A lunar soil digging, sorting and sintering integrated lunar surface exploration device and method

Abstract

The present application relates to a kind of lunar soil excavation, sorting, sintering integrated lunar exploration device and method, lunar exploration device includes detection shell, excavation mechanism, sorting enrichment mechanism and sintering mechanism, excavation mechanism is installed in the front side of detection shell, sorting enrichment mechanism and sintering mechanism are respectively installed in detection shell;The top of detection shell is equipped with inlet, after excavation mechanism excavates lunar soil, it is put from inlet to detection shell, sorting enrichment mechanism is arranged below inlet and receives the lunar soil at inlet, sorting enrichment mechanism below is respectively connected with fine screen enrichment tank and sintering mechanism, and the fine screen lunar soil particles and remaining lunar soil particles obtained by sorting are sent into fine screen enrichment tank and sintering mechanism.The lunar exploration device of the present application aims to realize the whole process technical verification of lunar soil efficient excavation, mineral sorting and lunar soil sintering, realize the effective use of lunar in-situ resources, provide technical support for manned lunar exploration, lunar scientific research and development and future deep space exploration mission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lunar exploration, and in particular to a lunar exploration device and method for lunar soil excavation, sorting and sintering. BACKGROUND

[0002] According to existing exploration results, the moon is rich in natural resources, and the most abundant mineral resources are lunar soil and lunar rock. The main minerals contained in the weathered layer of lunar soil include pyroxene, olivine, plagioclase, ilmenite and spinel. For example, the hydrogen in the ilmenite-rich mineral lunar soil can be used to produce water resources necessary for human activities through reduction, and the oxygen in the form of oxygen-rich minerals can be extracted through electrolytic reduction and used as an important resource for human respiration and energy supply. Lunar resource in-situ utilization technology not only can solve the problem of energy supply for deep space exploration, but also can greatly reduce the cost of deep space exploration, and has very high research value.

[0003] In view of the urgent need for lunar mobile robots in subsequent unmanned lunar exploration and manned lunar exploration tasks such as surveying, resource utilization and facility construction, research on lunar mobile robots such as wheel-legged, reconfigurable, bionic, rolling and bouncing has been carried out. How to realize efficient collection and sorting of lunar soil is the primary scientific problem that needs to be solved for lunar resource development and utilization. Due to the influence of the special environment of high vacuum, microgravity, large temperature difference and strong radiation on the moon surface, most of the resource exploitation equipment on earth cannot be used normally on the moon surface. At the same time, the dispersed distribution of lunar minerals, the small size of lunar soil particles, the charging interference of lunar dust and lunar soil particles and other factors bring great challenges to lunar in-situ resource development and utilization.

[0004] The RASSOR, a lunar mining robot developed by NASA, is a teleoperated mobile robot platform with unique space weathering layer excavation capabilities. Its design incorporates net-zero emission reaction forces, allowing it to load, haul, and dump space weathering layers with high reliability in extremely low gravity conditions. RASSOR uses counter-rotating scoop drums on a compliant arm to provide near-zero horizontal and minimal vertical net reaction forces, so excavation is not dependent on the traction or weight of the mobility system, which provides reaction forces to counteract the excavation forces in low gravity environments. The excavating robot can traverse steep slopes and rough terrain, and its symmetrical design allows it to run in reverse to restore the working state by excavating forward in a new direction when in the overturned state. The system can stand vertically without using a ramp to dump into a receiving hopper, eliminating the need for a self-dumping box on the vehicle, reducing the complexity and weight of the robot. During loading, the scoop drums excavate the soil / weathering layer through buckets mounted on the surface of the barrel, which rotates at a speed of about 20 revolutions per minute, and the outer buckets cut the soil / weathering layer in turn. During transportation, the scoop drums are lifted by the rotating arm, providing a gap above the excavated surface. When the soil / weathering layer is kept in the raised barrel, the mobile platform can move. When the excavator reaches the dumping position, the scoop drums are commanded to reverse their rotation direction, causing the soil / weathering layer to be discharged from each successive bucket.

[0005] The RASSOR robot mainly realizes the function of lunar soil excavation by adopting a scoop drum structure design, which has high excavation efficiency, but the robot has a single function, can only excavate and collect lunar soil, and cannot further screen and efficiently utilize the excavated lunar soil. SUMMARY

[0006] In order to solve one or several technical problems existing in the prior art, the present application provides a lunar soil excavation, sorting, and sintering integrated lunar surface exploration device and method.

[0007] The technical solution of the present application to solve the above technical problems is as follows: a lunar soil excavation, sorting, and sintering integrated lunar surface exploration device, comprising a detection shell, an excavation mechanism, a sorting and enrichment mechanism, and a sintering mechanism, the excavation mechanism is installed on the front side of the detection shell, and the sorting and enrichment mechanism and the sintering mechanism are respectively installed in the detection shell; the top of the detection shell is provided with a feeding port, the excavation mechanism excavates lunar soil and then puts it into the detection shell from the feeding port, the sorting and enrichment mechanism is arranged below the feeding port and receives the lunar soil at the feeding port, the sorting and enrichment mechanism is connected with a fine screen enrichment tank and a sintering mechanism below, and the fine screen lunar soil particles and the remaining lunar soil particles obtained by sorting are respectively sent into the fine screen enrichment tank and the sintering mechanism.

[0008] The present application has the beneficial effects that the present application provides a lunar surface detection device integrating rapid surface lunar soil excavation, efficient specific mineral separation and enrichment and lunar soil sintering technology, aims to realize efficient lunar soil excavation, mineral separation and lunar soil sintering full-process technical verification, realize effective utilization of lunar surface in-situ resources, and provide technical support for manned lunar exploration, lunar scientific exploration and development and future deep space exploration missions.

[0009] Based on the above technical solution, the present application can be further improved as follows.

[0010] Further, the digging mechanism comprises a drum-type digging wheel set and a connecting rod, one end of the connecting rod is installed on the front side of the detection shell through a first driving mechanism and can swing up and down under the driving of the first driving mechanism, the other end of the connecting rod is connected with at least one drum-type digging wheel set through a second driving mechanism, the driving end of the second driving mechanism is in transmission connection with the center position of the drum-type digging wheel set and drives the drum-type digging wheel set to rotate forward and backward, and the drum-type digging wheel set comprises one drum-type digging wheel or a plurality of coaxially fixed drum-type digging wheels.

[0011] The drum-type digging wheel is provided with a mounting port on the circumferential side wall, the mounting port is covered with a shutter mechanism, the shutter mechanism is covered with a digging bucket on the outside, a circumferentially arranged feeding channel is formed between the digging bucket and the shutter mechanism, a digging port is formed between one end of the digging bucket and the circumferential side wall of the drum-type digging wheel, the digging port is arranged towards the circumferential direction of the drum-type digging wheel, and a primary screen is covered on the digging port.

[0012] The beneficial effects of the above further scheme are that the primary screen on the digging port of the drum-type digging wheel can perform primary screening on lunar soil particles, the shutter mechanism on the mounting port of the drum-type digging wheel is opened under the pressure and gravity of lunar soil particles when the drum-type digging wheel rotates clockwise and reaches the correct rotating position, and the lunar soil particles after primary screening enter the drum-type digging wheel, and the shutter mechanism is closed when the digging port of the drum-type digging wheel rotates to the lower side, so that the lunar soil particles are prevented from flowing out of the digging port.

[0013] Further, a plurality of secondary screen holes are arranged on the shutter mechanism, and the hole diameter of the secondary screen holes is smaller than the hole diameter of the primary screen.

[0014] The beneficial effects of the above further scheme are that the secondary screen holes on the shutter mechanism can perform secondary coarse screening on lunar soil particles, and the smaller lunar soil particles are screened out of the drum-type digging wheel, and the particle size of the lunar soil particles after twice screening can meet the requirement of fine screening.

[0015] Further, when the drum-type digging wheel set comprises a plurality of coaxially fixed drum-type digging wheels, the digging ports of the adjacent two drum-type digging wheels are symmetrically arranged at 180°.

[0016] The beneficial effect of the further scheme is that the two adjacent drum-type digging wheels are arranged in 180° symmetry, which can improve the digging efficiency.

[0017] Further, the other end of the connecting rod is vertically connected with horizontally arranged cross rods, the two ends of the cross rod are coaxially rotatably connected with a drum-type digging wheel group respectively, the second driving mechanism has two driving ends and is drivingly connected with the center positions of the two drum-type digging wheel groups and drives the two drum-type digging wheel groups to rotate forward and backward; the two drum-type digging wheel groups at the two ends of the cross rod are arranged in left-right symmetry.

[0018] Further, the digging mechanism is two, the orientations of the digging ports of the drum-type digging wheels at the corresponding positions of the two digging mechanisms are opposite;

[0019] Or / and, the connecting rod comprises two rotatably connected rod segments, a third driving mechanism is arranged between the two rod segments, and the third driving mechanism is used for driving the rotation of the rod segment connected with the drum-type digging wheel group.

[0020] The beneficial effect of the further scheme is that two digging mechanisms with opposite orientations are adopted, when the lunar soil is dug, the rotation directions of the digging wheels in the two digging mechanisms are opposite, that is, one group is forward rotation and the other group is reverse rotation, the purpose is to improve the ground feeling of the digging robot and prevent the situation that the lunar soil cannot be dug due to the forward rotation of only one group of digging mechanism.

