Bionic dust removal robot for lunar solar panels

Abstract

A bionic dust removal robot for lunar solar panels is composed of a fuselage, a crawler structure, a quadruped structure and an ionization box. The crawler structure is composed of a forward and reverse differential, a sprocket, a driving wheel, a tensioning wheel, a rocker, a supporting wheel, an inner and outer piston, a spring, a guide wheel and a crawler; the quadruped structure is composed of a thigh, a flex frame, a bionic palm, a calf, a flex frame motor, a thigh motor and a calf motor; the ionization box is composed of a dust collection box, a dust collection rack, a dust scraper, a lead screw, a dust removal electrode and a dust removal motor. The present invention creatively uses the only ostrich feather in nature that does not carry static electricity to solve the problem that the brush hair is difficult to handle due to static electricity adhering to lunar dust; the quadruped-track movement is combined to solve the problem that the quadruped robot is easy to tip over and the crawler robot is difficult to turn. At the same time, the movement and dust removal parts are combined into one, the mechanism is streamlined, and the dust problem is reduced; the ionization box solves the problem of handling lunar dust after dust removal, so that dust removal can be done at one time, the dust removal efficiency is improved, and the replacement of brushes is reduced.

Description

Technical Field

[0001] The invention belongs to the fields of aerospace and bionic robots, and relates to a multi-legged crawler robot with ionization dust collection and bionic palm functions. Background Art

[0002] Landing on the moon to develop lunar resources and build a lunar base has long been the focus of competition among countries. In the process of in-depth exploration of the moon, the sharp and ubiquitous moon dust has become a huge obstacle. Moon dust is widely present on the surface of the moon. In the complex environment of the moon, accompanied by various contacts and frictions, moon dust particles are easily charged and easily adhere to any surface after being lifted up. In the construction plan of the lunar base, solar panels cover a wide range and have the largest demand for dust removal. However, the existing dust removal schemes at home and abroad - such as mechanical vibration dust removal, electric curtain dust removal and brush dust removal of different materials - inevitably have the disadvantages of high power consumption, manual assistance and easy dust, so it is extremely important to design a fully functional dust removal tool.

[0003] Most artificial fabrics and biological hair suitable for dust brushes in nature have static electricity. Ostrich feathers are the only biological feathers that do not carry static electricity. They have a strong dust absorption ability and can absorb fine charged dust particles, and can be made to fall off with a slight shake. In addition, the feathers are soft and will not cause damage to the surface of the equipment. Due to the above excellent characteristics of ostrich feathers, they are now widely used in anti-static dust removal products for computers, precision instruments and automobile surfaces. Therefore, ostrich feathers are a vital part of making dust brush bristles.

[0004] Ionization dust removal is the most practical and efficient dust removal method so far, but it consumes a lot of electricity when used on a large scale and is relatively cumbersome to operate. Although brush dust removal is stable and low-energy, it requires the participation of astronauts, and the moon dust on the bristles cannot be handled, and it is easy to be lifted up and covered again, which is inefficient. The present invention combines the two with ostrich feathers, based on the use of the excellent dust removal performance of ostrich feathers, is committed to contributing to the dust removal problem on the surface of the moon, and designs this dust removal robot.

[0005] The present invention also draws inspiration from natural organisms and uses the principles of engineering bionics to better solve the problem. On the basis of the principles of light weight and high efficiency, track structures, quadruped structures, bionic palms and ionized dust collection devices are added to address the problems of movement and subsequent dust removal. The present invention designs a quadruped structure by learning the walking gait of spiders, and then optimizes the walking mode of the dust removal robot in combination with the track structure; improves the sole of the robot by imitating the microstructure of the gecko's toes to adapt to the inclined solar panels; and combines the excellent dust removal performance of ostrich feathers to improve the dust removal efficiency. Among them, the track structure and the quadruped structure are respectively responsible for conventional linear motion and turning obstacle avoidance on the solar panels; the bionic palm enhances the grip ability and can assist the track in climbing the slope; the ionized dust collection device can effectively solve the problem of moon dust adhesion on the bristles after dust removal.

