CN110104212A - A kind of auxiliary builds the lunar rover of lunar base and lunar rock sample collection - Google Patents
A kind of auxiliary builds the lunar rover of lunar base and lunar rock sample collection Download PDFInfo
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- CN110104212A CN110104212A CN201910391153.6A CN201910391153A CN110104212A CN 110104212 A CN110104212 A CN 110104212A CN 201910391153 A CN201910391153 A CN 201910391153A CN 110104212 A CN110104212 A CN 110104212A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses the lunar rover that a kind of auxiliary builds lunar base and lunar rock sample collection, which is broadly divided into four parts, builds feedstock capture system, wall formation system, chassis drive system and sample acquisition system.The implementation that prospecting is returned with sampling is maked an inspection tour for lunar surface, building moon campsite is one of its key components.Such moon campsite service robot is intended to that astronaut is helped to build, care and maintenance moon campsite, and assists astronaut's daily life and work, thus assists the implementation of moon exploration second stage.When building moon campsite, may be implemented lunar soil from collecting a series of processes for building up moon campsite wall；In terms of assisting astronaut's routine work, the classification work of the acquisition to lunar rock sample may be implemented.
Description
Technical field
The present invention relates to space travel fields, and in particular to a kind of auxiliary builds the moon of lunar base and lunar rock sample collection
Ball vehicle.
Background technique
It makes a general survey of at all times, the mankind have great interest to the moon always, and never stop the exploration to it.With existing
For the development of space technology, the first stage of moon exploration --- lunar orbiting exploration has been basically completed, second stage --- lunar surface
Making an inspection tour prospecting, there are also to be studied with sampling return.And the implementation for second stage, building moon campsite is its crucial composition portion
/ mono-.For this purpose, the present invention devises a moon campsite service robot.It is intended to that astronaut is helped to build, care and maintenance
Moon campsite, and astronaut's daily life and work can be assisted, thus assist the implementation of moon exploration second stage.
Summary of the invention
It is an object of the invention to integrate to build moon campsite, assistance astronaut's daily life and work two basic lunar explorations times
Business.The present invention is based on the moon campsite service robots of this design can acquire lunar rock sample, and can assist to build moon campsite,
There is a little impetus to modern moon exploration program.
To achieve the above object, the present invention proposes a kind of four-footed moon campsite service robot, artificial one four, the machine
Sufficient extraterrestrial car, is mainly made of four systems.Four systems be respectively as follows: feedstock capture system 37 of building, wall formation system 38,
Chassis drive system 39 and sample acquisition system 40.Under the synergistic effect of aforementioned four system, robot be can be realized from adopting
Collect lunar soil to a series of processes for building up moon campsite wall；Wherein, it builds feedstock capture system 37 and is mounted on chassis 10
One end, the as car body head of four-footed extraterrestrial car, wall formation system 38 be mounted on the middle position on chassis 10, chassis driving
System 39 is located at the lower part on chassis 10.Sample acquisition system 40 is a series of devices being connected at 10 tailstock of chassis, while
In the routine work of astronaut, the acquisition classification work to lunar rock sample is realized.
Feedstock capture system 37 is built to be spent by feedstock capture system drive motor 2, feedstock capture system V-shape belt 3, transmission
Key axis 4, feedstock capture system shell 5, feedstock capture system anti-leakage ring 6, feedstock capture system raw material conveyer belt 7,8 and of hydraulic cylinder
Excavate the compositions such as shovel wheel 9.Feedstock capture system 37 is built for acquiring the lunar rock of moonscape, sends lunar rock to wall molding
System 38.The power resources for building feedstock capture system 37 are feedstock capture system drive motor 2 and hydraulic cylinder 8.Feedstock capture
System drive motor 2 is connected on feedstock capture system shell 5, and 3 one end of feedstock capture system V-shape belt is wound on feedstock capture system
It unites on driving motor 2, the other end is wound on drive splines axis 4.Drive splines axis 4 is connected to feedstock capture system shell 5 and consolidates
Even feedstock capture system excavates shovel wheel 9, and drive splines axis 4 and feedstock capture system anti-leakage ring 6 are coaxial.Feedstock capture system raw material
Conveyer belt 7 is connected to drive splines axis 4, rotates synchronously with drive splines axis 4.