[0021] Further, the sorting and enrichment mechanism comprises a driving part, a spectrum scanning part, an inlet shell, a bearing, a collection shell, a turntable, a protective cover and a multi-channel conveying pipe, the upper end of the collection shell is an open structure, the lower end of the collection shell is in communication with the multi-channel conveying pipe, and the multiple branch pipes of the multi-channel conveying pipe are in communication with the fine screening and enrichment box and the sintering mechanism respectively;

[0022] The inlet shell and the protective cover are fixed at the open ends of the collection shell respectively, the turntable is located in the collection shell and a waste collection interval is reserved between the turntable and the peripheral side wall of the collection shell; the driving end of the driving part is connected with the center position of the turntable and drives the rotation of the turntable; the first side wall lower end above the turntable of the inlet shell and / or the second side wall lower end above the turntable of the protective cover is provided with a sample brush, the sample brush is in contact with the upper surface of the turntable; the inlet shell is arranged corresponding to the inlet.

[0023] The spectrum scanning part is installed on the protective cover, the scanning end of the spectrum scanning part is located above the outside of the protective cover; a plurality of fine screening holes are formed in the turntable, a first valve for controlling the closing or opening of each fine screening hole is installed at the position corresponding to each fine screening hole on the bottom surface of the turntable, and a second valve for controlling the opening of different branch pipes is arranged in the multi-channel conveying pipe.

[0024] The beneficial effect of the further scheme is that the sorting and enrichment mechanism can realize non-destructive and efficient identification of lunar soil particles by scanning the fine sieve hole on the turntable by the spectral scanning part, and solve the problems of limited screening range and low screening precision of the current mineral sorting technology.

[0025] Further, the sorting and enrichment mechanism further comprises a bearing, the bearing is installed above the center position of the turntable, the outer ring of the bearing is fixed on the collection shell and / or the protective cover, the inner ring of the bearing is fixedly connected with the center position of the turntable, and the inner ring of the bearing is also connected with the driving end of the driving part and drives the turntable to rotate under the driving of the driving part.

[0026] The beneficial effect of the further scheme is that the bearing is provided to facilitate the driving of the turntable to rotate by the driving part, and then the sample brush can sweep the lunar soil sample into the fine sieve hole.

[0027] Further, the size of the fine sieve hole is 1-2 times the size of the fine-sieved lunar soil particles, and the distance between the two adjacent fine sieve holes is more than twice the size of the fine sieve hole;

[0028] Or / and, the center position of the turntable is also provided with a circular arc-shaped waste collection hole;

[0029] Or / and, the first valve is a memory alloy valve.

[0030] The beneficial effect of the further scheme is to ensure that only one fine-sieved lunar soil particle is retained in each fine sieve hole, which facilitates accurate scanning by the subsequent spectral scanning part.

[0031] Further, the upper end of the collection shell is a circular open structure;

[0032] The inlet shell and the protective cover are both semicircular structures, the linear sidewall of the inlet shell is a first sidewall, the linear sidewall of the protective cover is a second sidewall, and the first sidewall and the second sidewall are integrally arranged or the first sidewall and the second sidewall are in contact.

[0033] Or, the inlet shell and the protective cover are each provided with two, the inlet shell and the protective cover are each 1 / 4 circular structure, the two inlet shells are arranged opposite to each other, the two protective covers are arranged opposite to each other, one protective cover is arranged on each side of each inlet shell, the two linear sidewalls of the inlet shell are first sidewalls, the two linear sidewalls of the protective cover are second sidewalls, and the first sidewall and the adjacent second sidewall are integrally arranged or the first sidewall and the adjacent second sidewall are in contact.

[0034] Further, the multi-channel conveying pipe further comprises a main pipe, an upper end of the main pipe is connected and communicated with a central position of a lower end of the collecting shell, and lower ends of the main pipe are respectively communicated with upper ends of a plurality of branch pipes; an inner side of the lower end of the main pipe is provided with the second valve.

[0035] Further, the branch pipes are two, the two branch pipes are respectively communicated with the fine screen enrichment tank and the sintering mechanism; the second valve is a ball valve, the main pipe and the branch pipes are respectively provided with a long strip-shaped limiting hole extending along a length direction thereof, one end of a plurality of limiting holes is communicated, the ball valve is provided with a limiting rod, and the limiting rod is arranged in the limiting hole; the main pipe and the branch pipes are respectively provided with a vibration motor.

[0036] The beneficial effect of the above further scheme is that the vibration motor can accelerate the falling of the lunar soil particles and avoid the adhesion of the fine lunar soil particles to the inner wall during the pipe conveying process.

[0037] Further, the sintering mechanism comprises a feeding pipe, a furnace body, a microwave source, an infrared temperature measuring instrument and a bottom pressurizing component, the furnace body has a sintering cavity, the feeding pipe is arranged at a top of the furnace body and communicated with the sintering cavity, the microwave source and the infrared temperature measuring instrument are respectively fixed on side walls of the furnace body, the feeding pipe is communicated with a residual lunar soil particle outlet pipe of the sorting and enrichment mechanism, and the bottom pressurizing component is arranged at a bottom of the sintering cavity.

[0038] The beneficial effect of the above further scheme is that the sintering mechanism can sinter the residual lunar soil particles to form lunar soil bricks.

[0039] Further, a vertical conveying mechanism is arranged in the detection shell, the vertical conveying mechanism is located at a rear side of the sintering mechanism, a sintered material outlet is arranged at the rear side of the sintering mechanism, a conveying port is arranged at a top of the detection shell, the conveying port is located at a rear side of the feeding port, a conveying plate is arranged on the vertical conveying mechanism, the conveying plate is located directly below the conveying port and can move up and down between the sintered material outlet and the conveying port under the conveying of the vertical conveying mechanism, and a pushing mechanism for pushing the sintered material is further arranged in the sintering mechanism.

[0040] Further, the vertical conveying mechanism comprises a conveying motor, a light rod and a lead screw, the conveying motor is mounted on an inner side wall of a bottom of the detection shell, the light rod and the lead screw are vertically arranged, an output end of the conveying motor is fixedly connected with a lower end of the lead screw, the light rod is fixed at a top and a bottom of the detection shell at two ends thereof, the conveying plate is horizontally arranged and threadedly connected on the lead screw, and the light rod further passes through the conveying plate and is slidably connected with the conveying plate.

[0041] Furthermore, a fisheye camera is installed below the connection between the excavation mechanism and the detection housing, and a navigation camera is installed at the top front end of the detection housing; a multi-degree-of-freedom robotic arm is also provided on the rear side wall of the detection housing, and a clamp for transporting lunar soil bricks sintered by the sintering mechanism is provided at the end of the multi-degree-of-freedom robotic arm; a fisheye camera is also installed below the connection between the multi-degree-of-freedom robotic arm and the detection housing.

[0042] Furthermore, the probe housing is also equipped with an energy system, and a solar panel is provided on the top of the probe housing. The energy system is electrically connected to the solar panel, the probe housing, the excavation mechanism, the sorting and enrichment mechanism, and the sintering mechanism.

[0043] Furthermore, the bottom of the detection housing is provided with a moving mechanism, which includes a wheeled moving mechanism, a tracked moving mechanism, a legged moving mechanism, a wheel-tracked moving mechanism, and a wheel-legged moving mechanism.

[0044] Furthermore, the wheel-leg type moving mechanism includes a moving wheel, a first moving motor, a second moving motor, a third moving motor, a first connecting rod, and a second connecting rod. The first moving motor is mounted on the side wall of the detection housing and is vertically fixedly connected to one end of the first connecting rod. The first connecting rod extends forward and backward. The other end of the first connecting rod is provided with a second moving motor. The driving end of the second moving motor is arranged vertically downward and is vertically fixedly connected to one end of the second connecting rod. The second connecting rod has a [-shaped structure. The other end of the second connecting rod is provided with a third moving motor. The driving end of the third moving motor extends left and right and is fixedly connected to the central axis of the moving wheel. The moving wheel is located outside the second connecting rod.

[0045] The beneficial effect of adopting the above-mentioned further solution is that the wheel-legged mobile mechanism can achieve automatic storage and extension.

[0046] Furthermore, there are four sets of wheel-leg moving mechanisms, with two sets of wheel-leg moving mechanisms installed on the left and right side walls of the detection housing, respectively.

[0047] A lunar surface exploration method integrating lunar soil excavation, sorting, and sintering is implemented using the aforementioned integrated lunar soil excavation, sorting, and sintering lunar surface exploration device, comprising the following steps: using an excavation mechanism to excavate lunar soil, and throwing the excavated lunar soil particles backward into a sorting and enrichment mechanism, the sorting and enrichment mechanism sorting and sieving the lunar soil particles, and sending the sieved lunar soil particles and the remaining lunar soil particles to a sieve enrichment box and a sintering mechanism, respectively, the sintering mechanism sintering the remaining lunar soil particles to obtain lunar soil bricks.

