CN106198100A - A kind of multi-joint lunar surface material sniffing robot - Google Patents

Abstract

The invention discloses a multi-joint lunar surface material detection robot, which belongs to the field of aerospace technology. The invention includes a robot body, a rear-illuminated LED lamp group, a drilling manipulator, a solar panel, a terrain scanning sonar, a front-illuminated LED lamp group, a front wide-angle camera, a manipulator I, a storage bin, a manipulator II, a mechanical leg, and a side-illuminated LED light Group and rear wide-angle camera; the front end of the present invention is designed with a manipulator for collecting bulk samples and a manipulator for collecting loose soil; The sample storage library is used to store the collected samples. The multi-joint lunar surface material detection robot has the ability to climb slopes and overcome obstacles, and has a simple structure and easy operation.

Description

A multi-joint lunar surface material detection robot

technical field

The patent of the invention discloses a multi-joint lunar surface material detection robot, which belongs to the field of aerospace technology.

Background technique

The exploration of lunar resources is not only an inevitable direction of the development of science and technology, but also will drive the development of science and technology. Moreover, lunar exploration operations have a wide range of radiation and involve the needs of national defense, economy, politics, and military affairs.

The launch of artificial earth satellites, manned spaceflight and deep space exploration are the three major fields of human spaceflight activities. The moon has a variety of unique resources that can be developed and utilized by humans. The unique minerals and energy on the moon are important supplements and reserves to the earth's resources and will have a profound impact on the sustainable development of human society. Therefore, be necessary to invent a kind of multifunctional intelligent robot that is specially used in detecting lunar surface matter.

Contents of the invention

Aiming at the unevenness of the lunar surface, the invention provides a multi-joint lunar surface material detection robot, which can climb slopes, overcome obstacles, and collect samples of different types and depths.

The technical scheme of the present invention is: a multi-joint lunar surface material detection robot, including a robot body 1, a rear-illuminated LED light group 2, a drilling manipulator, a solar panel 7, a terrain scanning sonar 8, a front-illuminated LED light group 9, and a front wide-angle Camera 10, manipulator Ⅰ11, storage compartment 12, manipulator Ⅱ14, mechanical leg 15, side-illuminated LED light group 16, rear wide-angle camera 18;

The front LED light group 9, the front wide-angle camera 10, the manipulator I11, the manipulator II14, and the storage compartment 12 are located at the front end of the robot body 1, and the mechanical legs 15 and the side LED light groups 16 are located on both sides of the robot body 1. , the rear illuminated LED light group 2, the rear wide-angle camera 18 are located at the rear end of the robot body 1, and the drilling manipulator, solar panel 7, and terrain scanning sonar 8 are located at the upper end of the robot body 1;

The drilling manipulator includes a drill bit 3, a drill handle 4, a drill mechanical arm 5, and a drill mechanical elbow 6. The drill bit 3 is connected with the drill mechanical arm 5 through the drill bit handle 4, and the drill mechanical arm 5 is connected with the drill mechanical elbow 6. The drill mechanical elbow 6 It is fixed on the robot body 1 through the connecting pin I17;

The manipulator I11 includes a base I19, a mechanical elbow I21, a mechanical arm I23, a mechanical claw support frame I25, a mechanical claw handle I26, and a mechanical claw I27. One end of the mechanical elbow I21 is fixed on the base I19 through a spherical pair I20, and the other end is The connecting pin II22 is connected with the mechanical arm I23, the mechanical arm I23 is connected with the mechanical claw support frame I25 through the coupling I24, the mechanical claw support frame I25 is connected with the mechanical claw handle I26 through the mechanical claw connection pin I28, and the lower end of the mechanical claw handle I26 is provided with Mechanical Claw I 27;

The manipulator II14 includes a base II29, a mechanical elbow II31, a mechanical arm II33, a mechanical claw support frame II35, a mechanical claw handle II38, a mechanical claw tip 36, and a mechanical claw joint 37. One end of the mechanical elbow II31 is fixed on the base II29 through a spherical pair II30 The other end is connected to the mechanical arm Ⅱ33 through the connecting pin Ⅲ32, the mechanical arm Ⅱ33 is connected to the mechanical claw support frame Ⅱ35 through the coupling Ⅱ34, the mechanical claw support frame Ⅱ35 is connected to the mechanical claw handle Ⅱ38 through the mechanical claw link pin Ⅱ39, and the mechanical claw handle The lower end of II 38 is provided with a mechanical claw joint 37 and a mechanical claw tip 36 .