Wall formation system 38 is by storage tank 13, pipeline A14, agitating screw 15, motor 16, V-belt 17, pipeline B18, control
Valve 19, diversion pipe 20, nozzle mechanism 21 and parallel platform 22 is flowed to form.The purpose of wall formation system 38 is raw material
The lunar rock collected of acquisition system 37 is processed as wall and builds material, and then fills campsite wall by extrusion mechanism.Raw material is adopted
The power source of collecting system 37 is motor 16.Motor 16 connects V-belt 17 when installation, and V-belt 17 connects agitating screw 15, stirs spiral shell
Bar 15 is coaxial with storage tank 13 and can rotate in storage tank 13, and storage tank 13 is fixed on chassis 10 by card slot.Pipeline
A14 and pipeline B18 are fixed on storage tank 13 by snap ring.Flow control valve 19 has the drive of motor 16 in storage tank 13 thereon
Dynamic flow control valve 19 rotates.20 one end of diversion pipe connects storage tank 13 and exports, and one end connects nozzle mechanism 21 and is fixed on parallel connection
On formula platform 22.Parallel platform 22 is driven by the combination of three groups of slide block mechanisms, to realize the movement in certain space.Its
Middle pipeline A14 and pipeline B18 is individually present, and the effect of pipeline A14 is to pour into adhesive to combine lunar rock and adhesive, by stirring
The stirring for mixing screw rod generates wall and builds material, then flows out from pipeline A18.
Chassis drive system 39 is by chassis 10, chassis drive system driving motor 11, five degree-of-freedom manipulator 12, deformation wheel
23, drive link group 24, magnetic suck suspension 25, clamping magnetic bead 26 and connection rod set motor 27 etc. part form.Chassis drive system
Driving motor 11 is fixed on chassis 10, and five degree-of-freedom manipulator 12 is fixed on chassis drive system driving motor 11, deformation
Wheel 23 is stuck in the fixed ring of 12 bottom of five degree-of-freedom manipulator.Drive link group 24 is fixed on the underface on chassis 10, magnetic
Attached suspension 25 is connected by a hinge in drive link group 24, and more clamping magnetic beads 26 are fixed on magnetic suck suspension 25.Connecting rod
Group motor 27 is connect with drive link group 24.
Sample acquisition system 40 is by mechanical arm 29, changeable cutter 30, cutter changer lever 31, module tool library 32, gear
The compositions such as transmission system 33, empty cutter tower position 34, sample holding structure 35, sample cabinet 36.Mechanical arm 29, module tool library
32, sample holding structure 35 and sample cabinet 36 are each attached on chassis 10, and gear train assembly 33 is fixed on carbody shell 1
Interior, cutter changer lever 31 is fixed on the output shaft of 33 end of gear train assembly.Six changeable cutters 30 are individually positioned in
Inside six circular troughs in module tool library 32.
Campsite auxiliary frame 41 is frame when moon campsite is built, and moon campsite service robot builds moon campsite
When, deformation wheel 23, clamping magnetic bead 26 are fitted on campsite auxiliary frame 41, and moon campsite service robot is made to keep balance.
Detailed description of the invention
Fig. 1 is four-footed moon campsite service robot outside drawing.
Fig. 2 is the four-footed moon campsite service robot vertical view outside drawing for removing shell.
Fig. 3 is to remove the four-footed moon campsite service robot of shell to look up outside drawing.
Fig. 4 is to build feedstock capture system to remove structural schematic diagram after part enclosure.
Fig. 5 is the vertical view outside drawing of wall formation system.
Fig. 6 is that wall formation system removes the vertical view outside drawing after storage tank shell.
Fig. 7 is bionical wheel leg structural schematic diagram.
Fig. 8 is that magnetic suck suspension looks up outside drawing.
Fig. 9 is that lunar rock sample acquisition system overlooks outside drawing.
Figure 10 is that moon campsite auxiliary frame overlooks outside drawing.
Specific embodiment
It is an object of the invention to integrate to build moon campsite, assistance astronaut's daily life and work two basic lunar explorations times
Business.The present invention is based on the moon campsite service robots of this design can acquire lunar rock sample, and can assist to build moon campsite,
There is a little impetus to modern moon exploration program.