[0048] The beneficial effects of this invention are: the lunar surface exploration method of this invention can realize functions such as rapid excavation of surface lunar soil, efficient sorting and enrichment of specific minerals, and sintering of lunar soil. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a schematic view of the three-dimensional structure of the lunar surface exploration device of the present application;

[0050] Figure 2 is a schematic view of the three-dimensional structure of the moving state of the lunar surface exploration device of the present application;

[0051] Figure 3 is a schematic view of the three-dimensional structure of the digging state of the lunar surface exploration device of the present application;

[0052] Figure 4 is a schematic view of the three-dimensional structure of the carrying state of the lunar surface exploration device of the present application;

[0053] Figure 5 is a schematic view of the three-dimensional structure of the converging state of the lunar surface exploration device of the present application;

[0054] Figure 6 is a schematic view of the three-dimensional structure of the wheel-leg moving mechanism of the present application;

[0055] Figure 7 is a schematic view of the three-dimensional structure of the digging mechanism of the present application Figure 1 ;

[0056] Figure 8 is a schematic view of the three-dimensional structure of the digging mechanism of the present application Figure 2 ;

[0057] Figure 9 is a schematic view of the three-dimensional structure of the drum-type digging wheel set of the present application;

[0058] Figure 10 is a schematic view of the three-dimensional structure of the assembly of two drum-type digging wheel sets of the present application;

[0059] Figure 11 is a schematic view of the three-dimensional structure of the cooperation of two drum-type digging wheel sets with the second driving mechanism of the present application;

[0060] Figure 12 is a schematic view of the three-dimensional structure of the digging mechanism of the present application Figure 3 ;

[0061] Figure 13 is a schematic view of the internal structure of the drum-type digging wheel of the present application;

[0062] Figure 14 is a schematic view of the digging state of the drum-type digging wheel of the present application Figure 1 ;

[0063] Figure 15 is a schematic view of the digging state of the drum-type digging wheel of the present application Figure 2 ;

[0064] Figure 16The drum-type digging wheel digging state diagram of the present application Figure 3 ;

[0065] Figure 17 The drum-type digging wheel digging state diagram of the present application Figure 4 ;

[0066] Figure 18 The first driving mechanism structure diagram of the present application

[0067] Figure 19 The third driving mechanism structure diagram of the present application

[0068] Figure 20 The moon soil dumping state structure diagram of the present application lunar exploration device

[0069] Figure 21 The sorting and enrichment mechanism three-dimensional structure diagram of the present application

[0070] Figure 22 The sorting and enrichment mechanism three-dimensional structure diagram of the present application without feeding shell

[0071] Figure 23 The structure diagram of the present application rotating table

[0072] Figure 24 The feeding shell three-dimensional structure diagram of the present application

[0073] Figure 25 The protective cover three-dimensional structure diagram of the present application

[0074] Figure 26 The first valve closed state three-dimensional structure diagram of the present application

[0075] Figure 27 The second valve open state three-dimensional structure diagram of the present application

[0076] Figure 28 The main view structure diagram of the present application multi-channel conveying pipe

[0077] Figure 29 The structure diagram of the present application multi-channel conveying pipe in closed state

[0078] Figure 30 The structure diagram of the present application multi-channel conveying pipe in open state Figure 1 ;

[0079] Figure 31 The structure diagram of the present application multi-channel conveying pipe in open state Figure 2 ;

[0080] Figure 32Structure diagram of structure of inputting lunar soil particles into sorting and enrichment mechanism of the application;

[0081] Figure 33 Structure diagram of structure of setting angle of rotation of rotating table of sorting and enrichment mechanism of the application;

[0082] Figure 34 Structure diagram of structure of collecting fine screening lunar soil sample of sorting and enrichment mechanism of the application;

[0083] Figure 35 Structure diagram of structure of collecting remaining lunar soil sample waste of sorting and enrichment mechanism of the application;

[0084] Figure 36 Structure diagram of internal structure of sintering mechanism of the application;

[0085] Figure 37 Structure diagram of front view of sintering mechanism of the application;

[0086] Figure 38 Structure diagram of open state of door body of sintering mechanism of the application;

[0087] Figure 39 Structure diagram of three-dimensional structure of using state of pushing mechanism of the application;

[0088] Figure 40 Structure diagram of opening of door body under driving of door body driving mechanism of the application;

[0089] Figure 41 Structure diagram of three-dimensional structure of vertical conveying mechanism of the application;

[0090] Figure 42 Structure diagram of three-dimensional structure of multi-degree-of-freedom mechanical arm of the application.

[0091] In the drawings, the components represented by each reference numeral are listed as follows:

[0092] 100, sorting and enrichment mechanism; 101, driving part; 102, driving gear set; 103, spectrum scanning part; 104, feeding shell; 105, lunar soil inlet; 106, bearing; 107, collecting shell; 108, rotating table; 109, protective cover; 110, main pipeline; 111, branch pipeline; 113, fine screening enrichment box; 114, waste collecting interval; 115, first side wall; 116, second side wall; 117, sample brush; 118, memory alloy; 119, second valve; 120, fine screening hole; 121, waste collecting hole; 122, vibration motor; 123, power module; 124, limiting hole; 125, limiting rod; 126, first bearing mounting half hole; 127, second bearing mounting half hole;

[0093] 200, probe housing; 201, inlet; 202, conveying port; 203, fisheye camera; 204, navigation camera; 205, multi-degree-of-freedom robot arm; 206, clamp; 207, too sensitive; 208, lead screw; 209, small arm; 210, large arm; 211, shoulder; 212, base; 213, slider; 214, optical axis;

[0094] 300, excavating mechanism; 301, connecting rod; 302, first servo motor; 303, drum-type digging wheel set; 304, drum-type digging wheel; 305, gate mechanism; 306, digging port; 307, primary screen; 308, digging bucket; 309, secondary screen hole; 310, cross bar; 311, second servo motor; 312, deep groove ball bearing; 313, bevel gear; 314, inductor; 316, third servo motor; 317, support cylinder; 318, joint rod; 319, first drive gear; 320, second drive gear; 321, inner tooth ring; 322, bearing connecting plate; 323, rotating shaft;

[0095] 400, sintering mechanism; 401, inlet pipe; 402, furnace body; 403, microwave source; 404, infrared temperature measuring instrument; 405, bottom pressure component; 406, sintering cavity; 407, door body; 408, pushing mechanism; 409, door body driving mechanism;

[0096] 500, vertical conveying mechanism; 501, conveying plate; 502, conveying motor; 503, light pole; 504, lead screw; 505, base plate; 506, nut;

[0097] 600, energy system; 601, solar sail;

[0098] 700, wheel-leg mobile mechanism; 701, mobile wheel; 702, first mobile motor; 703, second mobile motor; 704, third mobile motor; 705, first connecting rod; 706, second connecting rod. DETAILED DESCRIPTION

[0099] The principles and features of the present application are described below in conjunction with the accompanying drawings, which are only used to explain the present application and not intended to limit the scope of the present application.

[0100] As Figures 1 to 42As shown, the lunar soil excavation, sorting and sintering integrated lunar exploration device of the embodiment includes an exploration shell 200, an excavation mechanism 300, a sorting and enrichment mechanism 100 and a sintering mechanism 400. The excavation mechanism 300 is installed on the front side of the exploration shell 200. The sorting and enrichment mechanism 100 and the sintering mechanism 400 are respectively installed in the exploration shell 200. The top of the exploration shell 200 is provided with a feeding port 201. The excavation mechanism 300 excavates the lunar soil and then puts it into the exploration shell 200 from the feeding port 201. The sorting and enrichment mechanism 100 is arranged below the feeding port 201 and receives the lunar soil at the feeding port 201. The sorting and enrichment mechanism 100 is respectively connected with a fine sieve enrichment box 113 and the sintering mechanism 400 below and sends the fine sieve lunar soil particles and the remaining lunar soil particles obtained by sorting into the fine sieve enrichment box 113 and the sintering mechanism 400 respectively.

[0101] The lunar exploration device integrating the rapid excavation of surface lunar soil, efficient sorting and enrichment of specific minerals and lunar soil sintering technology of the embodiment aims to realize the full-process technical verification of efficient excavation of lunar soil, mineral sorting and lunar soil sintering, effectively utilize the lunar resources in situ, and provide technical support for manned lunar exploration, lunar scientific exploration and development and future deep space exploration missions.

[0102] The excavation mechanism of the embodiment can be realized by using the existing excavation mechanism. The embodiment provides a preferred excavation mechanism 300, as shown in the figure. Figures 7 to 19 As shown, the excavation mechanism 300 includes a drum-type digging wheel group 303 and a connecting rod 301. One end of the connecting rod 301 is installed on the front side of the exploration shell 200 through a first driving mechanism and can swing up and down under the drive of the first driving mechanism. The other end of the connecting rod 301 is connected with at least one drum-type digging wheel group 303 through a second driving mechanism. The driving end of the second driving mechanism is in transmission connection with the center position of the drum-type digging wheel group 303 and drives the drum-type digging wheel group 303 to rotate forward and backward. The drum-type digging wheel group 303 includes one drum-type digging wheel 304 or a plurality of coaxially fixed drum-type digging wheels 304.

[0103] An installation port is arranged on the circumferential side wall of the drum-type digging wheel 304. A flap mechanism 305 is covered on the installation port. A digging bucket 308 is covered on the outside of the flap mechanism 305. An inlet passage is formed between the digging bucket 308 and the flap mechanism 305 in a circumferential direction. A digging port 306 is formed between one end of the digging bucket 308 and the circumferential side wall of the drum-type digging wheel 304. The digging port 306 is arranged towards the circumferential direction of the drum-type digging wheel 304. An initial sieve screen 307 is covered on the digging port 306.

[0104] The drum-type digging wheel of the embodiment is provided with a primary screen at the digging opening, which can perform primary screening on the lunar soil particles; the drum-type digging wheel is provided with a plate door mechanism at the mounting opening, and when the drum-type digging wheel rotates clockwise and reaches the correct rotating position, the plate door mechanism will open under the pressure and gravity of the lunar soil particles, and the lunar soil particles that have passed the primary screening enter the drum-type digging wheel; when the digging opening of the drum-type digging wheel rotates to the lower side, the plate door mechanism is closed to avoid the lunar soil particles flowing out of the digging opening.

[0105] As shown in Figure 13 The plate door mechanism 305 of the embodiment is provided with a plurality of re-screening holes 309, and the diameter of the re-screening holes 309 is smaller than that of the primary screen 307. The re-screening holes provided on the plate door mechanism can perform secondary coarse screening on the lunar soil particles, and the smaller lunar soil particles are screened out of the drum-type digging wheel, and the particle size of the lunar soil particles that have passed the two screenings can meet the requirement of fine screening.