[0006] The present invention takes the spider's walking gait, the gecko's toe microstructure and the ostrich's feathers as bionic prototypes, combines ionization dust removal and brush dust removal, and designs a small and lightweight robot to reduce the burden of large-area dust removal and solve the problems of subsequent treatment of dust and lunar dust after dust removal. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a lunar solar panel bionic dust removal robot.

[0008] The present invention imitates the walking gait of spiders, the microstructure of gecko toes and the structure of ostrich feathers, and combines electric curtain dust removal with brush dust removal to effectively reduce the dust removal burden of large-area solar panels on the lunar surface and solve the problems of dust and subsequent treatment of lunar dust after dust removal.

[0009] A lunar solar panel bionic dust removal robot is composed of a body, a crawler structure, a quadruped structure and an ionization box;

[0010] The crawler structure includes a forward and reverse differential, a sprocket, a driving wheel, a tensioning wheel, a rocker, a supporting wheel, an inner piston, an outer piston, a spring, a guide wheel, a first track shoe, a second track shoe, a third track shoe, a fourth track shoe, an outer chain plate, an inner chain plate, a sleeve and a track pin. The forward and reverse differential is fixed to the machine body, the sprocket is connected to the machine body through a pin shaft, and the hinge point is a, the driving wheel is connected to the machine body through a pin shaft, and the hinge point is b, and the forward and reverse differential is connected to the driving wheel. The first track shoe, the second track shoe, the third track shoe, and the fourth track shoe are connected by pins, and form a track unit with the outer link plate, the inner link plate, the sleeve and the track pin. Different track units are connected by the outer link plate, the inner link plate, the sleeve and the track pin to form a complete track. The driving wheel is engaged with the first track shoe, the second track shoe, the third track shoe, the fourth track shoe, the outer link plate, the inner link plate, the sleeve, the track pin and the ostrich feather to form a chain. The first track shoe The surfaces of the second, third and fourth track shoes are covered with ostrich feathers. One end of the rocker is connected to the fuselage through a pin shaft, with a hinge point of f. The other end of the rocker is connected to the supporting roller through a pin shaft, with a hinge point of g. The tensioning wheel is connected to the fuselage through a pin shaft, with a hinge point of e. The guide wheel is connected to the fuselage through a pin shaft, with a hinge point of h. The reciprocating rotation of the forward and reverse differential drives the driving wheel to rotate. The driving wheel pushes the track forward by engaging with the chain composed of the first, second, third and fourth track shoes, outer chain plates, inner chain plates, sleeves and track pins, thereby driving the sprocket, tensioning wheel, supporting roller and guide wheel to rotate. The supporting roller is connected to the rocker and the inner piston, with a hinge point of g. The inner piston and the outer piston form a moving pair, and a spring is wrapped around the piston. During walking, if there is severe bumping, the supporting roller can drive the rocker and the inner piston to swing up and down. At the same time, the spring is compressed to reduce the impact, so that the robot walks smoothly.

[0011] The quadruped structure includes a thigh, a flexion frame, a bionic palm, a calf, a flexion frame motor, a thigh motor, and a calf motor; the flexion frame is connected to the fuselage through a pin shaft, and the hinge point is d; the thigh is connected to the flexion frame through a pin shaft, and the hinge point is c; the calf is connected to the thigh through a pin shaft, and the hinge point is i; the bionic palm is fixed to the end of the calf; the calf motor is fixed on the calf, and the shaft of the calf motor extends from the hinge point i, and the reciprocating rotation of the calf motor drives the calf to rotate; the thigh motor is fixed in the flexion frame, and the shaft of the thigh motor extends from the hinge point c, and the reciprocating rotation of the thigh motor drives the thigh to rotate; the flexion frame motor is fixed to the fuselage, and the shaft of the flexion frame motor extends from the hinge point d, and the reciprocating rotation of the flexion frame motor drives the flexion frame to rotate.

[0012] The ionization box comprises a dust collecting box, a dust collecting frame, a scraper plate, a lead screw, a dust removal electrode and a dust removal motor; the dust collecting box is placed on the bottom layer of the dust collecting frame, a dust scraper plate is provided on the top layer of the dust collecting frame, and the lead screw and the internal thread above the dust removal electrode form a spiral pair; the dust removal motor is fixed on one side of the ionization box, and the reciprocating rotation of the dust removal motor drives the lead screw to rotate reciprocatingly, and the rotation of the lead screw drives the dust removal electrode to move reciprocatingly in a straight line; when the dust removal electrode moves to the top of the track, it absorbs and takes away the lunar dust on the track, and when it moves to the top of the dust collecting box, the lunar dust attached to the surface is scraped off by the scraper plate and falls into the dust collecting box.

