阅读说明：本技术 可折叠型月球营地辅助搭建机器人 (Foldable type moon campsite auxiliary builds robot ) 是由 吴飞 刘健 郑叶 李天宇 于 2019-08-20 设计创作，主要内容包括：本发明公开了一种可折叠型月球营地辅助搭建机器人,包括车台、视觉探测模块、多自由度机械臂和拆换模块,视觉探测模块、多自由度机械臂和拆换模块均设置于车台上,车台底部沿分布有多个支脚,支脚的外侧面设有翻折式太阳能板,支脚的下端设有变径越障轮。能够辅助宇航员进行营地搭建及保养维护,移动性能好,具有优越的越障能力与爬坡能力,协助宇航员的日常生活,包括运载物品,协助科考等；能源供给功能,可在月面利用太阳能发电。(The invention discloses a kind of foldable type moon campsite auxiliary to build robot, including ride, visual detection module, multi-degree-of-freemechanical mechanical arm and change module, it visual detection module, multi-degree-of-freemechanical mechanical arm and changes module and is all set on ride, multiple stabilizer blades are distributed in ride bottom edge, the lateral surface of stabilizer blade is equipped with turnover type solar panels, and the lower end of stabilizer blade is equipped with variable diameter Stump-jump wheel.Astronaut can be assisted to carry out campsite to build and maintenance, travelling performance is good, has superior obstacle climbing ability and climbing capacity, assists the daily life of astronaut, including delivery article, assists scientific investigation etc.；Energy resource supply function can utilize solar power generation in lunar surface.)

1. a kind of foldable type moon campsite auxiliary builds robot, which is characterized in that including ride, visual detection module, more It degree-of-freedom manipulator and changes module, visual detection module, multi-degree-of-freemechanical mechanical arm and changes module and be all set on ride, vehicle Platform bottom is equipped with turnover type solar panels along multiple stabilizer blades, the lateral surface of stabilizer blade is distributed with, and the lower end of stabilizer blade is equipped with variable diameter obstacle detouring Wheel.

2. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that multiple stabilizer blade edges It is circumferentially uniformly distributed in ride bottom, the upper end of stabilizer blade is hinged by rotation axis and ride, and rotation axis is connected with stabilizer blade motor.

3. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that variable diameter Stump-jump wheel Including support frame, axletree and turbin generator is driven, axletree is set on support frame by bearing, drives turbin generator and axletree connects It connects, drives turbin generator and be fixedly arranged on support frame, the lower end connection of support frame and stabilizer blade, axletree has been uniformly distributed circumferentially multiple arcs Shape tread plate is respectively connected with electric pushrod between each arc tread plate and axletree, electric pushrod is radially arranged along axletree, more A arc tread plate collectively forms obstacle detouring tire tread, and the outer surface of each arc tread plate is equipped with pressure sensor.

4. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that visual detection mould Block includes pedestal, rotary lifting mechanism, push-pull mechanism, erecting bed and camera, and rotary lifting mechanism and push-pull mechanism are set to On pedestal, erecting bed is set on rotary lifting mechanism, and the bottom of camera is hinged by hinged shaft and erecting bed, push-pull mechanism and The tail end of camera connects, and rotary lifting mechanism drives camera rotation and lifting, and push-pull mechanism drives camera to rotate around hinged shaft, Push-pull mechanism makes camera with mode adjustment camera angle of nodding.

5. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that rotary lifter Structure includes upper shell, lower shell, gear set and rotary drive motor, and erecting bed is connected by the upper end of bearing and upper shell, on The lower end of cylinder is socketed by screw thread and lower shell, and rotary drive motor is connect by gear set with upper shell, rotation driving electricity Machine is rotated by gear set drive upper shell along lower shell lifting moving.

6. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that the turnover type sun Can plate include 3 solar panels, intermediate solar panels are fixedly installed on stabilizer blade, two outside solar panels respectively with it is intermediate The two sides of solar panels are hinged by hinge；

Outside solar panels are connected with turnover mechanism, and turnover mechanism includes first connecting rod, second connecting rod, gear shaft, rack gear and turns over Rotating motor, one end of first connecting rod and outside solar panels are hinged, and the other end of first connecting rod and one end of second connecting rod are hinged, The other end and gear axis connection of second connecting rod, gear shaft are fixedly arranged on stabilizer blade or intermediate solar panels by bearing, gear shaft End be equipped with gear, gear shaft is by wheel and rack engagement, and the output shaft for overturning motor is connected with screw rod, and rack gear passes through spiral shell Line and screw rod are socketed, and overturning motor driven screw rod rotation, band carry-over bar moves linearly back and forth along screw rod, drive gear shaft rotation The overturning of outside solar panels.

7. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that multiple degrees of freedom machine Wherein one section of mechanical arm of tool arm is telescopic arm.

8. the foldable type moon according to claim 7 campsite auxiliary builds robot, which is characterized in that telescopic arm includes Two galianconism being mutually socketed are connected with screw body between two galianconism；

Screw body includes mechanical arm screw rod and lead screw motor, and lead screw motor is fixedly arranged on a section galianconism, the output of lead screw motor End is connect with mechanical arm screw rod, and mechanical arm screw rod is connect by screw thread with another section galianconism, and lead screw motor drives mechanical arm screw rod Rotation, the galianconism for making to be arranged thereon are moved up and down along mechanical arm screw rod.

9. the foldable type moon according to claim 1 campsite auxiliary builds robot, which is characterized in that change module packet It includes and changes module, change and be circumferentially successively arranged mechanical gripper, borehole drill construction, lighting mechanism and sampling mechanism in module, it is mechanical Handgrip, borehole drill construction, lighting mechanism and sampling mechanism upper end be equipped with crossover sub, crossover sub is used for and multiple degrees of freedom machine The end jaw of tool arm is docked.

10. the foldable type moon according to claim 9 campsite auxiliary builds robot, which is characterized in that change module Including pallet, gear drive group and conversion motor, pallet is horizontally disposed on ride by bearing, mechanical gripper, borehole drill construction, Lighting mechanism and Sampling Machine are circumferentially sequentially arranged on pallet, and conversion motor is connect by gear drive group with pallet, are rotated Motor drives pallet rotation by gear drive group.

Technical field

The present invention relates to robotic technology fields, and in particular to a kind of foldable type moon campsite auxiliary builds robot.

Background technique

So far, space agency, various countries, which has been found that, possesses hundreds of available resources very rich on the moon.Wherein Including mineral resources abundant, rare earth element and helium 3, these resources are all strategic resource rare on the earth, therefore are passed through Campsite, which is established, in the moon realizes have very great significance with using tool to the exploitation of lunar surveyor.

Building for moon campsite has vital meaning for the lunar exploration scientific investigation in next stage.Lunar space station at present And the technical conditions of lunar orbiter are not sufficient to realize and carry out the secret of the moon deeper into careful Science Explorations, current Moon exploration mode is faced with that sample capacity is small, many and diverse at high cost, single of round-trip transport step explores duration short week The defects of sample caused by phase length and environmental change is perishable, scientific investigation campsite can then efficiently solve above ask to the moon on the spot Topic, provides scientific personnel to the autoptical place of the moon and condition, has more profound significance to lunar exploration scientific investigation is more goed deep into.

At present lunar base to build difficulty big, it is more difficult to implement tellurian method of construction.Since lunar soil has Have do not need processing can be directly as the characteristic of protective materials, so theoretically most viable mode utilizes moon itself The effects of soil covers base surface, is easy to build as building materials, plays radiation protection, protection equipment.

Lunar orbiter as carrier most important in moon exploration program, be in aerospace craft design most important link it One.The lunar orbiter for designing the completion appointed task that can land on the moon needs to consider numerous exacting terms, including lunar environment Condition, structure design condition, motion mode, Functional Design condition etc. are meeting radiation protection, anti-lunar dust, are being easy to obstacle detouring, realization Other than the requirements such as temperature control and autonomous energy supply, it is also necessary to design reasonable motion mode to realize that auxiliary builds moon base The functions such as ground.

