An extreme topography mobile building module for application to lunar lava tubes

Abstract

An extreme landform movable building module applied to a lunar lava tube belongs to the technical field of lunar building construction.The existing lunar exploration equipment in the form of a lunar rover adopts a wheel type moving mode, and has the problems of being difficult to adapt to more rugged terrain and unexplored in-tube space.The expandable main frame is provided with a lunar soil filling wall outside, the head end and the tail end of the expandable main frame are respectively provided with two groups of watertight doors in a hinged form, each group of watertight doors is inlaid with an observation window, four groups of cladding track structures are uniformly arranged in the circumferential direction around the expandable main structure, the four groups of cladding track structures are connected with the expandable main structure through a track suspension system, and a solar photovoltaic energy collection system is arranged between the two adjacent groups of cladding track structures.The extreme landform movable building module is used for adapting to the extreme landform of the lava tube and meeting the needs of moving and exploring.

Description

Technical Field

[0001] This invention relates to the field of lunar construction technology, specifically to a mobile building module for extreme terrain applications in lunar lava tubes. Background Technology

[0002] The construction of a lunar research base is an essential infrastructure for exploring lunar space and developing lunar resources, and it is also an important follow-up work of my country's Chang'e program. In recent years, the discovery of lava tubes on the Moon has revealed new possibilities for future lunar exploration and development. Lava tubes have inherent advantages as exploration sites. They are believed to have originated from a period of lunar volcanic activity. Due to their structural characteristics, lava tubes are relatively stable, with relatively constant diurnal temperature variations, and can isolate radiation and micrometeorites, making them ideal for lunar development. Furthermore, because they are less affected by external environmental interference, lava tubes still retain clues to the origins of life that has disappeared on Earth, and the water and trace elements they may contain have significant development potential. In addition, the exploration of lava tubes on the Moon can serve as a prelude to future lava tube exploration on Mars.

[0003] Lava tubes are hollow conduits formed by the flow and consolidation of lava. Under the influence of tectonic activity, earthquakes, and impacts, the top of a lava tube often collapses, forming a skylight. Currently, lava tube skylights differ from ordinary impact craters. Ordinary impact craters have a complete bowl-shaped bottom, while the lower part of a lava tube skylight is connected to the lava tube, and its bottom is deeply sunken or irregularly shaped, with a depth much greater than that of ordinary impact craters.

[0004] Currently, most existing lunar exploration equipment, such as lunar rovers, adopts a wheeled mobility mode. For example, invention patent CN113086247A, published on July 9, 2021, discloses a planetary lava tube exploration vehicle. This vehicle uses a wheeled mobility mode and improves its obstacle-crossing ability and adaptability to complex terrains such as slopes by adjusting the center of gravity position during operation when traveling on complex surfaces. However, due to the presence of collapse debris and skylight slopes inside lava tubes, the internal environment is complex and variable. When ordinary wheeled lunar rovers travel inside lava tubes, the possibility of rollover increases when traversing very steep or complex sections with collapse debris, making it difficult to adapt to more rugged terrain and unexplored spaces within the tubes.

[0005] In conclusion, facing the entirely new and unknown environment of lava tubes, existing lunar exploration equipment, such as lunar rovers, mostly employs a wheeled mobility mode, which struggles to adapt to the more rugged terrain and unexplored spaces within the tubes. Therefore, a novel approach is needed to adapt to the extreme topography of lava tubes and meet the requirements for exploration while moving. Summary of the Invention

[0006] The purpose of this invention is to address the problem that existing lunar exploration equipment, such as lunar rovers, mostly adopts a wheeled mobility mode, which makes it difficult to adapt to more rugged terrain and unexplored internal spaces. Therefore, this invention provides a mobile building module for extreme terrain applications in lunar lava tubes.