The mechanical leg 15 includes a mechanical leg support 40, a mechanical leg link I42, a mechanical leg link II44, and a mechanical foot 46, and one end of the mechanical leg link I42 is fixed on the mechanical leg support 40 through a mechanical leg spherical pair I41 , the other end is connected to the mechanical leg connecting rod II 44 through the mechanical leg connecting pin 43, and the bottom end of the mechanical leg connecting rod II 44 is connected to the mechanical foot 46 through the mechanical leg spherical pair II 45.

The front wide-angle camera 10 is located in the middle of the front end of the robot body 1 , and the rear wide-angle camera 18 is located in the middle of the rear end of the robot body 1 .

The manipulator I11 and the manipulator II14 are respectively located on the left and right sides of the lower front end of the robot body 1, and the storage compartment 12 is located between the manipulator I11 and the manipulator II14.

The front LED light group 9 is located at the upper part of the front end of the robot body 1 and is symmetrically distributed; the rear LED light group 2 is located at the upper rear end of the robot body 1 and is symmetrically distributed; the side LED light group 16 is located at the left and right sides of the robot body 1. above the sides.

The terrain scanning sonar 8 is located at the upper front of the robot body 1 .

The drilling manipulator is located at the upper rear part of the robot body 1 .

There are four mechanical legs 15, which are symmetrically distributed on the left and right sides of the robot body 1.

Working principle of the present invention: the manipulator at the front end of the multi-joint lunar surface material detection robot is used to collect bulk samples and loose soil, and the drilling manipulator set at the rear end is used to drill rocks to collect rock samples and drill the lunar surface to collect deep samples; the front end The set storage compartment is used to store the collected samples, and the solar panel on the back can collect energy to automatically charge the device.

Beneficial effects of the invention: the multi-joint lunar surface material detection robot has the ability to climb slopes and overcome obstacles; it can simultaneously collect bulk and dispersed samples, surface and deep samples, and has a simple structure and a high level of intelligence.

Description of drawings

Fig. 1 is the overall schematic diagram of the present invention;

Fig. 2 is the back-end schematic diagram of the present invention;

Fig. 3 is manipulator of the present invention schematic diagram;

Fig. 4 is manipulator of the present invention schematic diagram;

Fig. 5 is a schematic diagram of the mechanical leg of the present invention.

Each label in Figure 1-5: 1-robot body, 2-backlight LED light group, 3-drill, 4-drill handle, 5-drill mechanical arm, 6-drill mechanical elbow, 7-solar panel, 8- Terrain scanning sonar, 9-front LED light group, 10-front wide-angle camera, 11-manipulator Ⅰ, 12-storage compartment, 13-storage compartment door, 14-manipulator Ⅱ, 15-mechanical leg, 16-side view LED light group, 17-connection pin Ⅰ, 18-rear wide-angle camera, 19-base Ⅰ, 20-spherical pair Ⅰ, 21-mechanical elbow Ⅰ, 22-connection pin Ⅱ, 23-mechanical arm Ⅰ, 24-coupling Ⅰ, 25- claw support frame Ⅰ, 26- claw handle Ⅰ, 27- claw Ⅰ, 28- claw connecting pin Ⅰ, 29- base Ⅱ, 30- spherical pair Ⅱ, 31- mechanical elbow Ⅱ, 32- Connecting pin Ⅲ, 33-mechanical arm Ⅱ, 34-coupling Ⅱ, 35-mechanical claw support frame Ⅱ, 36-mechanical claw tip, 37-mechanical claw joint, 38-mechanical claw handle Ⅱ, 39-mechanical claw link pin Ⅱ , 40-mechanical leg support, 41-mechanical leg spherical pair Ⅰ, 42-mechanical leg connecting rod Ⅰ, 43-mechanical leg connecting pin, 44-mechanical leg connecting rod Ⅱ, 45-mechanical leg spherical pair Ⅱ, 46-mechanical the soles of the feet.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Embodiment 1: As shown in Figures 1-4, a multi-joint lunar surface material detection robot includes a robot body 1, a rear-illuminated LED lamp group 2, a drilling manipulator, a solar panel 7, a terrain scanning sonar 8, and a front-illuminated LED Light group 9, front wide-angle camera 10, manipulator Ⅰ 11, storage bin 12, manipulator Ⅱ 14, mechanical leg 15, side-illuminated LED light group 16, rear wide-angle camera 18;