[0106] Specifically, since the particle size of the ilmenite in the lunar soil is between 0.5 μm and 75 μm, the drum-type digging wheel group of the embodiment can also perform coarse screening on the lunar soil when performing efficient digging of the lunar soil, and the particles with a particle size not between 0.5 μm and 75 μm in the lunar soil can be coarsely screened out, which prepares for the next step of separating the ilmenite particles in the inside of the detection shell. The single drum-type digging wheel of the embodiment adopts a drum design, and the lunar soil inlet adopts a type excavator bucket design. The diameter of the primary screen 307 is 75 μm, and the main function is to prevent the particles with a particle size greater than 75 μm in the lunar soil from entering the inside of the drum-type digging wheel. The diameter of the re-screening hole 309 is 50 μm, and the main function is to screen out the lunar soil particles with a particle size less than 0.5 μm in the lunar soil. When the drum-type digging wheel is placed on the lunar soil surface and rotates clockwise, the lunar soil is dug up by the drum-type digging wheel and passes through the primary screen with a diameter of 75 μm, and the lunar soil particles with a particle size less than 75 μm in the lunar soil are smoothly entered into the drum-type digging wheel, which is the first screening of the drum-type digging wheel, and the particles with a particle size less than 75 μm in the lunar soil are screened out, as shown in Figure 14 Secondly, a basic plate door mechanism is adopted in the inside of the drum-type digging wheel, and when the drum-type digging wheel rotates clockwise, the plate door of the plate door mechanism will open under the pressure and gravity of the lunar soil particles when the drum-type digging wheel reaches the correct rotating position. The particles with a particle size less than 75 μm are smoothly entered into the inside of the drum-type digging wheel, as shown in Figure 15 When the lunar soil loading is completed naturally when the lunar soil inlet of the drum-type digging wheel rotates to the lower side, the plate door is closed. Since the re-screening holes with a diameter of 0.5 μm are provided on the plate door, the lunar soil particles can be coarsely screened for the second time, and the lunar soil particles with a particle size less than 0.5 μm are screened out. After the above two screenings, the lunar soil particles with a particle size between 0.5 μm and 75 μm are left in the inside of the drum-type digging wheel, as shown in Figure 16As shown. Continuing in this manner, the drum-shaped excavator will collect more and more lunar soil after coarse screening. When the drum-shaped excavator rotates to the top, the sensor 314 installed on the inner wall of the drum-shaped excavator will be activated, indicating that the initial excavation and collection of lunar soil is complete. Figure 17 As shown. When the drum-shaped digging wheel is full, the telescopic joint rod in the digging mechanism rises and extends, while the T-shaped telescopic rod extends and rotates relative to the joint rod to bring the digging wheel closer to the feed inlet of the robot sorting and enrichment device. After the digging wheel reaches the position, it rotates counterclockwise, and the gate, due to its own weight, will be in the open state when the feed inlet of the digging wheel rotates to the lowering position. At this time, the lunar soil particles are poured out from the feed inlet and enter the sorting and enrichment device.

[0107] like Figure 9 As shown, in this embodiment, when the drum-shaped digging wheel assembly 303 includes multiple coaxially fixedly connected drum-shaped digging wheels 304, the digging openings of two adjacent drum-shaped digging wheels 304 are symmetrically arranged at 180°. The symmetrical arrangement of the digging openings 306 of two adjacent drum-shaped digging wheels 304 at 180° improves digging efficiency.

[0108] like Figure 7 and Figure 8 As shown, in this embodiment, the other end of the connecting rod 301 is vertically connected to a horizontally arranged crossbar 310. The two ends of the crossbar 310 are respectively coaxially rotatably connected to a drum-shaped digging wheel assembly 303. The second driving mechanism has two driving ends and is respectively connected to the center position of the two drum-shaped digging wheel assemblies 303 and drives the two drum-shaped digging wheel assemblies 303 to rotate back and forth. The two drum-shaped digging wheel assemblies 303 at both ends of the crossbar 310 are arranged symmetrically from left to right. Specifically, the second drive mechanism includes a second servo motor 311, which is installed inside the connecting rod 301. A bevel gear 313 is provided at the drive end of the second servo motor 311. Deep groove ball bearings 312 are provided at the center positions of both drum-shaped digging wheel sets 303. The outer rings of the deep groove ball bearings 312 are fixedly connected to the center positions of the drum-shaped digging wheel sets 303 and the crossbar 310. A bevel gear is fixed to the inner ring of one of the deep groove ball bearings 312. The bevel gear at the drive end of the second servo motor 311 can mesh with the bevel gear at the center position of one of the drum-shaped digging wheel sets 303, driving both drum-shaped digging wheel sets 303 to rotate synchronously in the same direction. Due to the bevel gear assembly, the rotational speed and direction of the two drum-shaped digging wheel sets are synchronized.

[0109] like Figure 7As shown, the digging mechanism 300 is two, two digging mechanism 300 on the corresponding position of the drum type digging wheel 304 mouth 306 of the opposite direction. With two digging mechanism in opposite directions, when digging lunar soil, the two groups of digging mechanism in the opposite direction of rotation, that is, a group of positive rotation, a group of reverse rotation, the purpose of this is to improve the digging robot grip, prevent due to only a group of the same direction of rotation of the digging mechanism in the process of digging in the lunar surface layer idle, digging lunar soil.

[0110] Wherein, the digging mechanism 300 of the embodiment is mainly used to complete the digging and preliminary screening process of lunar soil. The digging and preliminary screening of lunar soil from the top of the detection shell 200 into the sorting enrichment mechanism 100, through the sorting enrichment mechanism 100 to the lunar soil, the lunar soil after the fine selection is respectively into the fine screen enrichment box 113 and sintering mechanism 400. The sintering mechanism 400 will not be through the fine screen of lunar soil particles sintered into lunar soil brick.

[0111] Specifically, as shown in Figure 18 The first driving mechanism of the embodiment includes a first servo motor 302, the front side of the detection shell 200 is fixed with a transversely arranged support cylinder 317, the support cylinder 317 is coaxially connected with a joint rod 318 outside, the joint rod 318 is a hollow structure, a ring of inner gear ring 321 is arranged on the inner side wall of the joint rod 318, one end of the connecting rod 301 is vertically fixedly connected with the outer side wall of the middle part of the joint rod 318; the first servo motor 302 is installed in the support cylinder 317, the output end of the first servo motor 302 is provided with a first driving gear 319, the inner side wall of the support cylinder 317 is rotatably connected with a second driving gear 320, the first driving gear 319 is engaged with the second driving gear 320, the first servo motor 302 drives the joint rod 318 with the inner gear ring 321 to rotate relative to the support cylinder 317 through the first driving gear 319 and the second driving gear 320, and then realizes the up and down swing of the connecting rod 301 connected therewith.

[0112] Further, as shown in Figure 19As shown, in order to make the connecting rod 301 swing upward, the lunar soil particles in the drum-type digging wheel group 303 can be smoothly poured into the sorting enrichment mechanism 100, the connecting rod 301 can be provided as a two-section foldable structure. Specifically, the connecting rod 301 includes two sections of rods connected in rotation, a third driving mechanism is arranged between the two sections of rods, and the third driving mechanism is used to drive the rotational movement of the section of rod connected with the drum-type digging wheel group 303. The third driving mechanism includes a third servo motor 316, the two sections of rods of the connecting rod 301 are hinged through a rotating shaft 323, the ends of the rotating shaft 323 are respectively connected to bearing connecting plates 322 fixed in the rods through bearings, a bevel gear 313 is arranged on the rotating shaft 323, the third servo motor 316 is installed in one of the sections of rods, a bevel gear 313 is also connected to the output shaft of the third servo motor 316, the third servo motor 316 and the rotating shaft 323 are engaged through a bevel gear set to realize power transmission, and then realize the relative folding movement between the two sections of rods.

[0113] As shown, Figures 20 to 35 The sorting enrichment mechanism 100 of the embodiment includes a driving part 101, a spectrum scanning part 103, an inlet shell 104, a bearing 106, a collection shell 107, a rotating table 108, a protective cover 109, a multi-channel conveying pipe and a fine screen enrichment box 113. The upper end of the collection shell 107 is of an open structure, the lower end of the collection shell 107 is in communication with the multi-channel conveying pipe, and the multiple branch pipes 111 of the multi-channel conveying pipe are respectively in communication with the fine screen enrichment box 113 and the sintering mechanism 400.

[0114] The inlet shell 104 and the protective cover 109 are respectively fixed at the open ends of the collection shell 107, the rotating table 108 is located in the collection shell 107 and a waste collection interval 114 is reserved between the rotating table 108 and the peripheral side wall of the collection shell 107; the driving end of the driving part 101 is connected with the center position of the rotating table 108 and drives the rotating table 108 to rotate; the first side wall 115 lower end above the rotating table 108 and / or the second side wall 116 lower end above the rotating table 108 of the protective cover 109 are provided with a sample brush 117, the sample brush 117 is in contact with the upper surface of the rotating table 108; the inlet shell 104 is arranged corresponding to the inlet.

[0115] The spectrum scanning part 103 is installed on the protective cover 109, the scanning end of the spectrum scanning part 103 is located above the outside of the protective cover 109 and does not enter the protective cover; a plurality of fine screen holes 120 are formed in the rotating table 108, a first valve for controlling the closing or opening of each fine screen hole 120 is installed at the position corresponding to each fine screen hole 120 on the bottom surface of the rotating table 108, and a second valve 119 for controlling the opening of different branch pipes 111 is arranged in the multi-channel conveying pipe.