[0013] The walking modes of the present invention can be divided into two types:

[0014] The first type: crawler walking - the surface of the first track plate, the second track plate, the third track plate and the fourth track plate are covered with ostrich feathers. While the driving wheel drives the track to move forward, the ostrich feathers on the surface of the first track plate, the second track plate, the third track plate and the fourth track plate can stick to the lunar dust deposited on the surface of the solar panel, thereby achieving the purpose of dust removal.

[0015] The second type: quadrupedal walking - the rotation of the three leg motors controls the rotation angles of the flexion frame, thigh and calf. At the same time, the bionic palm on the calf can firmly fix the robot on the surface of the solar panel, realizing walking on the surface at any angle; the combination of tracks and quadruped structures solves the problem that quadruped robots are easy to tip over and tracked robots are difficult to turn, and can also achieve cleaning without dead ends.

[0016] The dust removal process of the present invention can be divided into two steps:

[0017] Step 1: The forward and reverse differential drives the driving wheel to drive the track to move forward, and the ostrich feathers on the surface of the first track shoe, the second track shoe, the third track shoe, and the fourth track shoe are recycled to adhere to the lunar dust on the surface of the solar panel.

[0018] Step 2: When the first track shoe, the second track shoe, the third track shoe and the fourth track shoe with lunar dust pass through the ionization box, the lunar dust on the ostrich feathers is ionized by the reciprocating dust removal electrode. When the dust removal electrode moves to the top of the dust collecting box, the lunar dust attached to the surface will be scraped off by the dust scraper and fall into the dust collecting box.

[0019] Beneficial effects of the present invention:

[0020] The use of dust removal robots has low requirements for the dust removal surface and can operate continuously, effectively reducing the physical exertion of astronauts.

[0021] Creatively use ostrich feathers, the only feather in nature that does not carry static electricity, to solve the problem of bristles being difficult to handle due to static electricity adhering to moon dust. And ostrich feathers are soft in texture and will not cause damage to the dust removal surface.

[0022] The combination of quadruped and track motion solves the problem that quadruped robots are easy to tip over and track robots are difficult to turn. At the same time, the motion and dust removal parts are combined into one, streamlining the structure and improving efficiency.

[0023] The crawler robot has stable movement, and the contact area between the crawler structure and the ground is large. It basically adopts pure rolling forward, with a large dust removal range. The dust removal method is changed from traditional dusting to dust sticking, which can effectively reduce dust and improve the problem of secondary dust coverage from the source.

[0024] The feet are equipped with bionic palms, which enhance the robot's grip ability, assist the track structure in climbing slopes, and can adapt to solar panels at various angles.

[0025] The track shoes are adaptive and can support the robot to pass smoothly through the joints of solar panels, ensuring that there are no dead corners in the cleaning.

[0026] The design of the loop-nested moving trajectory can effectively reduce the energy consumption of the robot turning around, save time and improve efficiency.

[0027] The dust collection device adopts ionization dust removal method and combines it with traditional brush dust removal method, which can solve the problems of dust removal and subsequent treatment at the same time, so that dust removal can be done in one go, which not only effectively improves the dust removal efficiency, but also increases the service life of the brush. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the present invention;

[0029] Figure 2 is a partially enlarged stereoscopic view of the heavy wheel of the present invention;

[0030] Figure 3 is a three-dimensional schematic diagram of a single crawler unit of the present invention;

[0031] Figure 4is a cutaway perspective schematic diagram of an ionization box of the present invention;

[0032] Figure 5 It is a three-dimensional schematic diagram of the position of the leg motor of the present invention;

[0033] Figure 6 It is a three-dimensional schematic diagram of the position of the forward and reverse differential of the present invention.