Moonscape gravity coefficient is smaller than the earth, and day and night temperature is big, and landform is rugged, is covered with big and small crater, because This proposes very harsh requirement to the stability of moon craft.The probe vehicles of various countries' moonshot at present generally have Body structure is lengthy and jumbled, car body is heavy, can small, the easy to damage and expensive manufacturing cost feature of carrying amount, be unable to satisfy to the moon The needs of resource detection and exploitation.The moon scientific investigation function such as obstacle detouring, walking, energy collection, sampling it is integrated and integrated, light Quantization is still the huge challenge that current lunar vehicle is faced.

The most importantly task of moon campsite robot be carry out moon campsite build and maintenance, and assist space The daily life and research work of boat person.The environmental characteristic of moonscape is as follows:

(1) high vacuum, day and night temperature is big, and most hot up to 127 DEG C, night is reachable -180 DEG C most cold；

(2) low-gravity environment, gravity are only the 1/6 of the earth；

(3) the more gullys of lunar surface landforms and high mountain, steep cliff etc., the mean inclinations such as moon height area are 20 or so；

(4) moonscape radiation is larger, and lunar surface dust easily adheres to；

It is investigated by related data analysis and experience, since lunar rover practical experience is insufficient, current lunar rover is above-mentioned Under the conditions of obstacle detouring, sampling, energy confession etc. it is not perfect, integration degree is lower, therefore more than the design is directed to Problem proposes a kind of Design Conception of lunar rover.

Based on background above, the functions such as this project devises a kind of sampling for moonscape, soil transports are rolled over Stacked lunar base auxiliary builds robot, many harsh conditions existing for the design for lunar orbiter, this project design Foldable type moon campsite auxiliary build that robot is high with function integration, environment-adapting ability is strong, Windsor, load-carrying The advantages that ability is strong, compact and flexible.

Summary of the invention

The technical problem to be solved by the present invention is in view of the foregoing defects the prior art has, provide a kind of foldable Type moon campsite auxiliary builds robot, and astronaut can be assisted to carry out campsite and built and maintenance, travelling performance is good, has Superior obstacle climbing ability and climbing capacity assist the daily life of astronaut, including delivery article, assist scientific investigation etc.；The energy supplies To function, solar power generation can be utilized in lunar surface.

Used technical solution is the present invention to solve above-mentioned technical problem:

A kind of foldable type moon campsite auxiliary builds robot, including ride, visual detection module, multi freedom degree mechanical Arm and change module, visual detection module, multi-degree-of-freemechanical mechanical arm and change module and be all set on ride, ride bottom along point Multiple stabilizer blades are furnished with, the lateral surface of stabilizer blade is equipped with turnover type solar panels, and the lower end of stabilizer blade is equipped with variable diameter Stump-jump wheel.

According to above-mentioned technical proposal, multiple stabilizer blades are uniformly distributed circumferentially in ride bottom, and the upper end of stabilizer blade passes through rotation Axis is hinged with ride, and rotation axis is connected with stabilizer blade motor.

According to above-mentioned technical proposal, variable diameter Stump-jump wheel includes support frame, axletree and drives turbin generator, and axletree passes through bearing It is set on support frame, drives turbin generator and wheel axis connection, drive turbin generator and be fixedly arranged on support frame, the lower end of support frame and stabilizer blade Connection, axletree have been uniformly distributed circumferentially multiple arcs tread plate, have been respectively connected with electricity between each arc tread plate and axletree Dynamic push rod, electric pushrod radially arrange that multiple arcs tread plate collectively forms obstacle detouring tire tread, each arc tread along axletree The outer surface of plate is equipped with pressure sensor.

According to above-mentioned technical proposal, visual detection module include pedestal, rotary lifting mechanism, push-pull mechanism, erecting bed and Camera, rotary lifting mechanism and push-pull mechanism are set on pedestal, and erecting bed is set on rotary lifting mechanism, camera Bottom is hinged by hinged shaft and erecting bed, and the tail end connection of push-pull mechanism and camera, rotary lifting mechanism drives camera rotation Turn lifting, push-pull mechanism drives camera to rotate around hinged shaft, and push-pull mechanism makes camera with mode adjustment camera angle of nodding.

