished products). The laying means 16 has an arrow 31 with an electromechanical lock, a stepping motor for lowering / lifting the cable with a tongs 27, a stepping motor for longitudinally moving the trolley along the boom 28, a stepping motor for turning the boom 29, a stepping motor for lifting the boom 30.

The principle of operation of the robotic complex

Before the launch of the spacecraft through the input 1 of the microprocessor of the optimizer of situations 6, an image of the optimal placement of the equipment of the robotic complex on the space object ST1 is introduced (see Fig. 2). Part of the memory of the situation optimizer microprocessor 6 has a database with key access. The database contains the expected optimal values of the technical characteristics of the devices of the robotic complex (speed, performance, etc.) and provides the possibility of introducing new data in real conditions. The memory of the microprocessor of the situation optimizer 6 contains the individual callsigns of the local radio communication 15, the values of the initial position of the actuators: stepper motors 21, 22 of the lens functional unit 12, the value of the horizontal divisions and the vertical divisions of the stereo display system 13. Calibration is performed before start according to the parameters of the known object and the distance known to it (similar to calibrating the ACT artillery stereo tube). The stepper motor 24 of the ladder 14 is calibrated for transition to the ground, the stepper motor of rotation 25 of the hopper 3, the stepper motors of the functor F1:

- a stepping motor for opening (cover) 38, a stepping motor for turning (a cover) 39, a stepping motor for vertical movement 43 of a screw conveyor 66, a stepping motor for a turning assembly 68. Stepping motors of the functor F2 are calibrated:

- a stepping motor for opening the lid 38, a stepping motor for turning the lid 39, a stepping motor for changing the position in the vertical head of the extruder 59, a stepping motor 45 for controlling the plate 62, a stepping motor 46 for moving the bottom 54 of the storage hopper.

Calibrated stepper motors 27, 28 of the cargo trolley and 29, 30 arrows of the styling means 16.

The initial conditions are “fixed” by the electromechanical fixation devices: 23, 26, 31, 41, 45, the initial state of connecting the electric motor 42 of the screw conveyor 66 of the F1 functor in the “collection” mode is checked and entered into the base of the microprocessor of the optimizer 6. In the initial state, the stepper motor of vertical movement 43 of the screw conveyor 66 and the stepper motor of the turning unit 67 of the screw conveyor 66 are fixed (see Fig. 8). In FIG. 8, the sheath window 63 is in the “collection” position.

The 6 states of the F2 functor nodes are checked and entered into the base of the situation optimizer microprocessor:

1) a stepper motor 46 for moving the bottom of the hopper 54 in the initial position of manufacture of the building element;

2) a stepper motor for changing the position in the vertical plane 43 of the extruder heads of extruding presses with a heater 36 mounted on the extrusion of the first layer of the building element.

Checks the full charge of the battery 10 of the power supply system of the complex and the lack of power at point "A".

When the landing module approaches the ground surface of the space object at the robotic complex, the touch sensor 5 is activated (see Fig. 1), in which the mechanical switch 17 is activated and connects its electrical input 1 to outputs 1 and 2, which leads to the connection of output 1 of switch 17 with input 2 of the microprocessor of the optimizer of situations 6, and also the battery 10 is connected to a common power supply network of the entire complex (see Fig. 2). The input 5 of the microprocessor of the optimizer 6, connected to the output of the electronic charge sensor 11, provides data on the charge of the battery 10, which allows you to compare their charges and automatically adjust the energy supply of the complex.

The temperature mode in the container 2 is provided by the temperature stabilizer 7, the signals from which are fed to the input 3 of the situation optimizer microprocessor 6.

The vertical position of the landing module is provided by the electronic vertical sensor 8. From its output (see Fig. 2 and Fig. 3), the signals are fed to the input 4 of the microprocessor of the situation optimizer 6. To minimize the deviation from the vertical position, the robotic complex (see Fig. 1) , moving in space in accordance with the signals from the stereoscopic display system 13 in the landing area, clarifies its position.