[0034] Among them: 1-sprocket wheel; 2-driving wheel; 3-thigh; 4-bending frame; 5-tensioning wheel; 6-rocker; 7-supporting wheel; 8-inner piston; 9-spring; 10-outer piston; 11-bionic palm; 12-guide wheel; 13-1-first track shoe; 13-2-second track shoe; 13-3-third track shoe; 13-4 -fourth track shoe 4; 13-5-outer chain plate; 13-6-inner chain plate; 13-7-sleeve; 13-8-track pin; 13-9-ostrich feather; 14-dust collection drawer; 15-ionization box; 16-fuselage; 17-calf; 18-dust collection frame; 19-dust scraper; 20-screw; 21-dust removal electrode; 22-dust removal motor; 23-bending frame motor; 24-thigh motor; 25-calf motor; 26-forward and reverse differential. Implementation

[0035] like Figures 1 to 6 As shown, a lunar solar panel bionic dust removal robot is composed of a body 16, a crawler structure, a quadruped structure and an ionization box 14;

[0036] The track structure includes a forward and reverse differential 26, a sprocket wheel 1, a driving wheel 2, a tensioning wheel 5, a rocker 6, a supporting wheel 7, an inner piston 8, an outer piston 10, a spring 9, a guide wheel 12, a first track shoe 13-1, a second track shoe 13-2, a third track shoe 13-3, a fourth track shoe 13-4, an outer link plate 13-5, an inner link plate 13-6, a sleeve 13-7 and a track pin 13-8. The forward and reverse differential 26 is fixed to the machine body 16, the sprocket wheel 1 is connected to the machine body 16 through a pin shaft, and the hinge point is a, the driving wheel 2 is connected to the machine body through a pin shaft, and the hinge point is b, and the forward and reverse differential 26 is connected to the driving wheel 2 The first track shoe 13-1, the second track shoe 13-2, the third track shoe 13-3, and the fourth track shoe 13-4 are connected by pins, and form a track unit with the outer link plate 13-5, the inner link plate 13-6, the sleeve 13-7 and the track pin 13-8. Different track units are connected to form a complete track through the outer link plate 13-5, the inner link plate 13-6, the sleeve 13-7 and the track pin 13-8. The driving wheel 2 is connected to the first track shoe 13-1, the second track shoe 13-2, the third track shoe 13-3, the fourth track shoe 13-4, the outer link plate 13-5, the inner link plate 13-6, the sleeve 13 -7, the track pin 13-8 and the ostrich feather 13-9 form a chain meshing, the first track shoe 13-1, the second track shoe 13-2, the third track shoe 13-3, and the fourth track shoe 13-4 are covered with ostrich feathers 13-9, one end of the rocker 6 is connected to the fuselage 16 through a pin shaft, and the hinge point is f, the other end of the rocker 6 is connected to the supporting wheel 7 through a pin shaft, and the hinge point is g, the tension wheel 5 is connected to the fuselage 16 through a pin shaft, and the hinge point is e, and the guide wheel 12 is connected to the fuselage 16 through a pin shaft, and the hinge point is h; the reciprocating rotation of the forward and reverse differential 26 drives the driving wheel 2 to rotate, and the driving wheel 2 is connected to the first track shoe 13-1, the second The chain consisting of the track shoe 13-2, the third track shoe 13-3, the fourth track shoe 13-4, the outer link plate 13-5, the inner link plate 13-6, the sleeve 13-7 and the track pin 13-8 is engaged to push the track forward, thereby driving the sprocket 1, the tensioning wheel 5, the supporting roller 7 and the guide wheel 12 to rotate; the supporting roller 7 is connected to the rocker 6 and the inner piston 8, and the hinge point is g. The inner piston 8 and the outer piston 10 form a moving pair, and a spring 9 is wrapped around the outside of the piston. During walking, if there is severe bumps, the supporting roller 7 can drive the rocker 6 and the inner piston 8 to swing up and down. At the same time, the compression of the spring 9 can reduce the impact and keep the robot walking smoothly.