[0007] The technical solution of this invention is:

[0008] A mobile building module for extreme terrain applications in lunar lava tubes comprises a deployable main structure and a movable outer skin structure, with the outer skin structure covering the main structure. The main structure includes a deployable main frame 1, lunar regolith-filled walls 2, two sets of watertight doors 3, and two observation windows 4. The lunar regolith-filled walls 2 are fitted around the outside of the main frame 1. Two sets of watertight doors 3 are hinged to the head and tail ends of the main frame 1, with each set of watertight doors 3 having an embedded observation window 4. The movable outer skin structure includes a tracked suspension system 5, a solar photovoltaic energy collection system 6, and two layers of covering tracks. Unit 7, two layers of covered track units 7 are arranged sequentially from head to tail along the length of the main structure outside the deployable main structure. Each layer of covered track unit 7 includes four sets of covered track structures 71. The four sets of covered track structures 71 are evenly arranged around the perimeter of the deployable main structure. The four sets of covered track structures 71 are connected to the deployable main structure through the track suspension system 5. Each set of covered track structures 71 includes two self-driven track assemblies 711. The two self-driven track assemblies 711 are arranged side by side along the length of the deployable main structure. A solar photovoltaic energy collection system 6 is provided between two adjacent sets of covered track structures 71.

[0009] Furthermore, the deployable main frame 1 is a deployable shape memory alloy main frame.

[0010] Furthermore, the deployable main frame 1 has a hollow rotating body structure in the deployed state. The outer side of the hollow rotating body structure is sequentially processed with multiple annular positioning grooves from the head to the tail along the length direction of the main frame. The lunar soil filling wall 2 includes multiple annular walls 21, which are respectively matched with multiple annular positioning grooves. The multiple annular walls 21 are respectively fitted into the multiple annular positioning grooves of the hollow rotating body structure.

[0011] Furthermore, the lunar soil filling wall 2 is 3D printed using lunar soil resources obtained in situ.

[0012] Furthermore, the multiple annular walls 21, from the head to the tail of the main frame, are sequentially named as follows: first annular wall 211, second annular wall 212, third annular wall 213, fourth annular wall 214, fifth annular wall 215, and sixth annular wall 216. The first annular wall 211 and the sixth annular wall 216 have the same structure, which is a frustum shell structure with the larger diameter end facing inward and the smaller diameter end facing outward. The second annular wall 212 and the fifth annular wall 215 have the same structure, which is a cylindrical shell structure. The third annular wall 213 and the fourth annular wall 214 have the same structure, which is a frustum shell structure with the smaller diameter end facing inward and the larger diameter end facing outward.

[0013] Furthermore, the multiple annular positioning grooves, from the head to the tail of the main frame, are sequentially designated as a first annular positioning groove 11, a second annular positioning groove 12, a third annular positioning groove 13, a fourth annular positioning groove 14, a fifth annular positioning groove 15, and a sixth annular positioning groove 16. The first annular positioning groove 11 and the sixth annular positioning groove 16 are respectively matched with the first annular wall 211 and the sixth annular wall 216; the second annular positioning groove 12 and the fifth annular positioning groove 15 are respectively matched with the second annular wall 212 and the fifth annular wall 215; and the third annular positioning groove 13 and the fourth annular positioning groove 14 are respectively matched with the third annular wall 213 and the fourth annular wall 214.

[0014] Furthermore, two sets of annular motor mounting grooves 17 are respectively machined between the first annular positioning groove 11 and the second annular positioning groove 12, and between the fifth annular positioning groove 15 and the sixth annular positioning groove 16 on the outer side of the unfoldable main frame 1.

[0015] Furthermore, the track suspension system 5 includes four intermediate track suspension structures 51 and four side track suspension structures 52. In each of the four sets of covered track structures 71, a side track suspension structure 52 is provided between each two adjacent sets of covered track structures 71. The bottom end of the side track suspension structure 52 is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. In each set of covered track structures 71, an intermediate track suspension structure 51 is provided between two self-driving track assemblies 711. The bottom end of the intermediate track suspension structure 51 is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2.

[0016] The intermediate track suspension structure 51 includes an intermediate support frame and an intermediate wheel axle support beam. The intermediate support frame is located between two self-drive track assemblies 711. The bottom end of the intermediate support frame is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. The top end of the intermediate support frame is fixedly connected to the intermediate wheel axle support beam. Several wheel axle assembly holes are sequentially machined on both end faces of the intermediate wheel axle support beam along the length of the support beam from front to back. The track wheel axle ends of the self-drive track assembly 711 are inserted into the corresponding wheel axle assembly holes. The track wheel axle and the intermediate wheel axle support beam are rotatably connected by bearings. The upper end face of the intermediate wheel axle support beam is machined into downward inclined slopes on both sides.