According to above-mentioned technical proposal, rotary lifting mechanism includes upper shell, lower shell, gear set and rotary drive motor, Erecting bed is connected by the upper end of bearing upper shell, and the lower end of upper shell is socketed by screw thread and lower shell, rotary drive motor It is connect by gear set with upper shell, rotary drive motor is rotated by gear set drive upper shell along lower shell lifting moving.

According to above-mentioned technical proposal, turnover type solar panels include 3 solar panels, intermediate solar panels fixed setting In on stabilizer blade, two outside solar panels are hinged by hinge with the two sides of intermediate solar panels respectively；

Outside solar panels are connected with turnover mechanism, and turnover mechanism includes first connecting rod, second connecting rod, gear shaft, rack gear With overturning motor, one end of first connecting rod and outside solar panels are hinged, the other end of first connecting rod and one end of second connecting rod Hingedly, the other end of second connecting rod and gear axis connection, gear shaft are fixedly arranged on stabilizer blade or intermediate solar panels by bearing, tooth The end of wheel shaft is equipped with gear, and gear shaft is engaged by wheel and rack, and the output shaft for overturning motor is connected with screw rod, and rack gear is logical It crosses screw thread and screw rod is socketed, overturning motor driven screw rod rotation, band carry-over bar moves linearly back and forth along screw rod, rotates gear shaft Outside solar panels overturning is driven, overturning motor is fixedly arranged on ride or stabilizer blade.

According to above-mentioned technical proposal, wherein one section of mechanical arm of multi-degree-of-freemechanical mechanical arm is telescopic arm.

According to above-mentioned technical proposal, telescopic arm includes two galianconism being mutually socketed, and is connected with screw rod between two galianconism Mechanism；

Screw body includes mechanical arm screw rod and lead screw motor, and lead screw motor is fixedly arranged on a section galianconism, lead screw motor Output end is connect with mechanical arm screw rod, and mechanical arm screw rod is connect by screw thread with another section galianconism, and lead screw motor drives mechanical arm Screw rod rotation, the galianconism for making to be arranged thereon are moved up and down along mechanical arm screw rod.

According to above-mentioned technical proposal, changeing module includes changeing module, changes and is circumferentially successively arranged mechanical gripping in module Hand, borehole drill construction, lighting mechanism and sampling mechanism, mechanical gripper, borehole drill construction, lighting mechanism and sampling mechanism upper end be all provided with There is crossover sub, crossover sub with the end jaw of multi-degree-of-freemechanical mechanical arm for docking.

According to above-mentioned technical proposal, changeing module includes pallet, gear drive group and conversion motor, and pallet passes through bearing water Plain cloth is placed on ride, and mechanical gripper, borehole drill construction, lighting mechanism and Sampling Machine are circumferentially sequentially arranged on pallet, is converted Motor is connect by gear drive group with pallet, and rotary electric machine drives pallet rotation by gear drive group.

The invention has the following advantages:

Built and maintenance 1. the present invention can assist astronaut to carry out campsite, travelling performance is good, have it is superior more Barrier ability and climbing capacity assist the daily life of astronaut, including delivery article, assist scientific investigation etc.；Energy resource supply function, can Solar power generation etc. is utilized in lunar surface.

2. this programme designs a kind of reducing damping wheel, wheel face is made of several telescopic dough sheets, can be risen with landform It lies prostrate and stretches, play obstacle detouring cushioning effect.Meanwhile diameter-changing wheel can be rotated in place and be moved along any direction；Multifunctional mechanical arm It cooperates with mechanical splice device is changed, realizes " arm is multi-purpose ", reduce the equipment of robotic equipment, while needed for satisfaction Function；Integral folding solar panels can meet energy resource supply and radiation protection, the requirement of anti-lunar dust simultaneously.