[0116] The spectral scanning part 103 of the embodiment can adopt a microscopic Raman spectrum scanning system, and the microscopic Raman spectrum scanning system can solve the problems of limited screening range and low screening precision of the current mineral sorting technology by using the microscopic Raman spectrum technology. The microscopic Raman spectrum scanning system is realized by using a microscopic laser Raman spectrometer (Raman). The microscopic laser Raman spectrometer can perform single-point spectrum analysis, line scanning, fast confocal 2D and 3D mapping, and identify the phase distribution by using a Raman peak. The Raman point analysis or mapping can be performed on the sample surface or internal (transparent material) at different depths.

[0117] As shown in Figure 22 and Figure 23 The sorting and enrichment mechanism 100 of the embodiment further comprises a bearing 106, which is installed above the center position of the turntable 108. The outer ring of the bearing 106 is fixed on the collection shell 107 and / or the protective cover 109, and the inner ring of the bearing 106 is fixedly connected with the center position of the turntable 108. The inner ring of the bearing 106 is also connected with the driving end of the driving part 101 and rotates the turntable 108 under the driving of the driving part 101. By arranging the bearing, the turntable can be conveniently driven to rotate by the driving part, so that the sample brush can sweep the lunar soil sample into the fine screening hole.

[0118] Specifically, the inner ring of the bearing 106 of the embodiment is drivingly connected with the driving end of the driving part 101 through a driving gear set 102. The driving gear set 102 can comprise a driving gear and a driven gear. The driving gear is connected with the driving end of the driving part 101, and the driven gear is connected with the inner ring of the bearing 106. The driving gear and the driven gear can be directly engaged for power transmission, or a gear set can be arranged between the driving gear and the driven gear for power transmission. The driving part 101 can adopt a stepping motor.

[0119] In one preferred embodiment of the present embodiment, the size of the fine screening hole 120 is 1-2 times the size of the fine screening lunar soil particle, and the distance between two adjacent fine screening holes 120 is more than twice the size of the fine screening hole 120. (The size of the fine screening hole includes the inner diameter and the height, and the size of the fine screening lunar soil particle refers to the particle size of the lunar soil particle.) This ensures that only one fine screening lunar soil particle is retained in each fine screening hole, which facilitates accurate scanning by the subsequent spectral scanning part.

[0120] As shown in Figure 22 In one preferred embodiment of the present embodiment, the center position of the turntable 108 is further provided with a circular arc-shaped waste collection hole 121. The lunar soil particles that are not collected into the fine screening hole can be discharged through the waste collection hole.

[0121] In one preferred embodiment of the present embodiment, as shown in Figure 26 andFigure 27 As shown, the first valve is a memory alloy valve. The memory alloy valve comprises a memory alloy 118 and a power module (DC / DC power module) 123, and the DC / DC power module can be used to drive the memory alloy 118 to move, thereby realizing the opening and closing of the fine sieve hole. The power module 123 controls the opening and closing of the memory alloy valve, which can be realized by an electric / magnetic / thermal system. One end of the memory alloy 118 is connected to the power module 123 and is driven by the power module 123 to move, and the other end of the memory alloy 118 is placed at the bottom of the fine sieve hole. When the micro-Raman spectrum scanning system converts the spectral imaging information of the fine sieve lunar soil particles in the scanned fine sieve hole into a control signal and transmits it to the DC / DC power module, the power output specific voltage and current value, controls the memory alloy 118 to deform, so as to realize the opening and closing of the valve, and the closing and opening state of the memory alloy 118 is as shown in Figure 6 and Figure 7 As shown. In addition, in order to ensure that each control component such as the power module in each fine sieve hole operates independently and does not interfere with each other, the spacing between each fine sieve hole is more than 2 times the hole diameter, and the blank material of the turntable is an insulating and heat-insulating material. The memory alloy is a special alloy material, which can deform, such as shrinkage, elongation, bending, etc., when connected to the power supply and heated. The memory alloy preferably uses a nickel-titanium memory alloy. The working principle of the magnetic memory alloy is to use the Zeeman static magnetic force of the magnetic field on the unfavorable orientation of the martensite variant in the memory alloy to promote the growth of the favorable orientation of the martensite variant and swallow the unfavorable orientation of the variant (manifested as the movement of the twin boundary), thereby producing macroscopic deformation. When the magnetic field strength decreases or is removed, the twin boundary returns to the original position. The working principle of the electrically driven / heat-driven memory alloy is that the shape memory alloy is plastically deformed in the martensite state, and then heated to a temperature above Af, which will automatically return to the parent phase state; if it is cooled again below Mf temperature, it will automatically return to the original plastic deformation or martensite shape.

[0122] As shown in Figures 21 to 23 The upper end of the collection shell 107 of the embodiment is a circular open structure; the arrangement of the inlet shell 104 and the protective cover 109 can have the following two optional schemes:

[0123] Option 1: Both the feed housing 104 and the protective cover 109 are semi-circular structures. The straight sidewall of the feed housing 104 is the first sidewall 115, and the straight sidewall of the protective cover 109 is the second sidewall 116. The first sidewall 115 and the second sidewall 116 are integrally formed or arranged in contact. In this embodiment, the first sidewall 115 of the feed housing 104 and the second sidewall 116 of the protective cover 109 are separate but arranged in contact. The first sidewall 115 is provided with a first bearing mounting half-hole 126, and the second sidewall 116 is provided with a second bearing mounting half-hole 127. The outer ring of the bearing 106 can be assembled into the bearing mounting hole formed by the first bearing mounting half-hole 126 and the second bearing mounting half-hole 127.

[0124] Option 2: Two feed housings 104 and two protective covers 109 are provided. Both feed housings 104 and protective covers 109 are 1 / 4 circular structures. The two feed housings 104 are arranged opposite each other, and the two protective covers 109 are arranged opposite each other. One protective cover 109 is provided on each side of each feed housing 104. The two straight sidewalls of the feed housing 104 are the first sidewalls 115, and the two straight sidewalls of the protective cover 109 are the second sidewalls 116. The first sidewalls 115 and the adjacent second sidewalls 116 are integrally formed or arranged in contact with the adjacent second sidewalls 116.

[0125] In addition to the two options mentioned above, other options can be used for setting the feed housing 104 and the protective cover 109, such as setting three or four feed housings 104 and protective covers 109.

[0126] Specifically, such as Figure 24 As shown, the lunar soil inlet 105 of the feed housing 104 in this embodiment is designed with a rectangular opening, taking into account that most excavator wheel conveyor structures are rectangular. Since the collection housing 107 and the turntable 108 need to coordinate the cyclical work of filling lunar soil and scanning and sorting, the main structure design of the feed housing 104 can refer to the two optional schemes mentioned above. Furthermore, to ensure a relatively uniform distribution of lunar soil on the turntable and a relatively synchronous and slow particle falling speed, the inner wall of the lunar soil inlet is designed as a spiral funnel-shaped structure based on kinematics calculations. In addition, to ensure that the lunar soil particles quickly enter the fine sieve holes on the turntable, all lunar soil particles on the turntable must be removed before the entire device starts operating. The protective cover 109 is arranged adjacent to the feed housing 104. The function of the protective cover is to prevent the lunar soil from being stirred up or scattered during cleaning and collection, causing contamination and interfering with the normal operation of the detection system and electronic equipment. The protective cover and the sample brush at the bottom of the feed housing are both designed to ensure that the lunar soil particles are quickly filled into the fine sieve holes and to ensure the cleanliness of the turntable.

[0127] In order to make the microscopic Raman spectrum scanning system imaging clear, the lunar soil inlet 105 and the sample brush at the bottom of the protective cover 109 will ensure that there is at most one lunar soil particle in each fine screening hole, which is called a fine screening lunar soil particle (since the lunar soil particles entering the inlet shell have been screened, the lunar soil particles entering the inlet shell are lunar soil particles within a fixed size range). Excess lunar soil particles are swept into the waste collection interval and the waste collection hole by the sample brush, and finally fall into the recovery chamber.

[0128] As shown in Figure 21 , Figure 22 , Figures 28 to 35 The multi-channel conveying pipe of the embodiment further comprises a main pipe 110, the upper end of the main pipe 110 is connected and communicated with the lower end of the center of the collection shell 107, and the lower end of the main pipe 110 is respectively communicated with the upper end of a plurality of branch pipes 111; the lower end of the main pipe 110 is provided with the second valve 119.

[0129] As shown in Figure 21 , Figure 22 , Figures 28 to 35 The branch pipes 111 of the embodiment are two, and the corresponding collection boxes are also two, which are a recovery box 112 and a fine screening enrichment box 113, respectively. The recovery box 112 is used for recovering excess lunar soil particles that do not enter the fine screening hole, and the fine screening enrichment box 113 is used for receiving fine screening lunar soil particles of the same category selected by the spectrum scanning part; the second valve 119 is a ball valve, the main pipe 110 and the branch pipe 111 are respectively provided with a long strip-shaped limiting hole 124 extending along the length direction thereof, one end of a plurality of limiting holes 124 is communicated, and the ball valve is provided with a limiting rod 125, and the limiting rod 125 is arranged in the limiting hole 124. The limiting hole and the limiting rod are arranged to avoid excessive movement of the second valve in each pipe and limit the movement range of the ball valve.

[0130] As shown in Figure 21 , Figure 22 , Figures 28 to 35 The main pipe 110 and the branch pipe 111 of the embodiment are both provided with a vibration motor 122. The arrangement of the vibration motor can accelerate the falling of the lunar soil particles and avoid the adhesion of small lunar soil particles to the inner wall during the pipe conveying process.

[0131] One preferred scheme of the embodiment is that the sorting and enrichment mechanism 100 further comprises a controller, and the controller is electrically connected with the driving part 101, the spectrum scanning part 103, the first valve and the second valve 119, respectively. By arranging the controller, automatic control of each electrical component can be realized, and the automation of the lunar soil fine screening and enrichment can be realized.