[0037] The quadruped structure includes a thigh 3, a flexion frame 4, a bionic palm 11, a calf 17, a flexion frame motor 23, a thigh motor 24, and a calf motor 25; the flexion frame 4 is connected to the fuselage 16 through a pin shaft, and the hinge point is d; the thigh 3 is connected to the flexion frame 4 through a pin shaft, and the hinge point is c; the calf 17 is connected to the thigh 3 through a pin shaft, and the hinge point is i; the bionic palm 11 is fixed to the end of the calf 3; the calf motor 25 is fixed on the calf 17, and the shaft of the calf motor 25 extends from the hinge point i, and the reciprocating rotation of the calf motor 25 drives the calf 17 to rotate; the thigh motor 24 is fixed in the flexion frame 4, and the shaft of the thigh motor 24 extends from the hinge point c, and the reciprocating rotation of the thigh motor 24 drives the thigh 3 to rotate; the flexion frame motor 23 is fixed to the fuselage 16, and the shaft of the flexion frame motor 23 extends from the hinge point d, and the reciprocating rotation of the flexion frame motor 23 drives the flexion frame 4 to rotate.

[0038] The ionization box 14 includes a dust box 15, a dust rack 18, a scraper plate 19, a lead screw 20, a dust removal electrode 21 and a dust removal motor 24; the dust box 15 is placed on the bottom layer of the dust rack 18, and a scraper plate 19 is provided on the top layer of the dust rack 18. The lead screw and the internal thread above the dust removal electrode form a spiral pair; the dust removal motor 24 is fixed on one side of the ionization box 14, and the reciprocating rotation of the dust removal motor 24 drives the lead screw 20 to rotate reciprocatingly, and the rotation of the lead screw 20 drives the dust removal electrode 21 to move reciprocatingly in a straight line; when the dust removal electrode 21 moves to the top of the track 13, it absorbs and takes away the lunar dust on the track, and when it moves to the top of the dust box 15, the lunar dust attached to the surface is scraped off by the scraper plate 19 and falls into the dust box 15.

[0039] The walking modes of the present invention can be divided into two types:

[0040] The first type: crawler walking - the surfaces of the first crawler plate 13-1, the second crawler plate 13-2, the third crawler plate 13-3, and the fourth crawler plate 13-4 are covered with ostrich feathers 13-9. When the driving wheel 2 drives the crawler 13 to move forward, the ostrich feathers 13-9 on the surfaces of the first crawler plate 13-1, the second crawler plate 13-2, the third crawler plate 13-3, and the fourth crawler plate 13-4 can stick to the lunar dust deposited on the surface of the solar panel, thereby achieving the purpose of dust removal.

[0041] The second type: quadruped walking - the rotation of the three leg motors controls the rotation angles of the flexion frame 4, the thigh 3 and the calf 17. At the same time, the bionic palm 11 on the calf 17 can firmly fix the robot on the surface of the solar panel, so that walking on the surface at any angle can be achieved; the combination of tracks and quadruped structures solves the problem that quadruped robots are easy to tip over and tracked robots are difficult to turn, and can also achieve cleaning without dead ends.

[0042] The dust removal process of the present invention can be divided into two steps:

[0043] Step 1: The forward and reverse differential 26 drives the driving wheel 2 to drive the track 13 to move forward, and recycles the ostrich feathers 13-9 on the surfaces of the first track shoe 13-1, the second track shoe 13-2, the third track shoe 13-3, and the fourth track shoe 13-4 to adhere to the lunar dust on the surface of the solar panel.

[0044] Step 2: When the first track shoe 13-1, the second track shoe 13-2, the third track shoe 13-3 and the fourth track shoe 13-4 with lunar dust on them pass through the ionization box 14, the lunar dust on the ostrich feathers 13-9 is ionized by the reciprocating dust removal electrode 21. When the dust removal electrode 21 moves above the dust collecting box 15, the lunar dust attached to the surface will be scraped off by the scraper plate 19 and fall into the dust collecting box 15.