Detailed description of the invention

Fig. 1 is the structural schematic diagram that foldable type moon campsite auxiliary builds robot in the embodiment of the present invention；

Fig. 2 is the elevation of variable diameter Stump-jump wheel under normal morphology in the embodiment of the present invention；

Fig. 3 is the elevation of variable diameter Stump-jump wheel under deformation form in the embodiment of the present invention；

Fig. 4 is the obstacle detouring schematic diagram of variable diameter Stump-jump wheel in the embodiment of the present invention；

Fig. 5 is the connection schematic diagram of arc tread plate and axletree in the embodiment of the present invention；

Fig. 6 is the local K view of Fig. 5；

Fig. 7 is the structural schematic diagram of turnover type solar panels in the embodiment of the present invention；

Fig. 8 is the local M view of Fig. 7；

Fig. 9 is the elevation of visual detection module in the embodiment of the present invention；

Figure 10 is the A direction view of Fig. 9；

Figure 11 is the structural schematic diagram of multi-degree-of-freemechanical mechanical arm in the embodiment of the present invention；

Figure 12 is that module is changed in the embodiment of the present invention；

In figure, 1- variable diameter Stump-jump wheel, 2- turnover type solar panels, 3- visual detection module, 4- multi-degree-of-freemechanical mechanical arm, 5- Change module, 6- obstacle detouring tire tread, 7- pressure sensor, 8- drive turbin generator, 9- castor gear set, 10- support frame, 11- obstacle Object, 12- axletree, 13- arc tread plate, 14- electric pushrod, 15- solar panels, 16- rack gear, 17- gear shaft, 18- hinge, 19- first connecting rod, 20- second connecting rod, 21- push-pull mechanism, 22- chain, 23- gear set, 24- rotary lifting mechanism, 25- camera shooting Head, 26- screw body, 27- mechanical gripper, 28- borehole drill construction, 29- lighting mechanism, 30- sampling mechanism, 31- crossover sub, 32- pallet, 33- gear drive group, 34- conversion motor, 35- sector frame, 36- pedestal.

Specific embodiment

The present invention is described in detail with reference to the accompanying drawings and examples.

Shown in referring to Fig.1~Figure 12, the foldable type moon campsite auxiliary in one embodiment provided by the invention is built Robot, including ride, visual detection module 3, multi-degree-of-freemechanical mechanical arm 4 and change module 5, visual detection module 3, mostly freely It spends mechanical arm 4 and changes module 5 and be all set on ride, along multiple stabilizer blades are distributed with, the lateral surface of stabilizer blade is equipped with for ride bottom The lower end of turnover type solar panels 2, stabilizer blade is equipped with variable diameter Stump-jump wheel 1.

Further include control system, control system respectively with visual detection module 3, multi-degree-of-freemechanical mechanical arm 4, change module 5, Each stabilizer blade and the connection of each variable diameter Stump-jump wheel 1 control visual detection module 3, multi-degree-of-freemechanical mechanical arm 4 respectively, change module 5, is each Stabilizer blade and the operating of each variable diameter Stump-jump wheel 1, stabilizer blade motor are connect with control system.

Further, multiple stabilizer blades are uniformly distributed circumferentially in ride bottom, and the upper end of stabilizer blade passes through rotation axis and ride Hingedly, rotation axis is connected with stabilizer blade motor；Stabilizer blade motor drives the inside and outside overturning of multiple stabilizer blades by rotation axis, changes stabilizer blade and vehicle The angle on platform and ground, and change the height of ride.

Further, the number of stabilizer blade is 3, and ride is triangle.

Further, rotation axis is fixedly arranged on the upper end of stabilizer blade, and rotation axis is set on ride by bearing, stabilizer blade motor band The rotation of turn moving axis.

Further, variable diameter Stump-jump wheel 1 includes support frame 10, axletree 12 and drives turbin generator 8, and axletree 12 passes through bearing Be set on support frame 10, drive turbin generator 8 connect with axletree 12, drive turbin generator 8 be fixedly arranged on support frame 10, support frame 10 and The lower end of stabilizer blade connects, and axletree 12 has been uniformly distributed circumferentially multiple arcs tread plate 13, each arc tread plate 13 and wheel Electric pushrod 14 is respectively connected between axis 12, for electric pushrod 14 along the radial arrangement of axletree 12, multiple arcs tread plate 13 is common Obstacle detouring tire tread 6 is constituted, the outer surface of each arc tread plate 13 is equipped with pressure sensor 7, electric pushrod 14 and pressure sensing Device 7 is connect with control system；When the pressure sensor 7 on one of arc tread plate 13 has detected barrier 11, Corresponding electric pushrod 14, which shortens, drives corresponding arc tread plate 13 to bounce back, and the length of remaining electric pushrod 14 is constant, evacuation barrier Hinder object 11, after fully passing over all barriers 11, after each electric pushrod 14 bounces back simultaneously, multiple arcs tread plate 13 is mutually spliced At full circle, obstacle detouring tire tread 6 is formed.