[0017] The side track suspension structure 52 includes a side support frame and two side wheel axle support beams. The side support frame is located between two adjacent sets of covered track structures 71. The bottom end of the side support frame is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. The top two sides of the side support frame are fixedly connected to two side wheel axle support beams arranged side by side. Each side wheel axle support beam has several wheel axle mounting holes machined sequentially from front to back along the length of the support beam on the end face near the track. The track wheel axle end of the self-drive track assembly 711 is inserted into the corresponding wheel axle mounting hole. The track wheel axle and the side wheel axle support beam are rotatably connected by bearings. The upper end face of the side wheel axle support beam is machined into a downward inclined surface.

[0018] Furthermore, several solar panels in the solar photovoltaic energy collection system 6 are installed on the top of the side track suspension structure 52.

[0019] Furthermore, each self-driving track assembly 711 includes a vehicle frame, a flexible track 7111, two motor reducers, two drive wheels 7112, and multiple driven wheels 7113. Two drive wheels 7112 are respectively provided on both sides of one end of the vehicle frame. One end of the axle of the drive wheel 7112 is connected to the vehicle frame through a bearing seat. The two motor reducers are installed side by side inside the vehicle frame. The ends of the axles of the two drive wheels 7112 are connected to the shafts of the two motor reducers through couplings. The other end of the axle of the drive wheel 7112 is connected to the side track suspension structure 52 through a bearing seat. Multiple driven wheels 7113 are arranged in pairs opposite to each other on both sides of the vehicle frame. The axles of the driven wheels 7113 are connected to the vehicle frame through bearing seats. The flexible track 7111 covers the outside of the vehicle frame. The two ends of the teeth on the inner side of the flexible track 7111 mesh with the drive wheels 7112 and driven wheels 7113 on both sides, respectively.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The present invention has a simple unfolding structure and is constructed through in-situ resource acquisition, which maximizes the requirement of aerospace materials to be as light as possible and occupy as little area as possible during launch, thereby reducing transportation costs and making it suitable for constructing lunar and space buildings;

[0022] 2. The head and tail of the building module of the present invention are defined by the direction of movement. The bidirectional track allows the building to move in the narrow tunnel without unnecessary turning actions. It is more adaptable to adjusting the direction of movement according to the real-time changes in the external environment and needs, and can enter and exit the lava tube to obtain light energy in accordance with the rhythmic changes of the lunar environment.

[0023] 3. The building modules of this invention are connected by watertight doors, and each individual module can operate independently with a compressed air valve, making it easier to eliminate the impact on other modules when a problem occurs in a building module.

[0024] 4. The building modules of this invention are expandable and detachable, and the unit modules can be replaced and added at any time, meeting the needs of sustainable and gradual exploration of the widely distributed lava pipe network on the moon. Attached Figure Description

[0025] Figure 1 This is an isometric drawing of the mobile building module for extreme terrain applications of the present invention, applied to lunar lava tubes;

[0026] Figure 2 This is a schematic diagram of the structure of the lunar soil-filled wall of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the present invention after the unfoldable main frame and two sets of watertight doors are combined;

[0028] Figure 4 This is a structural schematic diagram of the building module connection component of the present invention.

[0029] In the diagram: 1-Main frame; 11-First annular positioning groove; 12-Second annular positioning groove; 13-Third annular positioning groove; 14-Fourth annular positioning groove; 15-Fifth annular positioning groove; 16-Sixth annular positioning groove; 17-Annular motor mounting groove; 2-Lunar soil filling wall; 21-Annular wall; 211-First annular wall; 212-Second annular wall; 213-Third annular wall; 214-Fourth annular wall; 215-Fifth annular wall; 216-Sixth annular wall; 3-Watertight door; 4-Observation window; 5-Track suspension system; 51-Intermediate track suspension structure; 52-Side track suspension structure; 6-Solar photovoltaic energy collection system; 7-Covered track unit; 71-Covered track structure; 711-Self-driven track assembly; 7111-Flexible track; 7112-Drive wheel; 7113-Driven wheel; 8-Module mounting component insertion end; 9-Module mounting component insertion end; 81-Terminal receiver cover; 82-Snap-on rotatable locking ring; 91-Sealed mounting ring; 92-Inner ridge mounting ring. Detailed Implementation