[0132] The lunar soil fine screening enrichment mechanism of the embodiment can realize non-destructive and efficient identification of lunar soil particles by scanning the fine screening holes on the rotating table by the spectrum scanning part, and solve the problems of limited screening range and low screening precision of the current mineral separation technology.

[0133] The embodiment also provides a lunar soil fine screening enrichment method, which is realized by using the separation and enrichment mechanism 100 and includes the following steps.

[0134] S1, the lunar soil particles screened by the particle size primary screening device are fed into the conveying device through the inlet shell 104 and then conveyed to the rotating table 108, and then the driving part 101 drives the rotating table 108 to rotate by a set angle, and in the rotating process, the sample brush 117 at the lower end of the first side wall 115 and / or the sample brush 117 at the lower end of the second side wall 116 sweep the fine screening lunar soil particles with sizes suitable for the fine screening holes 120 into the fine screening holes 120, at this time, the first valve below the fine screening hole 120 is closed (to ensure that there is only one fine screening lunar soil particle in each fine screening hole), and the remaining lunar soil particles are swept into the waste collection interval 114 and then conveyed into the corresponding collection box through the multi-channel conveying pipe;

[0135] S2, after the rotating table 108 rotates by the set angle under the driving of the driving part 101, the rotating table 108 stops rotating, the spectrum scanning part 103 is started to perform surface scanning on the fine screening holes 120 on the part of the rotating table 108 below the protective cover 109, Raman imaging data is obtained, the fine screening lunar soil particles in the scanned fine screening holes 120 are classified through spectrum information (each lunar soil particle is enriched with a large proportion of minerals, each mineral has its own spectrum information, which can be matched with the spectrum in the system library for classification, since the scanning part performs surface scanning, all the scanned lunar soil particles in the fine screening holes can be uniformly classified; Raman spectrum is a chemical fingerprint unique to a specific molecule or material, and can be used to quickly identify mineral types or distinguish different mineral particles. There are thousands of spectra in the Raman spectrum database, and by quickly searching, the spectrum data matching the analyzed substance can be found, so that the analyzed substance can be identified.), and then the first valve below the scanned fine screening hole 120 is opened in sequence according to the classification (the same classification is opened at the same time), so that the fine screening lunar soil particles of the same classification are collected together, and the fine screening lunar soil particles of different classifications are collected into different collection boxes in batches;

[0136] S3, after the lunar soil particles in the scanned fine screening holes 120 are collected, the fine screening and enrichment process is completed.

[0137] The lunar soil fine screening enrichment method of the embodiment can be applied to special environments such as high vacuum, microgravity, large temperature difference and strong radiation on the moon, and solve the deficiencies of the traditional ground mineral separation technology.

[0138] The lunar soil fine screening and enriching mechanism and method of the embodiment innovatively uses a memory alloy to replace a complex mechanical servo mechanism, solves the micron-level servo system control problem, improves the precision and durability of the mineral separation device, and reduces the later maintenance cost of the device.

[0139] As Figure 36 and Figure 37As shown, the sintering mechanism 400 of the present embodiment includes a feeding pipe 401, a furnace body 402, a microwave source 403, an infrared temperature detector 404, and a bottom pressure component 405. The furnace body 402 has a sintering cavity 406. The feeding pipe 401 is arranged on the top of the furnace body 402 and communicates with the sintering cavity 406. The microwave source 403 and the infrared temperature detector 404 are respectively fixed on the side wall of the furnace body 402. The feeding pipe 401 communicates with the remaining lunar soil particle outlet pipeline of the sorting and enrichment mechanism 100. The bottom pressure component 405 is arranged at the bottom of the sintering cavity 406. The sintering mechanism can sinter the remaining lunar soil particles into lunar soil bricks. After the specific lunar soil particles are sorted and enriched, the remaining lunar soil enters the sintering device furnace body through the feeding pipe. The bottom pressure component is started and works at a set pressure. The microwave source is started synchronously to heat at a set heating curve until the end. During the process of pressure and heating, the output power of the microwave source can be automatically adjusted by the temperature control system of the microwave source according to the temperature information output by the infrared temperature detector, so as to achieve the best sintering effect. After the lunar soil bricks are cooled to room temperature, the pressure of the bottom pressure component is removed, the side wall furnace cover is opened, and the internal mechanical device (pushing mechanism) takes out the lunar soil bricks and transports them to the outside of the detection shell through the vertical conveying mechanism at the back. The microwave sintering mechanism has the following advantages: the microwave heating process is simple, and it can quickly heat to high temperature. It can heat to 2000℃ at a heating rate of 1000℃ / min, accelerate the sintering kinetics, and greatly shorten the sintering time. Microwave sintering has strong penetration ability, can penetrate into the sample interior, rapidly raises the temperature of the sample center, and makes the sintering wave propagate from the inside to the outside, thereby achieving uniform heating of the entire sample. Rapid and uniform heating can form a uniform fine crystal structure and high density in the material interior, avoid the probability of sample cracking or the formation of internal thermal stress, and thereby improve the mechanical properties of the material. Studies have shown that iron nanoparticles in lunar soil can couple with microwave radiation to generate a large amount of heat, so that the lunar soil material can be rapidly sintered (may compensate for mixed sintering). Because the microwave sintering time is greatly shortened, it saves 70% to 90% of energy compared with traditional sintering. At the same time, there is abundant solar energy and nuclear fusion energy on the moon. Solar energy can be converted into electric energy through a solar energy receiving converter, and then converted into a microwave beam through a thermoelectric converter, thereby realizing in-situ resource utilization of energy, reducing the use of chemical energy, and saving storage space. The bottom pressure component 405 can be a mechanical pressure device, such as a piston type or lever type compressor. The main consideration is that the high vacuum environment on the moon is not suitable for hydraulic and pneumatic machines as pressure components, so a pure mechanical external force driven compression space method is selected for pressure. During the sintering process of lunar soil particles, the particles may be bonded to each other, resulting in a decrease in the gap between the particles. Therefore, in order to obtain better sintering effect and mechanical properties of the sintered lunar soil bricks, heat pressing treatment is needed during the sintering process.

[0140] As Figure 1 and Figure 41 shown, the vertical conveying mechanism 500 is arranged in the detection shell 200, and is located at the rear side of the sintering mechanism 400, and the rear side of the sintering mechanism 400 is provided with a sintered material outlet; the top of the detection shell 200 is provided with a conveying port 202, which is located at the rear side of the material inlet 201, and the vertical conveying mechanism 500 is provided with a conveying plate 501, which is located directly below the conveying port 202 and can move up and down between the sintered material outlet and the conveying port 202 under the conveying of the vertical conveying mechanism; the sintering mechanism is also provided with a pushing mechanism 408 for pushing out the sintered material. The pushing mechanism 408 can adopt the form of an electric push rod combined with a pushing plate, which is used to push the sintered lunar soil bricks onto the conveying plate. During sintering, the pushing plate is fixed at the edge of the furnace body. After sintering is completed, the pushing plate pushes the lunar soil bricks out of the sintering cavity under the action of the electric push rod.

[0141] Specifically, as Figures 38 to 40 shown, the sintering mechanism 400 of the embodiment is provided with a door body 407 close to one side of the vertical transmission mechanism, and the door body 407 can open or close the sintered material outlet. The bottom of the door body 407 is driven to move up and down by a door body driving mechanism 409. The pushing mechanism 408 is arranged on the side opposite to the door body 407, and the pushing mechanism 408 can push out the sintered lunar soil bricks. The door body 407 can be slidably connected to the sintered material outlet in the form of double guide rails, which ensures the opening and closing of the door body and the fastening of the connection between the door body and the sintered material outlet. The door body driving mechanism 409 can adopt an electric push rod.

[0142] As Figure 41 shown, the vertical conveying mechanism 500 of the embodiment includes a conveying motor 502, a light rod 503 and a lead screw 504. The conveying motor 502 is mounted on the inner side wall of the bottom of the detection shell 200. The light rod 503 and the lead screw 504 are both arranged vertically. The output end of the conveying motor 502 is fixedly connected to the lower end of the lead screw 504. The light rod 503 is fixed at the top and the bottom of the detection shell 200 at both ends. The conveying plate 501 is arranged horizontally and is threadedly connected to the lead screw 504. The light rod 503 also passes through the conveying plate 501 and is slidably connected to the conveying plate 501. The inner side of the bottom of the detection shell 200 is provided with a ┌-shaped base plate 505, and the lower end of the lead screw 504 is rotatably connected to the base plate 505. Then the conveying motor 502 is arranged at the bottom of the base plate 505, and then the lead screw 504 is driven to rotate by the conveying motor 502. A nut 506 can be arranged on the conveying plate 501, and the nut is interference-fitted with the conveying plate. Then the lead screw 504 passes through the conveying plate 501 and is threadedly connected to the nut 506.

[0143] As Figure 1 shown, the fish-eye camera 203 is installed below the connection between the digging mechanism 300 and the detection shell 200, and the navigation camera 204 is installed at the top front end of the detection shell 200. A multi-degree-of-freedom mechanical arm 205 is further arranged on the rear side wall of the detection shell 200, and the end of the multi-degree-of-freedom mechanical arm 205 is provided with a clamp 206 for carrying the sintered lunar soil brick. The fish-eye camera 203 is also installed below the connection between the multi-degree-of-freedom mechanical arm 205 and the detection shell 200. Two fish-eye cameras arranged side by side can be arranged below the digging mechanism 300, and the two fish-eye cameras are mainly used to provide a close-range view of the lunar soil. The navigation camera 204 has a visibility of 306°, so it can provide an overhead view of the surrounding environment and provide the main operating awareness for the driving operation of the lunar exploration device. The lunar soil brick obtained after sintering can be conveyed to the conveying port 202 at the top of the detection shell 200 through the conveying plate 501, and the clamp 206 at the end of the multi-degree-of-freedom mechanical arm 205 is used to complete the carrying of the lunar soil brick.