Further, it drives turbin generator 8 to connect by castor gear set 9 with axletree 12, drives turbin generator 8 and pass through castor gear Group 9 drives axletree 12 to rotate.

Further, 13 two sides of arc tread plate are respectively equipped with fan-shaped frame 35, the both ends of electric pushrod 14 respectively with sector Frame 35 and axletree 12 connect.

Further, visual detection module 3 includes pedestal 36, rotary lifting mechanism 24, push-pull mechanism 21, erecting bed and takes the photograph As head 25, rotary lifting mechanism 24 and push-pull mechanism 21 are set on pedestal 36, and erecting bed is set on rotary lifting mechanism 24, The bottom of camera 25 is hinged by hinged shaft and erecting bed, and push-pull mechanism 21 is connect with the tail end of camera 25, rotary lifter Structure 24 drives 25 rotation and lifting of camera, and push-pull mechanism 21 drives camera 25 to rotate around hinged shaft, and push-pull mechanism 21 makes camera 25 with 25 angle of mode adjustment camera of nodding.

Further, push-pull mechanism 21 is slider-crank mechanism or push cylinder/electric cylinders, and slider-crank mechanism or push-and-pull are oily Cylinder/electric cylinders both ends are connect with the tail end of pedestal 36 and camera 25 respectively.

Further, rotary lifting mechanism 24 includes upper shell, lower shell, gear set 23 and rotary drive motor, installation Platform is connected by the upper end of bearing and upper shell, and erecting bed can horizontally rotate relative to upper shell, and the lower end of upper shell passes through spiral shell Line and lower shell are socketed, and rotary drive motor is connect by gear set 23 with upper shell, and rotary drive motor passes through gear set 23 Drive upper shell rotation along lower shell lifting moving.

Further, rotary drive motor is fixedly arranged on pedestal 36, the input terminal of rotary drive motor and gear set 23 it Between be connected with driving chain 22.

Further, turnover type solar panels 2 include 3 solar panels 15, and intermediate solar panels 15 are fixedly installed on On stabilizer blade, two outside solar panels 15 are hinged by hinge 18 with the two sides of intermediate solar panels 15 respectively；

Outside solar panels 15 are connected with turnover mechanism, and turnover mechanism includes first connecting rod 19, second connecting rod 20, gear shaft 17, rack gear 16 and overturning motor, one end of first connecting rod 19 and outside solar panels 15 are hinged, the other end of first connecting rod 19 with One end of second connecting rod 20 is hinged, and the other end of second connecting rod 20 is connect with gear shaft 17, and gear shaft 17 is fixedly arranged on by bearing On stabilizer blade or intermediate solar panels 15, the end of gear shaft 17 is equipped with gear, and gear shaft 17 is engaged by wheel and rack 16, turned over The output shaft of rotating motor is connected with screw rod, and rack gear 16 is socketed by screw thread and screw rod, overturning motor driven screw rod rotation, band movable tooth Item 16 moves linearly back and forth along screw rod, makes the rotation of gear shaft 17 that outside solar panels 15 be driven to overturn, and overturning motor is fixedly arranged on vehicle On platform or stabilizer blade.

Further, wherein one section of mechanical arm of multi-degree-of-freemechanical mechanical arm 4 is telescopic arm.

Further, telescopic arm includes two galianconism being mutually socketed, and is connected with screw body 26 between two galianconism；

Screw body 26 includes mechanical arm screw rod and lead screw motor, and lead screw motor is fixedly arranged on a section galianconism, lead screw motor Output end connect with mechanical arm screw rod, mechanical arm screw rod connect by screw thread with another section galianconism, and lead screw motor drives machinery The rotation of arm screw rod, the galianconism for making to be arranged thereon are moved up and down along mechanical arm screw rod；Formed telescopic arm, can grab specific region or The article in deeper region.