[0030] Specific implementation method one: Combining Figures 1 to 3 This embodiment describes a movable building module for extreme terrain applications in lunar lava tubes. It includes a deployable main structure and a movable outer skin structure, with the outer skin structure covering the main structure. The main structure includes a deployable main frame 1, lunar regolith-filled walls 2, two sets of watertight doors 3, and two observation windows 4. The lunar regolith-filled walls 2 are fitted around the outside of the main frame 1. Two sets of watertight doors 3 are hinged to the head and tail ends of the main frame 1, each with an embedded observation window 4. The movable outer skin structure includes a tracked suspension system 5 and a solar photovoltaic energy collection system 6. The system includes two layers of track covering units 7, which are arranged sequentially from head to tail along the length of the main structure outside the deployable main structure. Each layer of track covering unit 7 includes four sets of track covering structures 71. The four sets of track covering structures 71 are evenly arranged around the perimeter of the deployable main structure. The four sets of track covering structures 71 are connected to the deployable main structure through a track suspension system 5. Each set of track covering structures 71 includes two self-drive track assemblies 711, which are arranged side by side along the length of the deployable main structure. A solar photovoltaic energy collection system 6 is provided between adjacent sets of track covering structures 71.

[0031] In this embodiment, watertight doors 3 are located at both ends of the main frame 1 to separate the indoor and outdoor environments. Observation windows 4 are embedded in the watertight doors 3 to observe the external condition of the building module. The watertight doors 3 used in this embodiment can be watertight doors manufactured by Winel B.V. with the product model Watertight Muskerscuttle Articlecode 4H15.1. Alternatively, they can be model A circular quick-opening and closing watertight hatches manufactured by Nanjing Yuanda Marine Accessories Co., Ltd.

[0032] In this embodiment, the building modules can be assembled into a strip-shaped building cluster according to actual needs. When two adjacent building modules are assembled, they are connected by building module connecting components. Two adjacent building modules can share the same set of watertight doors 3, and are tightly connected using flexible connection calibration and rigid fastener overlapping methods commonly used in existing aerospace technology. When a building module experiences an emergency or is damaged, an emergency alarm device can notify that the door and adjacent doors to close, breaking the tight connection.

[0033] like Figure 4 As shown, the building module connecting component includes a module installation component insertion end 8 and a module installation component insertion end 9 arranged opposite to each other between two adjacent building modules. The module installation component insertion end 8 is a movable component.

[0034] The module installation component insertion end 8 includes a terminal receiving cover 81 and a snap-fit ​​rotatable locking ring 82. The inner side of the fixing ring of the right end watertight door 3 of the left building module is machined with an annular positioning groove along the circumferential direction. The left end of the snap-fit ​​rotatable locking ring 82 is machined with an annular positioning protrusion that slides with the annular positioning groove. The left end of the snap-fit ​​rotatable locking ring 82 is coaxially arranged with the right end of the right end watertight door 3 and is rotatably connected. The outer side of the snap-fit ​​rotatable locking ring 82 is machined with external threads. The other end of the snap-fit ​​rotatable locking ring 82 is coaxially connected to the terminal receiving cover 81.

[0035] The module mounting component insertion end 9 includes a sealing mounting ring 91 and an inner ridge mounting ring 92. The left end of the right building module is coaxially connected to the inner ridge mounting ring 92. The inner ridge mounting ring 92 has internal threads machined on its inner sidewall. The inner ridge mounting ring 92 is threadedly connected to the snap-fit ​​rotatable locking ring 82. The inner ridge mounting ring 92 is fitted with a sealing mounting ring 91. One end of the sealing mounting ring 91 is fixedly connected to the left end of the right building module. The inner ridge mounting ring 92 and the snap-fit ​​rotatable locking ring 82 achieve a sealing fit through the sealing mounting ring 91.

[0036] A drive mechanism for rotating the snap-fit ​​rotatable locking ring 82 is installed on the inner side of the right-end watertight door 3. The drive mechanism includes a servo motor, a drive gear, and a gear ring. The servo motor is mounted on the inner side of the right-end watertight door 3, and the drive gear is mounted on the shaft of the servo motor. A gear ring is fixedly mounted at the end of the snap-fit ​​rotatable locking ring 82. The gear ring meshes with the drive gear. Driven by the servo motor, the drive gear can rotate the gear ring and the snap-fit ​​rotatable locking ring 82, which is fixedly connected to the gear ring, relative to the fixed part of the right-end watertight door 3, thereby achieving the connection or separation between the snap-fit ​​rotatable locking ring 82 and the inner ridge mounting ring 92. Since the motor + gear ring transmission mechanism is existing technology in the mechanical field, its structure is not shown in the figure. As long as it can drive the snap-fit ​​rotatable locking ring 82 to rotate, it is sufficient and will not be described further here.