To achieve the above object, the present invention proposes a kind of four-footed moon campsite service robot.Artificial one four, the machine
Sufficient extraterrestrial car is made of four Major Systems.It is illustrated here in connection with Figure of description 1, attached drawing 2.Four parts, which are respectively as follows:, builds
Make feedstock capture system 37, wall formation system 38, chassis drive system 39 and sample acquisition system 40.In aforementioned four part
Synergistic effect under, robot may be implemented from acquisition lunar soil to a series of processes for building up moon campsite wall；Wherein,
It builds feedstock capture system 37 and is mounted on 10 one end of chassis, the as head of car body.Wall formation system 38 is mounted on chassis 10
Middle position, chassis drive system 39 are by chassis 10, chassis drive system driving motor 11, five degree-of-freedom manipulator 12, deformation
The parts such as wheel 23, drive link group 24, magnetic suck suspension 25, clamping magnetic bead 26, connection rod set motor 27 form.Sample acquisition system
40 by mechanical arm 29, changeable cutter 30, cutter changer lever 31, module tool library 32, gear train assembly 33, empty cutter tower position
34, sample holding structure 35, sample cabinet 36 etc. form, for a series of devices being connected at 10 tailstock of chassis, while
In the routine work of astronaut, the classification work of the acquisition to lunar rock sample may be implemented.
Feedstock capture system 37 is built to be spent by feedstock capture system drive motor 2, feedstock capture system V-shape belt 3, transmission
Key axis 4, feedstock capture system shell 5, feedstock capture system anti-leakage ring 6, feedstock capture system raw material conveyer belt 7, hydraulic cylinder 8,
Excavate the compositions such as shovel wheel 9.Its object is to acquire the lunar rock of moonscape, it is transferred to wall formation system 38.It ties herein
Close Figure of description 3, attached drawing 4 is illustrated.The power resources of this part are feedstock capture system drive motor 2 and hydraulic cylinder
8.Feedstock capture system drive motor 2 is connected on feedstock capture system shell 5, and 3 one end of feedstock capture system V-shape belt is wound on
Feedstock capture system drive motor 2, one end are wound on drive splines axis 4.Drive splines axis 4 is connected to feedstock capture system shell
5 and the feedstock capture system that is connected excavate shovel wheel 9, coaxial with feedstock capture system anti-leakage ring 6.Feedstock capture system raw material conveyer belt
7 are connected to drive splines axis 4, rotate synchronously with drive splines axis 4.
When build feedstock capture work, the piston retraction in hydraulic cylinder 8 in feedstock capture system 37 makes machine
Head part drops to and ground keeping parallelism；Feedstock capture system drive motor 2 passes through driving feedstock capture system V-shape belt 3
It drives feedstock capture system to excavate shovel wheel 9 to rotate, drives the lunar soil acquisition of scraper bowl progress thereon.Simultaneously as feedstock capture system
The barrier action of system anti-leakage ring 6 makes scraper bowl lunar soil can be sent into feedstock capture system raw material conveyer belt 7 in highest point；Cause
Raw material conveyer belt 7 and excavation shovel wheel 9 are coaxial, and then can operate synchronously, and lunar soil is delivered to moon campsite service-delivery machine
Inside people；So far, collecting work is completed, and feedstock capture conveying mechanism shuts down, and the hydraulic cylinder of lifting mechanism is propped up, and machine is made
Head part is detached from ground.
Wall formation system 38 is by storage tank 13, pipeline 14, agitating screw 15, motor 16, V-belt 17, pipeline 18, flow control
Valve 19, diversion pipe 20, nozzle mechanism 21 and parallel platform 22 form.38 purpose of wall formation system is feedstock capture
The lunar rock collected of system 37 is processed as wall and builds material, and then fills campsite wall by extrusion mechanism.Here in connection with saying
Bright book attached drawing 5, attached drawing 6 are illustrated.The power source of feedstock capture system 37 is motor 16.Motor 16 connects V-belt when installation
17, V-belt 17 connects agitating screw 15, and agitating screw 15 is coaxial with storage tank 13 and can rotate wherein, and storage tank 13 is logical
Card slot is crossed to be fixed on chassis 10.Pipeline A14, pipeline B18 are fixed on storage tank 13 by snap ring.Flow control valve 19 is embedded in storage
It hides in tank 13, has motor that flow control valve can be driven to rotate thereon.20 one end of diversion pipe connects storage tank 13 and exports, one end connection
It nozzle mechanism 21 and is fixed on parallel platform 22.Parallel platform 22 may be implemented by the combination driving of three groups of motors
Movement in certain space.