Further, change module 5 include change module 5, change circumferentially be successively arranged in module 5 mechanical gripper 27, Borehole drill construction 28, lighting mechanism 29 and sampling mechanism 30, mechanical gripper 27, borehole drill construction 28, lighting mechanism 29 and sampling mechanism 30 upper end is equipped with crossover sub 31, and crossover sub 31 with the end jaw of multi-degree-of-freemechanical mechanical arm 4 for docking.

Further, changeing module 5 includes pallet 32, gear drive group 33 and conversion motor 34, and pallet 32 passes through bearing It is horizontally disposed on ride, mechanical gripper 27, borehole drill construction 28, lighting mechanism 29 and Sampling Machine are circumferentially sequentially arranged in pallet On 32, conversion motor 34 is connect by gear drive group 33 with pallet 32, and rotary electric machine drives pallet by gear drive group 33 32 rotations；Go to the mechanical gripper being arranged on pallet 32 27, borehole drill construction 28, lighting mechanism 29 and sampling mechanism 30 accordingly Position is replaced, replaces different tools convenient for the end jaw of multi-degree-of-freemechanical mechanical arm 4.

Further, each motor is connect with control system.

The working principle of the invention:

Variable diameter Stump-jump wheel, as shown in Figure 2 to 4, variable diameter Stump-jump wheel 1 is by cylinder, tire dough sheet, motor, gear, support frame 10 equal compositions, lunar surface landform is special, uneven, proposes high requirement to the travelling performance of lunar rover.Therefore the movement of robot Module design is the Stump-jump wheel of reducing, and drive mode is " motor-bevel gear system-semiaxis output " driving.Normal condition such as Fig. 2 Shown, when there is barrier 11 in front, the Machine Vision Detection module on car body detects that barrier 11, wheel start to deform, Electric pushrod 14 is flexible, and tire dough sheet is ejected outward, as shown in figure 3, Stump-jump wheel radius increases, while each tire dough sheet it Between there are gap, will not be interfered when guaranteeing flexible.In tire topsheet surface force sensor, when force sensor detects Surface of tyre pressure is excessive, too small or unbalance stress when, electric pushrod 14 can feedback regulation, change tire dough sheet diameter, make to take turns Tyre surface piece is bonded barrier 11 and stability under loading.When robot lunar surface when driving, encounter protrusion earth's surface or rock, take turns sublist Face can deform, as shown in figure 4, that dough sheet contacted with the barrier 11 of protrusion can inwardly stretch along radial direction, protect The point of barrier 11 and ground face contact is demonstrate,proved as a bit on entire wheel excircle, to play shock absorbing effect, favorably In guaranteeing the steady of main body, there is preferable obstacle performance, as shown in figures 5 and 6, illustrate for inside tires electric pushrod 14 Figure.Support frame 10 has preferable hardness and height simultaneously, and total quality is lighter, has preferable scalability energy, outside dough sheet The well-regulated dent in surface has good grip performance, to obtain biggish movement speed.Wheel can be around Z axis along any Direction rotates, and robot can realize that deflecting is mobile at any time, have considerable flexibility, has superior obstacle climbing ability and climbing energy Power, climbing capacity angle are 25 ° to 30 °.

Solar panels are turned down, moonscape gravitation is smaller, therefore lunar dust easily suspends, and can impact to robot.Fold is too Outside lunar dust can be blocked in by the design of positive energy plate, structure is as shown in Fig. 7~Fig. 8, when solar energy turns down, motor driven rack gear 16 Translation, the rotation with moving gear, and then drive the rotation of connecting rod, connecting rod one end is fixed on solar panels 15, forms four bars Mechanism thereby realizes the flip-flop movement of solar panels 15.On the one hand such design protects solar panels 15 from the moon Dustiness dye, on the one hand increases the area of solar panels 15.