Based on the information received, the microprocessor, the situation optimizer 6 "evaluates", if the position is within the specified criteria, then you can "go" to the choice of unloading location. To solve it, output 3 of the microprocessor of the situation optimizer 6 receives a command for a circular overview of the terrain at the input 1 of a stepper motor of the circular review 21 of the lens unit 12, and output 4 of the microprocessor of the optimizer of situations 6 receives an instruction for the vertical sector from + 30 ° to -75 °. From the output of the lenses functional node 12, information signals are fed to the input of the stereoscopic display system 13, from its output to input 7 of the situation optimizer microprocessor 6. In the situation optimizer microprocessor 6, the obtained real stereoscopic display of the vicinity of the location of the landing module 1 is compared with the image in the base complex data for optimal placement of working equipment, i.e. functors F1, F2 and the location of building elements (finished products). In this case, an electronic map of works is formed programmatically, the tasks of topographic reference and configuration of the territory visually suitable (without rocky inclusions) for collecting regolith are solved. Moreover, the solar batteries of the landing module and functors should be oriented in relation to the Sun in a convenient direction to ensure recharging of the batteries. In addition, the place of work of the functor F2 in the "spec" mode should be in the sector of accessibility of the styling means 16. The place of the work of the functor F1 in the "collection" mode is mainly determined by the direction to the Sun.

Based on the information received, the microprocessor 6, "evaluating" the situation of the location of the module (see Fig. 1) as positive, i.e. meets the limits of the specified criteria, sends a signal from the output 5 to the input of the wheeled transport platform 4 about the inclusion of the program for unloading the functors F1 and F2 to the place of work.

At the place of work, the microprocessor is an optimizer of situations 6 by the signal received at input 5 from the output of the charge sensor 11 in the network 17 (point "A"), solves the problem of the need to open the lid 9 of the container 2 (see Fig. 1). Then, the microprocessor, the situation optimizer 6, opens the solar battery 20 with the stepper motor 18 by signals from the output 1, and signals the solar battery 20 to the optimal mode of operation by signals from the output of the stepping motor 19. The output of the solar cells 20 of the lid 9 of the container 2 is connected via a detachable connection S1 (see Fig. 2) with the input 1 of the power supply unit with the solar panel and the battery 34 of the functors F1 and F2. From solar cells are charged all the objects of the robotic complex.

The signal from the output of the charge sensor 11 transmits a signal to the input 5 of the microprocessor of the situation optimizer 6, in which a command is generated at the output 6 and fed to the input 1 of the electromechanical latch 23. This command removes the mechanical deduction of the free end of the ladder 14 (see Fig. 1) and from the output 7 of the microprocessor of the optimizer of situations 6 to the input 2 of the stepper motor of the ladder 24 (see Fig. 2), the command to install the ladder 14 is received to ensure that the functors F1 and F2 (see Fig. 1) exit to the ground. To combine the position of the ladder 14 with the trajectory of the movement of a particular functor F1 or F2 during their unloading from the output 8 of the microprocessor of the situation optimizer 6, a control signal is received for input 1 of the stepper motor 25 (see Fig. 2) to rotate the hopper 3 (see Fig. one).

Remote control of the energy resource of the functors F1 and F2 is provided in the following order: the electronic sensor for charging the battery 37 monitors its condition. When the potential decreases by a given value, the sensor 37 gives a signal to the input 2 of the microcontroller 33 (see Fig. 2) to generate a command-control procedure for the cover 52 of the functors F1 or F2 of the storage hopper 35 (see Fig. 4 and 5). Using the stepper motor to open the lid 38 and the stepper motor of rotation 39, the microcontroller 33 controls the solar panel and, accordingly, the potential of the battery 34. Upon reaching the proper potential, the charging sensor of the battery 37 turns off the procedure and, upon request of “help”, completes the work on controlling the power supply unit .

Remote control of the devices of the hopper 3 is carried out in a chain (see Fig. 2): the address command-procedure from the output 9 of the microprocessor of the situation optimizer 6 is fed to the input 1 of the local radio communication station 15, and from its output 1 is fed to the input 1 of the local radio communication defendant 32 functors F1 or F2. From output 1 of the functor F1 or F2, the signal is fed to input 1 of the microcontroller 33 of the corresponding functor. The response from output 1 of the microcontroller 33 goes to input 2 of the local radio communication transponder 32 - from its output 2, the answer goes to input 2 of the local radio communication station 15, and its output 2 goes to input 6 of the situation optimizer microprocessor 6. The protocol is used for remote control: reception the functor F * to execute the command is confirmed by the address response signal of the responder of the functor F *.