[0037] Specific Implementation Method Two: Combining Figures 1 to 3 This embodiment describes a deployable main frame 1 that is a deployable shape memory alloy main frame. With this configuration, the shape memory alloy main frame can be folded into a ring shape in the folded state, facilitating transport to the lunar surface for assembly. Other components and connections are the same as in Specific Embodiment One.

[0038] Specific implementation method three: Combining Figures 1 to 3 In this embodiment, the deployable main frame 1 has a hollow rotating body structure in its deployed state. Multiple annular positioning grooves are sequentially machined on the outer surface of the hollow rotating body structure along the length of the main frame from head to tail. The lunar soil filling wall 2 includes multiple annular walls 21, each of which matches one of the multiple annular positioning grooves. The multiple annular walls 21 are respectively fitted into the multiple annular positioning grooves of the hollow rotating body structure. Other components and connections are the same as in specific embodiments one or two.

[0039] Specific implementation method four: Combination Figures 1 to 3 In this embodiment, the lunar soil-filled wall 2 is 3D printed using lunar soil resources obtained in situ. This configuration allows the unfolded main structure to have its internal gaps, i.e., the annular positioning grooves, filled with 3D-printed lunar soil resources obtained in situ, in its unfolded state. Other components and connections are the same as in specific embodiments one, two, or three.

[0040] Specific Implementation Method Five: Combining Figures 1 to 3In this embodiment, the multiple annular walls 21, from the head to the tail of the main frame, are sequentially designated as a first annular wall 211, a second annular wall 212, a third annular wall 213, a fourth annular wall 214, a fifth annular wall 215, and a sixth annular wall 216. The first annular wall 211 and the sixth annular wall 216 have the same structure, being a frustum-shaped shell structure with the larger diameter end facing inwards and the smaller diameter end facing outwards. The second annular wall 212 and the fifth annular wall 215 have the same structure, being a cylindrical shell structure. The third annular wall 213 and the fourth annular wall 214 have the same structure, also being a frustum-shaped shell structure with the smaller diameter end facing inwards and the larger diameter end facing outwards. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0041] Specific Implementation Method Six: Combination Figures 1 to 3 In this embodiment, the multiple annular positioning grooves, from the head to the tail of the main frame, are sequentially designated as a first annular positioning groove 11, a second annular positioning groove 12, a third annular positioning groove 13, a fourth annular positioning groove 14, a fifth annular positioning groove 15, and a sixth annular positioning groove 16. The first annular positioning groove 11 and the sixth annular positioning groove 16 respectively match the first annular wall 211 and the sixth annular wall 216; the second annular positioning groove 12 and the fifth annular positioning groove 15 respectively match the second annular wall 212 and the fifth annular wall 215; and the third annular positioning groove 13 and the fourth annular positioning groove 14 respectively match the third annular wall 213 and the fourth annular wall 214. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0042] Specific implementation method seven: Combination Figures 1 to 3 In this embodiment, two sets of annular motor mounting grooves 17 are machined between the first annular positioning groove 11 and the second annular positioning groove 12, and between the fifth annular positioning groove 15 and the sixth annular positioning groove 16 on the outer side of the unfoldable main frame 1. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0043] Specific implementation method eight: Combination Figures 1 to 3This embodiment describes a track suspension system 5 comprising four intermediate track suspension structures 51 and four side track suspension structures 52. In each of the four sets of covered track structures 71, a side track suspension structure 52 is provided between every two adjacent sets of covered track structures 71. The bottom end of the side track suspension structure 52 is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. In each set of covered track structures 71, an intermediate track suspension structure 51 is provided between two self-driving track assemblies 711. The bottom end of the intermediate track suspension structure 51 is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2.

[0044] The intermediate track suspension structure 51 includes an intermediate support frame and an intermediate wheel axle support beam. The intermediate support frame is located between two self-drive track assemblies 711. The bottom end of the intermediate support frame is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. The top end of the intermediate support frame is fixedly connected to the intermediate wheel axle support beam. Several wheel axle assembly holes are sequentially machined on both end faces of the intermediate wheel axle support beam along the length of the support beam from front to back. The track wheel axle ends of the self-drive track assembly 711 are inserted into the corresponding wheel axle assembly holes. The track wheel axle and the intermediate wheel axle support beam are rotatably connected by bearings. The upper end face of the intermediate wheel axle support beam is machined into downward inclined slopes on both sides.