Visual detection module, due to the particularity of lunar environment, lunar surface uneven, the landform such as rubble, abrupt slope are more normal See, therefore probe vehicles carry out a series of activity and need to have planned track route in advance, avoid colliding or turn on one's side.Vision is visited Surveying module 3 can be by the camera 25 at comprehensive no dead angle to progress records photographing in entire probe vehicles visual range and with heat The technologies such as imaging analysis data finally calculate optimal track route.The visual detection module 3 as shown in Fig. 9~Figure 10 is whole to be shown Meaning.

Visual detection module 3 controls camera 25 in a manner of screw thread transmission screw body 26 and moves in the vertical direction Dynamic, motor driven gear rotation, gear makes screw rod be translatable in the vertical direction to swivel nut passing movement, the rotation of swivel nut, thus Realize the vertical motion of camera 25；The operation of camera 25 " new line ", " bowing ", motor band are completed using slider-crank mechanism Dynamic crank rotation, crank move sliding block in the vertical direction to connecting rod passing movement, connecting rod, so drive camera 25 around Axle center rotates, and realizes the new line of camera 25 and operation of bowing；Camera 25 is realized using 22 mechanism of chain and gear drive Around 360 ° of vertical direction progress rotated without dead angle.

Multifunctional mechanical arm, the module is mainly by a multi-degree-of-freemechanical mechanical arm 4 and multiple dismountable mechanical splice structures At.Mechanical arm section uses hydraulic mechanism, pulley mechanism, worm gear mechanism, screw body 26 and link mechanism.Such as figure Multifunction manipulator module shown in 11 is integrally illustrated.Motor drive driving wheel rotation, percutaneous V belt translation to driven wheel, driven wheel with Worm screw is connected, so that worm screw be driven to rotate, worm gear is slowly rotated, and then whole mechanical arm is driven to rotate around vertical direction；

Since handgrip end can generate very big torque to mechanical arm roots to entire mechanical arm at work, work is designed Make high-efficient, high reliablity hydraulic mechanism to drive the rotation of entire mechanical arm in the vertical direction；In view of the hole of lunar surface Hollow complexity, conventional mechanical arm, which may not necessarily reach, effectively grabs subhorizontal object, therefore designs in mechanical arm second segment Place uses screw body 26, can increase the length of mechanical arm, when necessary to improve the working performance of mechanical arm to a greater extent；In The design of mechanical arm end has link mechanism, and the crawl of maximum freedom degree can be achieved in a certain specific region, relies on without excessive The movement of mechanical arm roots.

Module is changed, as shown in figure 12, the bottom for changeing module 5 is Geneva mechanism, and top includes gripper, searchlighting Lamp, sampling mechanism 30 etc., the relative position of each mechanical splice immobilizes, and Geneva mechanism drives mechanical splice to turn in periodical It is dynamic.Therefore it only needs to set a specific position to mechanical arm and manipulator conversion function just simply may be implemented.Work as machinery When arm connection is changed to sampling mechanism 30, main the completing to collect soil sample of the task is provided with lunar base and is analyzed, detects the moon Ball soil constituent.When moon campsite, robot assisted builds lunar base, mechanical arm changes searchlight, it is possible to provide light source, just It works in astronaut in the place of certain insufficient lights.The collocation work for changeing mechanical splice module and mechanical arm, reaches The effect of " arm is multi-purpose ".

In conclusion the structure design and power source design of moon campsite robot, for example, it is folding solar plate, variable Diameter Stump-jump wheel 1, multifunctional mechanical arm, photographing module etc.；For the shortage of solar energy on the moon, novelty proposes folding too It is positive can plate increase solar energy plate area, solar panels second outspread accounts for small in size；Rugged, the moon for moon upper ground surface The smooth running of vehicle is limited, innovatively proposes reducing Stump-jump wheel 1, when encountering obstacle, tire dough sheet is in electric pushrod 14 Under the action of fitting 11 profile of barrier move ahead, increase lunar rover traveling process in stationarity；The size of each structure in device Parameter etc..

Above is only presently preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this, Therefore according to equivalence changes made by scope of the present invention patent, still belong to protection scope of the present invention.