If a new command arrives during the execution of the previous command by the F * functor, an interrupt occurs and a message is generated about its delay corresponding to the request for help. At the request of "help", the microprocessor of the situation optimizer 6 calculates the solution and controls the actions to exit the current situation, i.e. refines the actions of the functor F *.

For autonomous movements of the functors F1 and F2 there is a list of command procedures: "move", "forward", "back", "turn left", "turn right", "stop", "indent". They include all the instructions for the correct execution of tasks using real stereoscopic display of the location of the functors. ***

The functor-digger F1 has two main functional commands-procedures: 1) the command-procedure "collection" and 2) the command-procedure "unload". The criterion for their implementation is the signals from the mechanical soil level sensor 41 of the storage hopper 35 “completely” / “empty” taking into account the fixed initial state of the stepper motor 43 of the storage hopper 35 (see Fig. 4). The performance criterion 1) of the collection command is the signal from the output 5 of the microcontroller 33 (see FIG. 2). The microcontroller 33 of the F1 functor, during the execution of the command-collection procedure, blocks input 2 from the passage of the signal from output 1 from the electronic charging sensor 37 (see Fig. 2). Then, from the output 2 of the microcontroller 33 to the input 2 of the stepper motor of opening 38 (see Fig. 2 and Fig. 4), a signal is received to open the cover 52 in a vertical position (see Fig. 9) so that it does not interfere with the direction of the regolith trajectory in the hopper drive 35 coming from the screw conveyor 66 through the window of the conveyor 71 (see Fig. 8). The end of K2 of the trajectory is marked with the letter "B" (see Fig. 9). The signal from the output 5 of the microcontroller 33, arriving at the input 3 of the motor of the screw conveyor 42 (see Fig. 8), includes a screw conveyor 66 and a conical cutter 65 ensures its immersion in regolith. The signal of the beginning of the command-procedure "forward", coming from the output 4 of the microcontroller 33 to the input 1 of the motor-wheels 40 of the storage hopper 35 of the functor F1, provides the functor to move along the fence regolith (end K1 below, see Fig. 4, Fig. 9) and the storage hopper 35 is filled. The signal is “complete” from the output 2 of the mechanical level sensor 41 (see Fig. 2, Fig. 4, Fig. 9) of the storage hopper 35 is fed to input 3 of the microcontroller 33. According to this signal, the output 5 of the microcontroller 33 receives a signal at the input 3 of the electric motor 42 of the screw conveyor 66, (see Fig. 2, Fig. 8) and yklyuchaet its action. From the output 6 of the microcontroller 33, the input 4 of the stepper motor 43 for the vertical movement of the functional tool 66 (see Fig. 4) is given a command that translates it into the "unload" position, i.e. the end of K1 is in the upper position (see Fig. 9). The signal from the output 7 of the microcontroller 33 enters the input 5 of the stepper motor 68 and rotates the shell window 63 of the end K1 180 ° relative to the longitudinal axis (see Fig. 9). Then, from the output 3 and the output 2 of the microcontroller 33, the signals arrive at the inputs 3 and 2 of the stepper motors of rotation and opening 38 and 39 of the cover 52 (see Fig. 4) and close it. The microcontroller 33 releases input 2 and thereby passes the signal from output 1 of the electronic sensor 37 (see Fig. 2) to the microcontroller 33, which from output 1 supplies a signal to input 2 of the local radio transponder 32 with a request for “help” and “relocation” (see Fig. 2).

The responder 32 from output 2 supplies a signal to input 2 of the local radio communication station 15, which translates it to input 6 of the microprocessor of the situation optimizer 6. Microprocessor 6, in accordance with a predetermined algorithm, supplies a signal to the input 1 of a stepping motor of a circular view of 21 lens assemblies 12. Received information from the outputs of the lenses 12 through the stereoscopic display system 13 is fed to the input 7 of the microprocessor 6, which builds an electronic work map associated with the location of the functors F1 and F2, and also calculates the trajectory (path) of movement F 1 in the direction of F2. After calculating the trajectory, the microprocessor 6, using the local radio communication station 15 and the transponder 32, transmits a “forward” command through the microcontroller 33 from output 4 to input 1 of the motor wheels 40 of the F1 functor. The functor begins to move, and the lenses 12 and the stereoscopic display system 13 control its movement in accordance with the electronic work map and the calculated trajectory. When deviating from the route, the microprocessor 6, using the commands "turn left" and "turn right" adjusts the path of movement of F1 in the direction of F2. The end K1 of the screw conveyor 66, occupying the upper position, is a reference point for combining the functors F1 and F2 in the direction and distance between them. When the distance between the functors F1 and F2 is less than the shoulder length of the screw conveyor 66 from the stepper motor 43 (see Fig. 9) to the end of K1, the microprocessor 6 generates a “stop” command, which through the local radio communication station 15 and the transponder 32 enters the microcontroller 33, which through output 4 gives a signal to stop the operation of the motor wheels 40.