Claims

1. A lunar solar panel bionic dust removal robot, characterized by: It is composed of a fuselage (16), a track structure, a four-legged structure and an ionization box (14); The crawler structure comprises a forward and reverse differential (26), a sprocket wheel (1), a driving wheel (2), a tension wheel (5), a rocker (6), a supporting wheel (7), an inner piston (8), an outer piston (10), a spring (9), a guide wheel (12), a first crawler shoe (13-1), a second crawler shoe (13-2), a third crawler shoe (13-3), a fourth crawler shoe (13-4), an outer link plate (13-5), an inner link plate (13-6), a sleeve (13-7) and a crawler pin (13-8). The forward and reverse differential (26) is fixed on the machine body (16), the sprocket wheel (1) is connected to the machine body (16) via a pin shaft, and the hinge point is a The driving wheel (2) is connected to the machine body by a pin, and the connection point is b. The forward and reverse differential (26) is connected to the driving wheel (2). The first track shoe (13-1), the second track shoe (13-2), the third track shoe (13-3), and the fourth track shoe (13-4) are connected to each other by a pin, and form a track unit with the outer link plate (13-5), the inner link plate (13-6), the sleeve (13-7) and the track pin (13-8). Different track units are connected by the outer link plate (13-5), the inner link plate (13-6), the sleeve (13-7) and the track pin (13-8) to form a complete track. The first track shoe (13 -1), the second track shoe (13-2), the third track shoe (13-3), and the fourth track shoe (13-4) are covered with ostrich feathers (13-9); one end of the rocker (6) is connected to the fuselage (16) through a pin shaft, and the hinge point is f; the tension wheel (5) is connected to the fuselage (16) through a pin shaft, and the hinge point is e; the guide wheel (12) is connected to the fuselage (16) through a pin shaft, and the hinge point is h; the reciprocating rotation of the forward and reverse differential (26) drives the driving wheel (2) to rotate, and the driving wheel (2) is connected to the first track shoe (13-1), the second track shoe (13-2), the third track shoe (13-3), the fourth track shoe (13-4), The chain consisting of the outer link plate (13-5), the inner link plate (13-6), the sleeve (13-7) and the track pin (13-8) is meshed to push the track forward, thereby driving the sprocket (1), the tensioning wheel (5), the supporting roller (7) and the guide wheel (12) to rotate; the supporting roller (7) is connected to the rocker (6) and the inner piston (8), and the hinge point is g. The inner piston (8) and the outer piston (10) form a moving pair, and a spring (9) is wound around the piston. During walking, if there is severe bumping, the supporting roller (7) can drive the rocker (6) and the inner piston (8) to swing up and down, and at the same time, the spring (9) is compressed to reduce the impact, so that the robot can walk smoothly; The quadruped structure comprises a thigh (3), a flexion frame (4), a bionic palm (11), a calf (17), a flexion frame motor (23), a thigh motor (24), and a calf motor (25); the flexion frame (4) is connected to the body (16) via a pin shaft, with a hinge point d; the thigh (3) is connected to the flexion frame (4) via a pin shaft, with a hinge point c; the calf (17) is connected to the thigh (3) via a pin shaft, with a hinge point i; the bionic palm (11) is fixed to the end of the calf (17); the calf motor (25) is fixed On the calf (17), the shaft of the calf motor (25) extends from the hinge point i, and the reciprocating rotation of the calf motor (25) drives the calf (17) to rotate; the thigh motor (24) is fixed in the flexion frame (4), the shaft of the thigh motor (24) extends from the hinge point c, and the reciprocating rotation of the thigh motor (24) drives the thigh (3) to rotate; the flexion frame motor (23) is fixed on the body (16), the shaft of the flexion frame motor (23) extends from the hinge point d, and the reciprocating rotation of the flexion frame motor (23) drives the flexion frame (4) to rotate; The ionization box (14) comprises a dust collecting box (15), a dust collecting frame (18), a dust scraper (19), a lead screw (20), a dust removal electrode (21) and a dust removal motor (24); the dust collecting box (15) is placed on the bottom layer of the dust collecting frame (18), the dust scraper (19) is provided on the top layer of the dust collecting frame (18), and the lead screw and the internal thread above the dust removal electrode form a spiral pair; the dust removal motor (24) is fixed on one side of the ionization box (14), the reciprocating rotation of the dust removal motor (24) drives the lead screw (20) to reciprocate, and the rotation of the lead screw (20) drives the dust removal electrode (21) to reciprocate linearly; when the dust removal electrode (21) moves to the top of the crawler (13), it absorbs and takes away the lunar dust on the crawler; when it moves to the top of the dust collecting box (15), the lunar dust attached to the surface is scraped off by the dust scraper (19) and falls into the dust collecting box (15).

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