The lunar rock raw material collected of feedstock capture system 37 is sent into storage tank 13 by pipeline 18, will be glued by pipeline 14 afterwards
Mixture injects storage tank 13, and motor 16 drives V-belt 17 that agitating screw 15 is driven to start turning under, completes raw material and adhesive
Mixing.When progress wall is built, flow control valve 19 is opened, and agitating screw 15 continues to rotate, and the molding mass that mixing is completed is squeezed
Enter to diversion pipe 20.By diversion pipe, molding mass, which enters, squeezes out the constantly extrusion of nozzle mechanism 21, and in parallel platform 22
Three groups of slide block mechanisms adjust spraying position, complete building for wall.
Chassis drive system 39 is by chassis 10, chassis drive system driving motor 11, five degree-of-freedom manipulator 12, deformation wheel
23, the part such as drive link group 24, magnetic suck suspension 25, clamping magnetic bead 26, connection rod set motor 27 forms.Chassis drive system is driven
Dynamic motor 11 is fixed on chassis 10, and five degree-of-freedom manipulator 12 is fixed on chassis drive system driving motor 11, deformation wheel
23 are stuck in the fixed ring of five degree-of-freedom manipulator bottom section.Drive link group 24 is fixed on immediately below chassis 10, magnetic suck suspension
25 are connected by a hinge in drive link group 24, and more clamping magnetic beads 26 are fixed on magnetic suck suspension 25.
Drive system 39 purpose in chassis is to travel moon campsite service robot in moonscape, and is building
Stable posture is provided when making wall, both modes are referred to as " exploring mode ", " campsite build model ".Here in connection with figure
3, Fig. 7, Fig. 8 are specifically described.
In exploration mode, according to the description of above-mentioned bionical wheel leg, moon campsite service robot may be implemented following three
Kind specific forms of motion: when in full speed is mobile, bionical wheel leg is packed up, five degree-of-freedom manipulator 12 and deformation wheel 23 perpendicular to
Ground, deformation wheel 23 is rendered as circular state at this time；When encountering barrier, bionical wheel leg expansion four-footed is crawled, with
Throwing over barrier, deformation wheel 23 is rendered as the state of polygon at this time；When acquiring moon lunar dust as materials for wall, bionical wheel leg
Expansion makes machine to allow moon campsite service-delivery machine head part closely face, then the hydraulic cylinder 8 by building feedstock capture system to shrink
Device head part and ground keeping parallelism.Facilitate next lunar rock collecting work.
In the build model of campsite, following forms of motion is may be implemented in moon campsite service robot.Building campsite
When wall, 23 deflecting of recycling and deformation wheel through bionical wheel leg makes chassis armful grip in campsite and builds on auxiliary frame, at this time the moon
The deformation wheel of campsite service robot is rendered as the state of polygon, and crawler belt is tightly attached on the frame of campsite.The electricity of bottom simultaneously
Machine 27 drives drive link group 24 to decline, and magnetic suck suspension 25 is driven to decline, and clamping magnetic bead 26 adsorbs campsite and builds auxiliary frame
Frame is to stablize vehicle body.Under the adjustment that three groups of slide block mechanisms of parallel platform squeeze out nozzle mechanism 21 to bottom, bottom is squeezed
Nozzle mechanism 21 can move in certain space out, and materials for wall is sprayed between campsite builds auxiliary frame, deformation is being passed through
Turbin generator is driven the position built to adjust vehicle in campsite on auxiliary frame, to reach the target for building campsite wall.