After stopping the functor-digger F1, the microcontroller 33 from output 5 switches the electric motor 42 to the reverse mode of operation of the screw conveyor 66 and regoliths from the screw conveyor (end K1) from the storage hopper 35 to the storage hopper 35 F2 (see Fig. 2, FIG. 4 and Fig. 9). The mechanical level sensor 41 monitors the situation and when it reaches the “empty” level through output 2 it sends a signal to input 3 of the microcontroller 33, through which the functor F1 issues a request for help, and the situation optimizer 6 evaluates further actions and calculates and sends the address command further actions to the functor F1, and also coordinates the actions of the functor F2.

The 3D printing functor F2 has two sequentially executed functional commands-procedures - 1) the command-procedure "speck" and 2) the command-procedure "gap-help" associated with the manufacture of regolith construction products based on extrusion technology. The dimensions of the building element (spec) are set by the number of steps of the stepper motor 46 - the length and the number of steps of the stepper motor 43 - the thickness of the product (see Fig. 5).

The speck technology is implemented by the 3D printing functor F2 in the presence of three signals: 1) the signal is “full”, which comes from the output 2 of the mechanical sensor of the ground level 41 in the storage hopper 35 (see Fig. 5); 2) a signal from the electronic temperature sensor of the extruder 44 about heating the package of extruding presses with heaters 36 to the required temperature; 3) a signal about the position of the stepper motor 45 corresponding to the fact that the electromechanical valve 62 is in the closed state (see Fig. 5 and Fig. 7).

The command procedure "speck" is performed as follows: from the output 7 of the microcontroller 33 of the functor F2, the command "open" the electromechanical valve 62 (see Fig. 7). The actuator 45 moves the valve relative to the bottom 54, located in the longitudinal grooves of the storage hopper 35. In this case, the openings of the funnels 57 open (see Fig. 6 and Fig. 7). At the same time, the command from the output 5 of the microcontroller 33 of the F2 functor enters the input 3 of the motor of the functional tool 42 located in the storage hopper 35 and turns on the engine 42 (see Fig. 6) and heats up the extruding press package with heaters 36 (see Fig. 2 and Fig. 5). When reaching the desired temperature at the output 1 of the electronic sensor of the extruder 44 of the functor F2 (see Fig. 6), the signal "ready" appears, which is fed to the input 4 of the microcontroller 33 (see Fig. 2). At the same time, from the output 8 of the microcontroller 33, command signals are input to the input 3 of the stepper motor 46 (see Fig. 5) for longitudinal production of cake. When the number of steps of the stepper motor 46 of the specified size “length” of the building element is reached, the output signal 6 of the microcontroller 33 generates a command signal to the input 4 of the functional tool 43. It changes the state of the stepper motor of vertical movement 43 of the extruding press package with heaters 36 by one step in height , i.e. The spec was increased in thickness. The signal command from the output 8 of the microcontroller 33, fed to the input 3 of the stepper motor 46, returns the package of extruding presses with heaters 36 to their original position and the procedure continues until the stepper motor of vertical movement of the functional tool 43 reaches a predetermined "height" size building element. Upon reaching the specified size in the microcontroller 33, a “break-help” command is generated and transmitted through local radio communication 15 to the input 6 of the microprocessor, the situation optimizer 6.

All the time, the microprocessor of the situation optimizer 6 keeps track of the number of gap-help requests from the F2 functor (estimating the amount of regolith in the storage hopper 35 of the F2 functor). If the regolith is sufficient to continue the work on request "gap-help", the microprocessor optimizer 6 sends an address signal-command "indent" to the input 1 of the motor-wheels 40 of the functor (see Fig. 2 and Fig. 7). performed by the functor F2 as a movement in the direction opposite to the detachable connection of the functors S * for ~ 0.5 sec. to create a gap between the building elements and forms a team-procedure for the manufacture of the next spec.