[0144] Another optional solution of the embodiment is that the multi-degree-of-freedom mechanical arm 205 can be a seven-degree-of-freedom mechanical arm, which can be realized by using the existing structure. An optional solution of the embodiment is that Figure 42 two fixed plates arranged in correspondence with each other are arranged on the rear side wall of the detection shell 200, and then a lead screw 208 and an optical axis 214 are rotatably installed between the two fixed plates. The lead screw 208 and the optical axis 214 are arranged in parallel, and a sliding block 213 is sleeved on the lead screw 208 and the optical axis 214. The sliding block 213 is threadedly connected with the lead screw 208 and is in sliding fit with the optical axis 214. Then, the lead screw 208 can be driven to rotate by a motor, so as to realize the up-down movement of the sliding block 213 on the rear side wall of the detection shell 200. The seven-degree-of-freedom mechanical arm can be fixed on the sliding block 213 through a base 212. The seven-degree-of-freedom mechanical arm further includes a shoulder 211, a large arm 210, and a small arm 209. The large arm 210 is rotatably connected to the base 212 through the shoulder 211, the small arm 209 is rotatably connected to the large arm 210, and the clamp 206 is rotatably installed at the end of the small arm 209.

[0145] Multi-DOF robot arm is mainly used to carry the lunar soil bricks made by sintering mechanism, and the lunar soil bricks can be used as building materials for lunar base to provide residence for human beings on the moon. At present, the common carrying robot mainly uses robot arm, and the robot arm technology is relatively mature. There are robot arms with three degrees of freedom, four degrees of freedom, five degrees of freedom and six degrees of freedom in the market. In the automatic industrial production, five-axis and six-axis are most widely used. When the robot arm is used in carrying occasions, the six-DOF robot arm is widely used because it can reach any position and angle and control the movement of the object more accurately. When designing the carrying mechanism of the lunar surface exploration device, a six-DOF joint robot arm is first considered. However, the robot arm needs to be installed at the rear end of the exploration shell. If the lunar soil bricks are to be carried, the length of the large arm and the small arm of the six-DOF robot arm needs to be relatively long, which will cause the shoulder joint of the robot arm to bear a large torque, increase the weight of the motor at the shoulder joint and elbow joint, and finally affect the carrying precision of the three-jaw clamp at the end of the robot arm. Based on the above problems, the carrying mechanism of the present design innovatively fixes the base of the six-DOF robot arm on the nut of the screw-nut mechanism, which can add a moving degree of freedom to the base of the six-DOF robot arm and change the joint six-DOF robot arm into a hybrid seven-DOF robot arm, which can greatly reduce the size of the joint six-DOF robot arm.

[0146] As shown in Figure 1 The exploration shell 200 further comprises an energy system 600, and the top of the exploration shell 200 is provided with a solar panel 601 and a solar cell 207. The energy system 600 is electrically connected to the solar panel 601, the solar cell 207, the exploration shell 200, the excavation mechanism 300, the sorting and enrichment mechanism 100 and the sintering mechanism 400. The energy system is responsible for energy storage, transmission, collection, secondary power conversion and the like of the lunar surface exploration device, and mainly comprises a three-junction gallium arsenide solar cell array, a lithium ion battery, a power controller, a power supply and distribution module and the like. In the landing stage, the device is powered by the lander. After separating from the lander, the device is powered by the lithium battery, and the solar cell array is charged. The power controller serves as a dispatching control for energy management, and the power supply and distribution module converts the 28V voltage into 12V and 5V voltages required by each unit module according to the needs.

[0147] Further, the exploration shell 200 further comprises a control system, which is connected to each electrically driven component of the excavation mechanism 300, the sorting and enrichment mechanism 100 and the sintering mechanism 400, and can realize automatic control.

[0148] As shown in Figures 1 to 6 The bottom of the exploration shell 200 comprises a moving mechanism, which comprises a wheeled moving mechanism, a tracked moving mechanism, a legged moving mechanism, a wheeled tracked moving mechanism and a wheeled legged moving mechanism 700.

[0149] As shown in Figure 6 The wheel-leg mobile mechanism 700 of the embodiment comprises a mobile wheel 701, a first mobile motor 702, a second mobile motor 703, a third mobile motor 704, a first connecting rod 705, and a second connecting rod 706. The first mobile motor 702 is installed on the side wall of the detection shell 200 and is vertically fixedly connected with one end of the first connecting rod 705. The first connecting rod 705 extends forward and backward. The other end of the first connecting rod 705 is provided with the second mobile motor 703. The driving end of the second mobile motor 703 is vertically arranged downward and is vertically fixedly connected with one end of the second connecting rod 706. The second connecting rod 706 is in a shape of [. The other end of the second connecting rod 706 is provided with the third mobile motor 704. The driving end of the third mobile motor 704 extends left and right and is fixedly connected with the central shaft of the mobile wheel 701. The mobile wheel 701 is located outside the second connecting rod 706. The wheel-leg mobile mechanism can realize automatic storage and stretching. Figures 1 to 5 As shown in

[0150] Among them, the embodiment selects the wheel-leg mobile mechanism 700. Compared with other mobile mechanisms, the wheeled mobile mechanism is relatively simple in structure and control, has the advantages of fast speed, flexible movement and low energy consumption, but it is not suitable for crossing obstacles such as ditches, steps and stairs, and has poor obstacle crossing ability. The tracked mobile mechanism is superior to the wheeled mobile robot in terms of terrain adaptability, has high obstacle crossing ability and good environmental adaptability in steep terrain and complex environment, but the tracked robot has high energy consumption and needs to consider the service life. In theory, the leg-type mobile mechanism is the most flexible movement mechanism, and has strong terrain adaptability and maneuvering flexibility, but the leg-type mobile mechanism usually has a complex mechanical structure and control system, and many difficulties need to be overcome to realize stable and high-speed walking. The wheel-leg mobile mechanism is finally selected in the embodiment, which has high obstacle crossing ability and can move quickly and efficiently. The wheel-leg mobile mechanism 700 of the embodiment adopts a three-degree-of-freedom mobile mechanism, and the positions of the three joints are driven by stepping motors. The first connecting rod 705 and the detection shell 200 are driven by the first mobile motor 702, which can change the height of the detection shell relative to the lunar surface. The second connecting rod 706 is driven by the second mobile motor 703, which can change the steering of the mobile wheel 701, so that the lunar surface detection device moves quickly and efficiently on the lunar surface. At the same time, the second connecting rod 706 adopts an I-shaped structure, i.e. half of the design of an I-shaped structure, which can reduce the size of the lunar surface detection device in the width direction, so that the size of the lunar surface detection device in the width direction is as small as possible in the converging state. The second connecting rod 706 and the mobile wheel 701 are driven by the third mobile motor 704, which can drive the mobile wheel 701 to rotate and provide power for the forward movement of the lunar surface detection device. Considering the softness of the lunar soil, the surface of the mobile wheel 701 can be provided with convex lines.

[0151] The lunar surface detection device of the embodiment is in the converging state of the wheel-leg mobile mechanism 700 before the lander reaches the lunar surface, as shown in Figure 5 , that is, the outer envelope size of the lunar surface detection device in the converging state is 1000x800x500mm; when the lunar surface detection device is in the state of moving on the lunar surface without digging lunar soil, the mobile wheel and the solar panel of the lunar surface detection device are unfolded, the navigation camera at the top end of the lunar surface detection device and the antenna are stretched out to complete the movement of the robot on the lunar surface, as shown in Figure 2 ; when the lunar surface detection device is in the digging state, the digging mechanism at the front end of the lunar surface detection device rotates at the same time to make the drum-shaped digging wheel group contact the ground to unfold the digging work, as shown in Figure 3As shown; when the lunar exploration device digs and preliminarily sorts the lunar soil, it will enter the fine sorting stage, the digging mechanism on the lunar exploration device deforms to make the lunar soil in the drum-type digging wheel enter the sorting and enrichment device in the exploration shell, after the lunar soil particles are sorted by the microscopic Raman spectrum scanning system, the specific fine sorting lunar soil mineral particles are collected through the sorting channel, and the remaining lunar soil particles fall into the microwave hot-pressing sintering device, and the lunar soil bricks made can be carried by the seven-degree-of-freedom mechanical arm at the rear end of the lunar rover, as shown. Figure 4

[0152] The lunar exploration method of the embodiment of the lunar soil digging, sorting and sintering integration can realize the functions of rapid digging of surface lunar soil, efficient sorting and enrichment of specific minerals and lunar soil sintering.

[0153] The lunar exploration method of the embodiment can realize the functions of rapid digging of surface lunar soil, efficient sorting and enrichment of specific minerals and lunar soil sintering.