Sample acquisition system 40 is by mechanical arm 29, changeable cutter 30, cutter changer lever 31, module tool library 32, gear
The compositions such as transmission system 33, empty cutter tower position 34, sample holding structure 35, sample cabinet 36, are said here in connection with legend 9
It is bright.Mechanical arm 29, module tool library 32, sample holding structure 35, sample cabinet 36 are each attached on chassis 10, gear drive
System 33 is fixed on shell 1, and cutter changer lever 31 is fixed on the output shaft of 33 end of gear train assembly.Six changeable
Cutter 30 is placed on inside six circular troughs in module tool library 32.
When carrying out sample collection work, collection machinery arm is acquired properly using different knife combination uses from lunar rock
Lunar rock sample.When needing to switch different cutters, collection machinery arm 29 is withdrawn by multijoint control, by unused changeable knife
Have 30 carries on the cutter changer lever 31 of module replacing mechanism；There are two cutters for carry on cutter changer lever 31 at this time, respectively
From module tool library 32, collection machinery arm 29.Module replacing mechanism starts running, and motor will be cut by gear train assembly 33
The driving of bar 31 is changed, is pushed after changer lever is rotated 180 °.Changeable cutter 30 is loaded on sky cutter tower position 34, while will be new
Cutter is loaded on collection machinery arm 29.This completes cutter switchings.It, can after mechanical arm 29 collects suitable sample
Sample to be placed on the transport carriage of sample holding structure 35 by adjusting itself posture, sample is placed on sample storage
In cabinet 36.After acquisition tasks completion, these samples can be recycled.
Above-described embodiment is only intended to clearly illustrate the invention example, and not has to the invention
The restriction of body embodiment.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Guarantor of any obvious changes or variations extended out within spirit and principle still in the invention claim
It protects among range.
Claims (6)
1. the lunar rover that a kind of auxiliary builds lunar base and lunar rock sample collection, it is characterised in that: artificial one four, the machine
Sufficient extraterrestrial car, is mainly made of four systems；Four systems, which are respectively as follows:, builds feedstock capture system (37), wall formation system
(38), chassis drive system (39) and sample acquisition system (40)；Under the synergistic effect of aforementioned four system, robot can
It realizes from acquisition lunar soil to a series of processes for building up moon campsite wall；Wherein, feedstock capture system (37) peace is built
Mounted in one end of chassis (10), the as car body head of four-footed extraterrestrial car, wall formation system (38) is mounted on chassis (10)
Middle position, chassis drive system (39) are located at the lower part on chassis (10)；Sample acquisition system (40) is to be connected in chassis (10)
A series of devices at the tailstock, while in the routine work of astronaut, realize the acquisition classification work to lunar rock sample；
Feedstock capture system (37) is built by feedstock capture system drive motor (2), feedstock capture system V-shape belt (3), transmission
Splined shaft (4), feedstock capture system shell (5), feedstock capture system anti-leakage ring (6), feedstock capture system raw material conveyer belt
(7), hydraulic cylinder (8) and excavation shovel wheel (9) composition；The lunar rock that feedstock capture system (37) are used to acquire moonscape is built, it will
Lunar rock sends wall formation system (38) to；The power resources for building feedstock capture system (37) are feedstock capture system drive electricity
Machine (2) and hydraulic cylinder (8)；Feedstock capture system drive motor (2) is connected on feedstock capture system shell (5), feedstock capture
System V-shape belt (3) one end is wound on feedstock capture system drive motor (2), and the other end is wound on drive splines axis (4)；It passes
Dynamic splined shaft (4) are connected to feedstock capture system shell (5) and the feedstock capture system that is connected excavates shovel wheel (9), drive splines axis
(4) coaxial with feedstock capture system anti-leakage ring (6)；Feedstock capture system raw material conveyer belt (7) is connected to drive splines axis (4),
It is rotated synchronously with drive splines axis (4)；