Upon reaching the number of “gap-aid” requests, it reaches the number when the regolith in the storage hopper 35 of the F2 functor is not enough to make the next building element, the microprocessor optimizer 6 “decides” to move the equipment of the robotic complex to another place of work or if it is necessary to continue manufacturing of building elements and generates process instructions for the joint action of F1 and F2, laid down by the algorithm.

Styling Tools 16

Making a decision to change the place of continuation of work after the functor F2 completes the execution of the last command-procedure for manufacturing the building element, on the basis of a request from F2 "break-help" (this corresponds to the fact that the stepper motors 43 and 46 are in a state of readiness for subsequent work) the microprocessor, the optimizer of situations 6, through the local radio communication station 15 sends an address command-procedure "indent", after it a command-procedure to bring the devices of the functor F2 to its original state.

According to the "initial state" procedure, from the output 5 of the microcontroller 33 to the input 3 of the electric motor of the functional tool 42 (see Fig. 6), the stop command of the storage hopper 35 is issued. Then, from the output 7 of the microcontroller 33 to the input 2 of the motor 45 a package of extruding presses with heaters 36 gives a signal command to "close" the electromechanical funnel valve. This command disables the heating of the extruding press package with heaters 36. The signal at the input 4 of the microcontroller 33 coming from the output 1 of the electronic temperature sensor of the extruder 44 (see Fig. 6) of the extruding press package with heaters 36 (see Fig. 5) drops below the permissible value and the microcontroller 33 sends a request for help, which serves as a signal to the microprocessor of the optimizer 6 that the devices of the functor F2 are reset.

Structurally, the styling means 16 (see Fig. 1, Fig. 2 and Fig. 10). constructed according to the scheme of storage of the cargo rope of a tower crane with a cargo trolley on an arrow. To this end, the fixed end of the hoist rope is attached at the base of the boom, and the movable hoist blocks are located on a cargo trolley moving along the boom. Stacking tools 16 have three functional commands-procedures:

1) transfer of the styling means to the “work” state;

2) the implementation of the movement of finished building elements "laying";

3) transfer of the styling means to the transport condition "relocation".

All of them are computational procedures for the situation optimizer microprocessor 6 based on the signals of the sensor systems serving it (electronic vertical sensor 8, lens unit 12 with a stereoscopic display system 13).

The command procedure "work" begins with a signal that is generated at the output 15 of the microprocessor of the optimizer of the situation 6, is fed to the input 5 of the electromechanical latch 31 of the styling means 16 and releases the distal end of the boom (see Fig. 1). The signal from the output of the electronic vertical sensor 8, which is input to the microprocessor input 4 of the situation optimizer 6, generates a command from output 14 to the input 4 of the stepper motor of the lift 30 of the stacking tool 16 for lifting the distal end of the boom to a horizontal level.

The “stacking” procedure command is calculated based on the data received from the output of the stereoscopic viewing system 13 received at the input 7 of the microprocessor of the situation optimizer 6. Then, from the output 13 of the microprocessor 6, the signals act on the input 3 of the stepper motor of rotation of the arrow 29 of the styling device 16. From output 12 microprocessor of the situation optimizer 6, the command received at the input 2 of the stepper motor 28 performs longitudinal movement of the trolley along the arrow of the styling means 16, and the commands from the output 11 of the microprocessor of the optimizer of situation 6, by stepping on the input 1 of the stepper motor 27, carry out the descent and rise of the cable with a tick grab to move the building elements. According to the data from the output of the stereoscopic display system 13 received at the input 7 of the microprocessor of the optimizer of situation 6, control is made of the rotation of the boom and piece packing of building elements in accordance with the electronic work map.

The command is the procedure for transferring the styling means 16 to the "moving" state in accordance with the electronic work card and the "solution" of the situation optimizer microprocessor 6; the "moving" procedure is performed. After the functors stop working, perform the “relocation” procedure and load them into the hopper 3, a command is made to fix it, then the ladder is lifted and fixed using an electromechanical latch 23.

The functors function according to the received command procedures. In case of malfunction of the software of the microcontroller 33, it is possible to reboot through the local radio link. Moving the landing module is provided by a command from the output 5 of the microprocessor of the situation optimizer with 6 signals to the input of the motor-wheels of the wheeled transport platform 4 (see Fig. 1). Management of its movement is carried out in accordance with an electronic work card controlled by a microprocessor 6 according to the data received at its input 7 from the output of the stereoscopic display system 13.