The front LED light group 9, the front wide-angle camera 10, the manipulator I11, the manipulator II14, and the storage compartment 12 are located at the front end of the robot body 1, and the mechanical legs 15 and the side LED light groups 16 are located on both sides of the robot body 1. , the rear illuminated LED light group 2, the rear wide-angle camera 18 are located at the rear end of the robot body 1, and the drilling manipulator, solar panel 7, and terrain scanning sonar 8 are located at the upper end of the robot body 1;

The drilling manipulator includes a drill bit 3, a drill handle 4, a drill mechanical arm 5, and a drill mechanical elbow 6. The drill bit 3 is connected with the drill mechanical arm 5 through the drill bit handle 4, and the drill mechanical arm 5 is connected with the drill mechanical elbow 6. The drill mechanical elbow 6 It is fixed on the robot body 1 through the connecting pin I17;

The manipulator I11 includes a base I19, a mechanical elbow I21, a mechanical arm I23, a mechanical claw support frame I25, a mechanical claw handle I26, and a mechanical claw I27. One end of the mechanical elbow I21 is fixed on the base I19 through a spherical pair I20, and the other end is The connecting pin II22 is connected with the mechanical arm I23, the mechanical arm I23 is connected with the mechanical claw support frame I25 through the coupling I24, the mechanical claw support frame I25 is connected with the mechanical claw handle I26 through the mechanical claw connection pin I28, and the lower end of the mechanical claw handle I26 is provided with Mechanical claw I 27, the mechanical claw I 27 is in the shape of a net bag, and is used to collect loose soil or other dispersed solid samples;

The manipulator II14 includes a base II29, a mechanical elbow II31, a mechanical arm II33, a mechanical claw support frame II35, a mechanical claw handle II38, a mechanical claw tip 36, and a mechanical claw joint 37. One end of the mechanical elbow II31 is fixed on the base II29 through a spherical pair II30 The other end is connected to the mechanical arm Ⅱ33 through the connecting pin Ⅲ32, the mechanical arm Ⅱ33 is connected to the mechanical claw support frame Ⅱ35 through the coupling Ⅱ34, the mechanical claw support frame Ⅱ35 is connected to the mechanical claw handle Ⅱ38 through the mechanical claw link pin Ⅱ39, and the mechanical claw handle The lower end of II 38 is provided with a mechanical claw joint 37 and a mechanical claw tip 36, and the angle and direction between the mechanical claw joint 37 and the mechanical claw tip 36 can be changed according to the size and shape of the block sample to better fix the sample.

Embodiment 2: The rest of this embodiment is the same as the previous embodiment, wherein as shown in FIG. One end of the mechanical leg connecting rod I42 is fixed on the mechanical leg support 40 through the mechanical leg spherical pair I41, the other end is connected with the mechanical leg connecting rod II44 through the mechanical leg connecting pin 43, and the bottom end of the mechanical leg connecting rod II44 is passed through the mechanical leg spherical pair Ⅱ 45 links to each other with mechanical foot 46; Mechanical leg can change direction and adjust height and extension length as required.

Embodiment 3: the rest of the present embodiment is the same as the previous embodiment, wherein the front wide-angle camera 10 is positioned at the middle part of the front end of the robot body 1, to better capture images of the lunar surface environment and samples for image recognition and judgment; the rear wide-angle camera 18 Located in the middle of the rear end of the robot body 1, it is used to observe the situation behind and monitor the operation of the drilling manipulator.

Embodiment 4: The rest of this embodiment is the same as the previous embodiment, wherein the manipulator I11 and manipulator II14 are respectively located on the left and right sides of the lower front end of the robot body 1, and are respectively used to collect loose soil and block samples, storage bins 12 is located between the manipulator I11 and the manipulator II14, and the storage bin 12 is also provided with a storage bin door 13 to facilitate the access and storage of samples.

Embodiment 5: The rest of this embodiment is the same as the previous embodiment, wherein the front LED light group 9 is located at the upper part of the front end of the robot body 1, and is distributed symmetrically from left to right; the rear LED light group 2 is located at the upper rear end of the robot body 1 , which are symmetrically distributed left and right; side-illuminated LED lamp groups 16 are located above the left and right sides of the robot body 1, so as to provide lighting in all directions.

Embodiment 6: The remainder of this embodiment is the same as the previous embodiment, wherein the terrain scanning sonar 8

Located at the front part of the upper end of the robot body 1, it dynamically scans the topography of the lunar surface, and the information obtained will be used as the basis for the robot to formulate the next action.

Embodiment 7: The rest of this embodiment is the same as the previous embodiment, wherein the drilling manipulator is located at the upper rear of the robot body 1, and the drill bit (3) passes through the drill mechanical arm (5), the drill mechanical elbow (6) and the connection Pin I17 can realize free expansion and contraction.