Wall formation system (38) is by storage tank (13), pipeline A (14), agitating screw (15), motor (16), V-belt (17), pipe
Road B (18), flow control valve (19), diversion pipe (20), nozzle mechanism (21) and parallel platform (22) composition；Wall formation system
(38) purpose, which is will to build feedstock capture system (37) lunar rock collected and is processed as wall, builds material, and then by squeezing
Campsite wall is filled by mechanism out；The power source for building feedstock capture system (37) is motor (16)；Motor (16) connects V when installation
Shape band (17), V-belt (17) connect agitating screw (15), and agitating screw (15) is coaxial with storage tank (13) and can be in storage tank
(13) rotation, storage tank (13) are fixed on chassis (10) by card slot in；Pipeline A (14) and pipeline B (18) is solid by snap ring
It is scheduled on storage tank (13)；Flow control valve (19) has motor (16) to drive flow control valve (19) thereon in storage tank (13)
Rotation；Diversion pipe (20) one end connects storage tank (13) outlet, and one end connects nozzle mechanism (21) and is fixed on parallel platform
(22) on；Parallel platform (22) is driven by the combination of three groups of slide block mechanisms, to realize the movement in certain space；Wherein
Pipeline A (14) and pipeline B (18) is individually present, and the effect of pipeline A (14) is to pour into adhesive to combine lunar rock and adhesive, is led to
The stirring for crossing agitating screw generates wall and builds material, then flows out from pipeline B (18)；
Chassis drive system (39) is by chassis (10), chassis drive system driving motor (11), five degree-of-freedom manipulator (12), change
Shape wheel (23), magnetic suck suspension (25), clamps magnetic bead (26) and connection rod set motor (27) part composition at drive link group (24)；
Chassis drive system driving motor (11) is fixed on chassis (10), and five degree-of-freedom manipulator (12) is fixed on chassis drive system
On driving motor (11), deformation wheel (23) is stuck in the fixed ring of five degree-of-freedom manipulator (12) bottom；Drive link group (24)
It is fixed on the underface of chassis (10), magnetic suck suspension (25) is connected by a hinge on drive link group (24), more clampings
Magnetic bead (26) is fixed on magnetic suck suspension (25)；Connection rod set motor (27) is connect with drive link group (24)；
Sample acquisition system (40) is by mechanical arm (29), changeable cutter (30), cutter changer lever (31), module tool library
(32), gear train assembly (33), empty cutter tower position (34), sample holding structure (35), sample cabinet (36) composition；It is mechanical
Arm (29), module tool library (32), sample holding structure (35) and sample cabinet (36) are each attached on chassis (10), gear
Transmission system (33) is fixed in carbody shell (1), and cutter changer lever (31) is fixed on the defeated of gear train assembly (33) end
On shaft；Six changeable cutters (30) are individually positioned in inside six circular troughs in module tool library (32).
2. a kind of auxiliary according to claim 1 builds the lunar rover of lunar base and lunar rock sample collection, feature exists
In: campsite auxiliary frame (41) is frame when moon campsite is built, and when moon campsite service robot builds moon campsite, is become
Shape wheel (23), clamping magnetic bead (26) are fitted on campsite auxiliary frame (41), and moon campsite service robot is made to keep balance.
3. a kind of auxiliary according to claim 1 builds the lunar rover of lunar base and lunar rock sample collection, feature exists
In: following three kinds of specific forms of motion may be implemented in moon campsite service robot: when in full speed is mobile, bionical wheel leg is received
It rises, five degree-of-freedom manipulator (12) and deformation wheel (23) are perpendicular to ground, and deformation wheel (23) is rendered as circular state at this time；?
When encountering barrier, bionical wheel leg expansion four-footed is crawled, and with throwing over barrier, deformation wheel (23) is rendered as polygon at this time
State；When acquiring moon lunar dust as materials for wall, bionical wheel leg expansion is to make moon campsite service-delivery machine head part close
Ground, then the hydraulic cylinder by building feedstock capture system (8) are shunk, and make robot head and ground keeping parallelism；Conveniently connect down
The lunar rock collecting work come.
