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Mole-like star soil tunneling robot

A mole-like, robot-like technology, applied to manipulators, methods of obtaining raw materials from resources other than the earth, mining devices, etc., can solve the problem of mining in star soil environments that are not compact in structure and cannot satisfy high hardness, and have not been tested Test and other issues

Pending Publication Date: 2022-07-01
GUANGDONG UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The "mole" robot in the PLUTO system proposed by the German Space Agency (DLR), the probe HP3 on the "Insight" Mars exploration rover, and the MMUM imitation mole-rat underground excavation robot developed by NASA (NASA) all have non-orientation Excavation may fail due to insufficient friction; a small mobile excavation robot USAR proposed by the University of Leeds in the United Kingdom only has forelimb paddling, and has not been tested experimentally; a hybrid drill bit and forelimb mechanism proposed by the Korea Advanced Institute of Science and Technology The mole-like excavation robot system Mole-Bot has the problems of not compact structure and high energy consumption; a "shovel movement" excavation robot proposed by Tokyo Institute of Technology in Japan is limited to two-dimensional space
[0004] The prior art discloses a mole-like digging robot, which includes a body, a left forelimb and a right forelimb installed in front of the body, a left hindlimb and a right hindlimb installed behind the body, and forelimb claws are respectively installed on the left forelimb and the right forelimb , the left hind limb and the right hind limb are respectively equipped with hind limb buckets; in this scheme, only one forelimb is working in the digging state at any time, and the other three limbs are used for supporting. Construction, but cannot meet the excavation of high-hardness star soil environment

Method used

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  • Mole-like star soil tunneling robot
  • Mole-like star soil tunneling robot
  • Mole-like star soil tunneling robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] like figure 1 , figure 2 and Figure 5As shown in the figure, an imitation mole star soil excavation robot includes a body, one end of the body is provided with a forelimb mechanism 3 for excavating soil on both sides, and both sides of the other end of the body are provided with a hindlimb mechanism 6 for excavating soil. Including the head 1, the head 1 includes an upper jaw 107, a lower jaw 114, a first drive assembly and a second drive assembly installed on the body, the head end of the upper jaw 107 is provided with a number of upper incisors 108, and the head end of the lower jaw 114 is provided with several The lower incisors 115, the first drive assembly is connected to the end of the upper jaw 107, the second drive assembly is connected to the end of the lower jaw 114, the first drive assembly and the second drive assembly can respectively drive the upper jaw 107 and the lower jaw 114 to reciprocate to make the upper incisors 108 and 114 move back and forth. ...

Embodiment 2

[0038] This embodiment is similar to the first embodiment, the difference is that, as figure 1 As shown, the body includes a chest 2, a buttocks 5 and a waist 4 for follow-up steering, the waist 4 is connected between the chest 2 and the buttocks 5, the first drive assembly and the second drive assembly are installed in the chest 2, the forelimb mechanism 3 are arranged on both sides of the chest 2 , and the hind limb mechanisms 6 are arranged on both sides of the buttocks 5 . During the implementation, first use the upper incisor 108 and the lower incisor 115 of the head 1 to bite to crush the star soil, and use the forelimb mechanism 3 on both sides of the chest 2 to further excavate the star soil, and then use the hind limb mechanism 6 on both sides of the buttocks 5 to excavate the soil. The outgoing star soil is discharged.

[0039] like figure 1 , Figure 5 As shown, the forelimb mechanism 3 includes a forelimb swing assembly 31 and a forelimb excavation assembly 32 ....

Embodiment 3

[0042] This embodiment is similar to the second embodiment, the difference is that, as Image 6 As shown, the buttocks 5 includes a buttocks 51 and a back cover 52 . One end of the buttocks 51 is connected to the waist 4 , and the other end of the buttocks 51 is detachably connected to the back cover 52 .

[0043] Specifically, as figure 1 , Image 6 and Figure 7 As shown, the rear limb mechanism 6 includes a fifth steering gear 61, a second support rod 62, a second drive rod 63, a first rear link 64 and a second rear link 65, a fifth steering gear 61 and a second support rod 62 Located on both sides of the hip body 51, one end of the second driving rod 63 is connected with the output shaft of the fifth steering gear 61 through accessories to realize the swing of the second driving rod 63, and the other end of the second driving rod 63 is connected with the first The rear link 64 is hinged, one end of the second rear link 65 is hinged with the second support rod 62 through...

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PUM

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Abstract

The invention relates to the technical field of star soil tunneling robots, in particular to a mole-imitating star soil tunneling robot which comprises a body, front limb mechanisms used for digging soil are arranged on the two sides of one end of the body, rear limb mechanisms used for dumping soil are arranged on the two sides of the other end of the body, and the mole-imitating star soil tunneling robot further comprises a head. The head comprises an upper jaw, a lower jaw, a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly are arranged on the body, a plurality of upper incisor teeth are arranged at the head end of the upper jaw, a plurality of lower incisor teeth are arranged at the head end of the lower jaw, the first driving assembly is connected with the tail end of the upper jaw, and the second driving assembly is connected with the tail end of the lower jaw. And the first driving assembly and the second driving assembly can respectively drive the upper jaw and the lower jaw to do reciprocating motion, so that the upper incisor and the lower incisor are meshed to break soil. According to the invention, excavation and propulsion are integrated, the earth breaking mechanisms of the upper jaw and the lower jaw are combined, and the directional tunneling machine can adapt to directional tunneling in star soil environments with different hardness.

Description

technical field [0001] The invention relates to the technical field of excavation robots for star soil, and more particularly, to an imitation of a mole-like excavation robot for star soil. Background technique [0002] Researchers at home and abroad have carried out research on Xingsang excavation robots for many years, and have formed certain results. The corresponding robots have also obtained certain applications, but more are based on the accumulation of long-term engineering experience, and are often caused by insufficient design considerations. The excavation effect is not good. With the rapid development of deep space exploration in my country, the demand for star soil excavation in deep space scientific exploration has increased. The research on high-performance bionic star soil excavation robot system is of great significance for promoting space scientific exploration. The excavation biological behavior of the mole provides a good imitation object for the star soi...

Claims

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Application Information

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IPC IPC(8): E21C51/00E21F17/00B25J11/00
CPCE21C51/00E21F17/00B25J11/00
Inventor 张涛卫泓宇熊文韬梁腾龙张博文浩毕泽鑫杨昊天张银梁王坤阳朱海飞
Owner GUANGDONG UNIV OF TECH