Confirmation of the achievement of a technical result.

In the robotic complex for the formation of building elements on a space object, the main element is a microprocessor 6, which provides control of technological processes in accordance with the number of functional capabilities of functors and styling devices 16. The presence of a local radio communication station 15 is not limited to a single task execution option. Taking into account the real conditions of the vicinity of the landing site, in the course of accomplishing the task, using the 3D extrusion method, it is possible to produce cake from local regolith using the energy of solar panels and batteries. The capabilities of the styling means 16 confirm the feasibility of the proposed technical solution on a space object without the participation of an observer.

In the landing module of the spacecraft, the boom of stacking means 16 is possible up to 7 m long. The overall dimensions of the space compartment make it possible to place up to two dozen functors with a track width of 25 cm each, a storage bin capacity of the functor-excavator 20 dm ³ , and a storage bin capacity 3D printing functor 15.2 dm ³ . Their technical capabilities can be characterized by the following values.

The 3D printing functor can simultaneously create two building elements of a standard building brick size of 250 × 114 × 71 mm in 10 minutes, consuming 7.2 dm ^{3 of} regolith for their manufacture. The functor-digger to fill in the regolith of its storage hopper, move and unload the regolith into the storage hopper of the 3D printing functor in ~ 43 sec. Laying means 16, moving by the piece, one building element - capture with a tick grab, lifting, carrying and stacking will be performed in a time of 2.5 ÷ 3 minutes. With the indicated technical capabilities and taking into account the fact that the speed of the means of moving the motor wheels is ~ 0.5 m / s (according to the data of “Lunokhod 1”), the microprocessor optimizer of situations 6 calculates the instruction-procedures depending on the specific task. The presented analysis indicates the possibility of creating a team of functors.

The use of the reinforced, vacuum-blown shell described in the prototype will expand the possibilities of creating other building elements and constructing objects of various configurations and purposes from them without limitation in the consumed raw materials and solar energy source. In cases of functors falling into the conditions of a moonlit night, it is possible to restart the software of the functor microcontroller via the local radio link.

The inventive device is not limited in consumable raw materials and in providing energy for the work. Thanks to the transport platform, it is mobile and, in comparison with well-known technical solutions, has the following advantages:

- expanded the functionality of equipment located on the lander module of the spacecraft and performing work with regolith in space vacuum;

- the variability of the tasks to be achieved due to the manufacture of standard building elements;

- the possibility of optimizing the problem to be solved in real conditions of landing the lander module of the spacecraft was implemented;

- the difference in performance of the devices used increases the flexibility of solving the problem in time;

- provided autonomy to perform specified tasks.

Claims (6)

1. A robotic complex for creating building elements on a space object, including actuating equipment with a frame, a transport platform with robots and energy sources of the complex, characterized in that the energy sources, including storage batteries, solar cells and temperature stabilization elements, actuating equipment are connected with a sensor to reach the surface of a space object, a microprocessor-based optimizer of situations, an electronic vertical sensor, as well as fragments of systems we have a stereoscopic display of the vicinity of the place and a local radio communication station located in a container with a lid, the lens unit associated with the stereoscopic display system is located on the frame of the delivery vehicles, the hopper of autonomous robotic functors equipped with bi-directional address command communication and personal callsigns, as well as microcontrollers and autonomous power sources, placed between the container and the transport platform, means for laying building elements are also placed on the frame. 2. The robotic complex according to claim 1, characterized in that on the transport platform there is a hopper of autonomous robotic functors. 3. The robotic complex according to paragraphs. 1 and 2, characterized in that at the base of the hopper of autonomous robotic functors, a gangway is mounted pivotally for their transition from the hopper to the ground surface. 4. Robotic complex according to paragraphs. 1 and 2, characterized in that the funnel-excavator located in the bunker is connected to the energy sources of the complex, is equipped with a transceiver for exchanging address-command information with a local radio communication station and a microcontroller that provides control of autonomous power sources, moving mechanisms of funnel-diggers and functional actions of their working tools. 5. Robotic complex according to paragraphs. 1, 2 and 4, characterized in that the funnel-digger has a set of working tools corresponding to the functional purpose and mounted on a storage hopper. 6. Robotic complex according to paragraphs. 1, 2, 4 and 5, characterized in that the 3D printing functor has a storage hopper equipped with a package of extruding presses with heaters.

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