Embodiment 8: The rest of this embodiment is the same as the previous embodiment, wherein there are 4 mechanical legs 15, which are symmetrically distributed on the left and right sides of the robot body 1 to maintain balance and stability, and can change direction and adjust as required height and extended length.

The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. Variations.

Claims (8)

1. A multi-joint lunar surface material detection robot, characterized in that it includes a robot body (1), a rear LED light group (2), a drilling manipulator, a solar panel (7), a terrain scanning sonar (8), a front LED lighting group (9), front wide-angle camera (10), manipulator I (11), storage compartment (12), manipulator II (14), mechanical legs (15), side LED light group (16), rear wide-angle camera (18); The front LED light group (9), the front wide-angle camera (10), the manipulator I (11), the manipulator II (14), and the storage compartment (12) are located at the front end of the robot body (1), and the mechanical legs ( 15), the side-illuminated LED light group (16) is located on both sides of the robot body (1), the rear-illuminated LED light group (2), and the rear wide-angle camera (18) are located at the rear end of the robot body (1). The battery board (7) and terrain scanning sonar (8) are located on the upper end of the robot body (1); The drilling manipulator includes a drill bit (3), a drill handle (4), a drill mechanical arm (5), a drill mechanical elbow (6), the drill bit (3) is connected with the drill bit mechanical arm (5) through the drill bit handle (4), and the drill bit The mechanical arm (5) is connected with the drill mechanical elbow (6), and the drill mechanical elbow (6) is fixed to the robot body (1) through the connecting pin Ⅰ (17); The manipulator I (11) includes a base I (19), a mechanical elbow I (21), a mechanical arm I (23), a mechanical claw support frame I (25), a mechanical claw handle I (26), a mechanical claw I (27 ), one end of the mechanical elbow I (21) is fixed on the base I (19) through the spherical pair I (20), the other end is connected with the mechanical arm I (23) through the connecting pin II (22), and the mechanical arm I (23 ) is connected with the claw support frame I (25) through the coupling I (24), the claw support frame I (25) is connected with the claw handle I (26) through the claw connection pin I (28), and the claw handle The lower end of I (26) is provided with mechanical claw I (27); The manipulator II (14) includes a base II (29), a mechanical elbow II (31), a mechanical arm II (33), a mechanical claw support frame II (35), a mechanical claw handle II (38), and a mechanical claw tip (36) . The mechanical claw joint (37), one end of the mechanical elbow II (31) is fixed on the base II (29) through the spherical pair II (30), and the other end is connected to the mechanical arm II (33) through the connecting pin III (32) , the mechanical arm II (33) is connected to the mechanical claw support frame II (35) through the coupling II (34), and the mechanical claw support frame II (35) is connected to the mechanical claw link pin II (39) to the mechanical claw handle II (38) Connected, the lower end of the mechanical claw handle II (38) is provided with a mechanical claw joint (37) and a mechanical claw tip (36). 2. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the mechanical leg (15) includes a mechanical leg support (40), a mechanical leg link I (42), a mechanical leg link II (44), mechanical foot (46), one end of the mechanical leg link I (42) is fixed on the mechanical leg support (40) through the mechanical leg spherical pair I (41), and the other end is fixed on the mechanical leg support (40) through the mechanical leg connecting pin ( 43) Link to each other with the mechanical leg connecting rod II (44), the bottom end of the mechanical leg connecting rod II (44) is connected to the mechanical foot (46) through the mechanical leg spherical pair II (45). 3. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the front wide-angle camera (10) is located in the middle of the front end of the robot body (1), and the rear wide-angle camera (18) is located in the robot body (1) middle of rear end. 4. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the manipulator I (11) and the manipulator II (14) are respectively located on the left and right sides of the lower front end of the robot body (1), and the storage compartment (12) Located between manipulator I (11) and manipulator II (14). 5. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the front LED light group (9) is located at the upper part of the front end of the robot body (1), and is symmetrically distributed left and right; the rear LED light group (2) Located on the upper part of the rear end of the robot body (1), symmetrically distributed left and right; side-illuminated LED light groups (16) are located above the left and right sides of the robot body (1). 6. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the terrain scanning sonar (8) is located at the front of the upper end of the robot body (1). 7. The multi-joint lunar surface material detection robot according to claim 1, characterized in that: the drilling manipulator is located at the upper rear of the robot body (1). 8. The multi-joint lunar surface material detection robot according to claim 1, characterized in that there are four mechanical legs (15), which are symmetrically distributed on the left and right sides of the robot body (1).