[0154] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0155] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0156] ​In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0157] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0158] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0159] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering, characterized in that, The device includes a detection housing, a digging mechanism, a sorting and enrichment mechanism, and a sintering mechanism. The digging mechanism is installed on the front side of the detection housing, and the sorting and enrichment mechanism and the sintering mechanism are respectively installed inside the detection housing. The top of the detection housing is provided with a feed inlet. After the digging mechanism digs lunar soil, it is fed into the detection housing through the feed inlet. The sorting and enrichment mechanism is located below the feed inlet and receives the lunar soil at the feed inlet. The sorting and enrichment mechanism is connected to a fine screening and enrichment box and the sintering mechanism respectively below it, and sends the finely screened lunar soil particles and the remaining lunar soil particles obtained by sorting into the fine screening and enrichment box and the sintering mechanism respectively. The sorting and enrichment mechanism includes a drive unit, a spectral scanning unit, a feed housing, a bearing, a collection housing, a turntable, a protective cover, and a multi-channel conveying pipe. The upper end of the collection housing is open, and the lower end of the collection housing is connected to the multi-channel conveying pipe. Multiple branch pipes of the multi-channel conveying pipe are respectively connected to the fine screening enrichment box and the sintering mechanism. The feed housing and the protective cover are respectively fixed to the open end of the collection housing. The turntable is located inside the collection housing and a waste collection interval is reserved between it and the peripheral side wall of the collection housing. The drive end of the drive unit is connected to the center position of the turntable and drives the turntable to rotate. The lower end of the first side wall of the feed housing above the turntable and / or the lower end of the second side wall of the protective cover above the turntable are provided with sample brushes, which are in contact with the upper surface of the turntable. The feed housing and the feed inlet are arranged correspondingly. The spectral scanning unit is mounted on the protective cover, and the scanning end of the spectral scanning unit is located outside and above the protective cover; the turntable has multiple fine sieve holes, and the bottom surface of the turntable is equipped with a first valve to control the opening or closing of the fine sieve holes corresponding to the position of each fine sieve hole; the multi-channel conveying pipe is equipped with a second valve to control the opening of different branch pipes.

2. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 1, characterized in that, The excavation mechanism includes a drum-shaped digging wheel assembly and a connecting rod. One end of the connecting rod is mounted on the front side of the detection housing via a first drive mechanism and can swing up and down under the drive of the first drive mechanism. The other end of the connecting rod is connected to at least one drum-shaped digging wheel assembly via a second drive mechanism. The drive end of the second drive mechanism is connected to the center position of the drum-shaped digging wheel assembly and drives the drum-shaped digging wheel assembly to rotate back and forth. The drum-shaped digging wheel assembly includes one drum-shaped digging wheel or multiple drum-shaped digging wheels that are coaxially fixedly connected. The drum-shaped digging wheel has an installation opening on its peripheral sidewall. The installation opening is covered by a gate mechanism, and a digging bucket is covered on the outside of the gate mechanism. A circumferentially arranged feeding channel is formed between the digging bucket and the gate mechanism. A digging opening is formed between one end of the digging bucket and the peripheral sidewall of the drum-shaped digging wheel. The digging opening is arranged in the circumferential direction of the drum-shaped digging wheel, and a primary screening screen is covered at the digging opening.

3. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 2, characterized in that, The gate mechanism is provided with multiple secondary screening holes, the diameter of which is smaller than the diameter of the primary screening hole.

4. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 2, characterized in that, When the drum-shaped digging wheel assembly includes multiple coaxially fixedly connected drum-shaped digging wheels, the digging openings of two adjacent drum-shaped digging wheels are symmetrically arranged at 180°.

5. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 2, characterized in that, The other end of the connecting rod is vertically connected to a horizontal bar arranged on the left and right. The two ends of the horizontal bar are respectively coaxially rotatably connected to a drum-shaped digging wheel assembly. The second driving mechanism has two driving ends and is respectively connected to the center position of the two drum-shaped digging wheel assemblies and drives the two drum-shaped digging wheel assemblies to rotate back and forth. The two drum-shaped digging wheel assemblies at both ends of the horizontal bar are arranged symmetrically on the left and right.

6. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 2, characterized in that, The digging mechanism consists of two parts, and the digging openings of the drum-shaped digging wheels at corresponding positions on the two digging mechanisms face opposite directions; Or / and, the connecting rod includes two rotatably connected rod sections, with a third drive mechanism between the two rod sections, the third drive mechanism being used to drive the rod section connected to the drum-shaped digging wheel assembly to rotate.

7. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The sorting and enrichment mechanism also includes a bearing, which is installed above the center position of the turntable. The outer ring of the bearing is fixed to the collection housing and / or the protective cover. The inner ring of the bearing is fixedly connected to the center position of the turntable. The inner ring of the bearing is also connected to the drive end of the drive unit and drives the turntable to rotate under the drive of the drive unit.

8. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The size of the fine sieve aperture is 1 to 2 times the size of the fine sieve lunar soil particles, and the distance between two adjacent fine sieve apertures is more than twice the aperture diameter of the fine sieve aperture; Or / and, the turntable is also provided with arc-shaped waste collection holes around its center position; Or / and, the first valve is a shape memory alloy valve.

9. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The upper end of the collection shell has a circular open structure; Both the feed housing and the protective cover are semi-circular structures. The straight sidewall of the feed housing is the first sidewall, and the straight sidewall of the protective cover is the second sidewall. The first sidewall and the second sidewall are integrally formed or arranged in contact with each other. Alternatively, two feed housings and two protective covers may be provided. Both feed housings and protective covers are 1 / 4 circular structures. The two feed housings are arranged opposite each other, and the two protective covers are arranged opposite each other. One protective cover is provided on each side of each feed housing. The two straight sidewalls of the feed housing are the first sidewalls, and the two straight sidewalls of the protective cover are the second sidewalls. The first sidewalls are integrally formed with the adjacent second sidewalls or the first sidewalls are arranged in contact with the adjacent second sidewalls.

10. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The multi-channel delivery pipe also includes a main pipe, the upper end of which is connected to and communicates with the lower center of the collection shell, and the lower end of the main pipe is connected to the upper ends of multiple branch pipes respectively; the second valve is provided on the inner side of the lower end of the main pipe.

11. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 10, characterized in that, There are two branch pipes, which are respectively connected to the fine screening enrichment box and the sintering mechanism; the second valve is a ball valve, and the main pipe and the branch pipe are respectively provided with long strip-shaped limiting holes extending along their own length direction. One end of the multiple limiting holes is connected. The ball valve is provided with a limiting rod, which passes through the limiting hole; a vibration motor is provided on both the main pipe and the branch pipe.

12. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The sintering mechanism includes a feed inlet, a furnace body, a microwave source, an infrared thermometer, and a bottom pressurizing component. The furnace body has a sintering cavity. The feed inlet is located at the top of the furnace body and communicates with the sintering cavity. The microwave source and the infrared thermometer are respectively fixed on the side wall of the furnace body. The feed inlet is connected to the outlet pipe of the remaining lunar soil particles of the sorting and enrichment mechanism. The bottom pressurizing component is located at the bottom of the sintering cavity.

13. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The detection housing is equipped with a vertical conveying mechanism located behind the sintering mechanism, and the rear side of the sintering mechanism is provided with a sintering material outlet. The top of the detection housing is provided with a conveying port located behind the feed inlet. The vertical conveying mechanism is equipped with a conveying plate located directly below the conveying port and capable of moving up and down between the sintering material outlet and the conveying port under the conveying of the vertical conveying mechanism. The sintering mechanism is also equipped with a pushing mechanism to push out the sintering material.

14. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 13, characterized in that, The vertical conveying mechanism includes a conveying motor, a light rod, and a lead screw. The conveying motor is installed on the bottom inner wall of the detection housing. The light rod and the lead screw are both arranged vertically. The output end of the conveying motor is fixedly connected to the lower end of the lead screw. The two ends of the light rod are respectively fixed to the top and bottom of the detection housing. The conveying plate is arranged horizontally and threadedly connected to the lead screw. The light rod also passes through the conveying plate and is slidably connected to the conveying plate.

15. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, A fisheye camera is installed below the connection between the excavation mechanism and the probe housing, and a navigation camera is installed at the top front end of the probe housing; a multi-degree-of-freedom robotic arm is also provided on the rear side wall of the probe housing, and a clamp for transporting lunar soil bricks sintered by the sintering mechanism is provided at the end of the multi-degree-of-freedom robotic arm; a fisheye camera is also installed below the connection between the multi-degree-of-freedom robotic arm and the probe housing.

16. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The detection housing is also equipped with an energy system, and a solar panel is installed on the top of the detection housing. The energy system is electrically connected to the solar panel, the detection housing, the excavation mechanism, the sorting and enrichment mechanism, and the sintering mechanism.

17. A lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to any one of claims 1 to 6, characterized in that, The bottom of the detection housing is provided with a moving mechanism, which includes a wheeled moving mechanism, a tracked moving mechanism, a legged moving mechanism, a wheel-tracked moving mechanism, and a wheel-legged moving mechanism.

18. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 17, characterized in that, The wheel-leg type moving mechanism includes a moving wheel, a first moving motor, a second moving motor, a third moving motor, a first connecting rod, and a second connecting rod. The first moving motor is mounted on the side wall of the detection housing and is vertically fixedly connected to one end of the first connecting rod. The first connecting rod extends forward and backward. The other end of the first connecting rod is provided with a second moving motor. The drive end of the second moving motor is arranged vertically downward and is vertically fixedly connected to one end of the second connecting rod. The second connecting rod has a [-shaped structure]. The other end of the second connecting rod is provided with a third moving motor. The drive end of the third moving motor extends left and right and is fixedly connected to the central axis of the moving wheel. The moving wheel is located outside the second connecting rod.

19. The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering according to claim 18, characterized in that, There are four sets of wheel-leg moving mechanisms, with two sets of wheel-leg moving mechanisms installed on the left and right side walls of the detection housing, respectively.

20. A lunar surface exploration method integrating lunar soil excavation, sorting, and sintering, characterized in that, The lunar surface exploration device integrating lunar soil excavation, sorting, and sintering as described in any one of claims 1 to 19 is used, comprising the following steps: excavating lunar soil using an excavation mechanism and throwing the excavated lunar soil particles backward into a sorting and enrichment mechanism; the sorting and enrichment mechanism sorts and finely sieves the lunar soil particles; and sending the finely sieved lunar soil particles and the remaining lunar soil particles into a fine sieve enrichment box and a sintering mechanism, respectively; and sintering the remaining lunar soil particles to produce lunar soil bricks.

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