4. a kind of auxiliary according to claim 1 builds the lunar rover of lunar base and lunar rock sample collection, feature exists
In: in the build model of campsite, following forms of motion is may be implemented in moon campsite service robot；Building campsite wall
When, recycling and deformation wheel (23) deflecting through bionical wheel leg makes chassis armful grip in campsite and builds on auxiliary frame, and the moon is sought at this time
The deformation wheel of ground service robot is rendered as the state of polygon, and crawler belt is tightly attached on the frame of campsite；The motor of bottom simultaneously
27 driving drive link group (24) decline, drive magnetic suck suspension (25) decline, clamp magnetic bead (26) adsorb campsite build it is auxiliary
Frame is helped to stablize vehicle body；Under the adjustment that three groups of slide block mechanisms of parallel platform squeeze out nozzle mechanism (21) to bottom, bottom
The extrusion nozzle mechanism (21) in portion can move in certain space, and materials for wall is sprayed between campsite builds auxiliary frame,
The position built to adjust vehicle in campsite on auxiliary frame is driven by deforming turbin generator, builds campsite wall to reach
Target.
5. a kind of auxiliary according to claim 1 builds the lunar rover of lunar base and lunar rock sample collection, feature exists
In: sample acquisition system (40) by mechanical arm (29), changeable cutter (30), cutter changer lever (31), module tool library (32),
Gear train assembly (33), empty cutter tower position (34), sample holding structure (35), sample cabinet (36) composition, here in connection with
Legend 9 is illustrated；Mechanical arm (29), module tool library (32), sample holding structure (35), sample cabinet (36) are fixed
On chassis (10), gear train assembly (33) is fixed on shell (1), and cutter changer lever (31) is fixed on gear train assembly
(33) on the output shaft of end；Six changeable cutters (30) are placed on inside six circular troughs in module tool library (32).
6. a kind of auxiliary according to claim 1 builds the lunar rover of lunar base and lunar rock sample collection, feature exists
In: when carrying out sample collection work, collection machinery arm acquires the suitable moon using different knife combination uses from lunar rock
Rock sample sheet；When needing to switch different cutters, collection machinery arm (29) is withdrawn by multijoint control, by unused changeable cutter
(30) carry is on the cutter changer lever (31) of module replacing mechanism；At this time on cutter changer lever (31) carry there are two cutter,
Respectively from module tool library (32), collection machinery arm (29)；Module replacing mechanism starts running, and motor passes through pinion unit
(33) are united by cutter changer lever (31) driving, will be pushed after 180 ° of changer lever rotation；Changeable cutter (30) is loaded in sky knife
Have on tower position (34), while new cutter being loaded on collection machinery arm (29)；This completes cutter switchings；Mechanical arm
(29) small by adjusting the transhipment that sample is placed on sample holding structure (35) by itself posture after collecting suitable sample
It is inner to be placed on sample cabinet (36) by Che Shang for sample；After acquisition tasks completion, these samples are recycled.
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| CN201910391153.6A CN110104212B (en) | 2019-05-11 | 2019-05-11 | Lunar vehicle assisting in building lunar base and collecting lunar rock samples |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910391153.6A CN110104212B (en) | 2019-05-11 | 2019-05-11 | Lunar vehicle assisting in building lunar base and collecting lunar rock samples |
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| CN110104212B CN110104212B (en) | 2021-02-02 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450985A (en) * | 2019-09-16 | 2019-11-15 | 吉林大学 | A kind of unmanned lunar soil collecting vehicle of lunar surface |
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN113044247A (en) * | 2021-03-05 | 2021-06-29 | 上海智能制造功能平台有限公司 | Extraterrestrial planet landing device |
| CN114408051A (en) * | 2022-02-21 | 2022-04-29 | 之江实验室 | Three-wheel light detection sampling wheel type robot with active suspension structure |
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| 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 |
| CN110450985A (en) * | 2019-09-16 | 2019-11-15 | 吉林大学 | A kind of unmanned lunar soil collecting vehicle of lunar surface |
| CN110450985B (en) * | 2019-09-16 | 2024-07-05 | 吉林大学 | Lunar surface unmanned lunar soil collecting vehicle |
| CN113044247A (en) * | 2021-03-05 | 2021-06-29 | 上海智能制造功能平台有限公司 | Extraterrestrial planet landing device |
| CN114408051A (en) * | 2022-02-21 | 2022-04-29 | 之江实验室 | Three-wheel light detection sampling wheel type robot with active suspension structure |
| CN114408051B (en) * | 2022-02-21 | 2022-08-02 | 之江实验室 | Light three-wheel detection sampling robot with active suspension structure |
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