[0045] The side track suspension structure 52 includes a side support frame and two side axle support beams. The side support frame is located between two adjacent sets of track-covering structures 71. The bottom end of the side support frame is fixedly connected to the deployable main frame 1 and the lunar soil filling wall 2. The top two sides of the side support frame are fixedly connected to two side axle support beams arranged side by side. Each side axle support beam has several axle mounting holes machined sequentially from front to back along the length of the support beam on the end face near the track. The track axle ends of the self-drive track assembly 711 are inserted into the corresponding axle mounting holes. The track axles and the side axle support beams are rotatably connected by bearings. The upper end face of the side axle support beam is machined into a downward inclined surface. With this configuration, the intermediate track suspension structure 51 and the side track suspension structure 52 support the track axles of the self-drive track assembly 711 and limit the movement of the self-drive track assembly 711. Simultaneously, the movable outer skin covers the main structure, with eight covered track structures arranged in pairs. These tracks are connected to the main structure via a track suspension system, enabling adaptation to complex and varied driving environments, such as inside lava tubes, completely solving the rollover problem. This allows for adaptation to more rugged terrain and unexplored tube spaces. The upper surface of the wheel axle support beam is designed as a downward-sloping surface, ensuring that the track suspension structure is lower than the track structure itself, guaranteeing that the track structure remains in contact with the road surface even when the building module rolls over on rough terrain. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, or seven.

[0046] Specific Implementation Method Nine: Combining Figures 1 to 3 In this embodiment, several solar panels in the solar photovoltaic energy collection system 6 are mounted on the top of the side track suspension structure 52. This arrangement allows the solar photovoltaic energy collection system 6 to be positioned between the track structures, providing energy for module movement. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0047] In this embodiment, the solar photovoltaic energy collection system 6 is a commercially available product. The solar photovoltaic system consists of solar cell arrays, a solar controller, and a battery (or battery bank). An inverter is also included, and the output power is AC 220V.

[0048] Specific Implementation Method Ten: Combining Figures 1 to 3 This embodiment describes a self-driving track assembly 711 comprising a vehicle frame, a flexible track 7111, two motor reducers, two drive wheels 7112, and multiple driven wheels 7113. Two drive wheels 7112 are respectively located on both sides of one end of the vehicle frame. One end of the axle of each drive wheel 7112 is connected to the vehicle frame via a bearing seat. The two motor reducers are installed side-by-side inside the vehicle frame. The ends of the axles of the two drive wheels 7112 are connected to the shafts of the two motor reducers via couplings. The other end of the axles of the drive wheels 7112 is connected to the side track suspension structure 52 via a bearing seat. Multiple driven wheels 7113 are arranged in pairs on both sides of the vehicle frame. The axles of the driven wheels 7113 are connected to the vehicle frame via bearing seats. The flexible track 7111 covers the outside of the vehicle frame, and the two ends of the teeth on the inner side of the flexible track 7111 mesh with the drive wheels 7112 and driven wheels 7113 on both sides, respectively. With this configuration, the motor reducer's shaft drives the two drive wheels 7112 to rotate, which in turn drives all the driven wheels 7113 to rotate via the flexible track 7111. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0049] Working principle

[0050] Combination Figures 1 to 3 This invention explains the working principle of a mobile building module for extreme terrain applications in lunar lava tubes:

[0051] I. Assembly Process of the Building Module: In its folded state, the shape memory alloy main frame of the deployable main structure can be folded into a ring, facilitating transport to the lunar surface for assembly. Once the deployable main structure is transported to the lunar surface, the deployable main frame 1 is unfolded. In its unfolded state, the internal gaps, i.e., the annular positioning grooves, are filled with 3D-printed lunar regolith resources obtained in situ, forming multiple annular walls. Then, four edge track suspension structures 52 are evenly fixed circumferentially to the outer wall of the assembled deployable main frame 1 and lunar regolith-filled wall 2. An intermediate track suspension structure 51 is located between each pair of adjacent edge track suspension structures 52, and is similarly fixed to the outer wall of the assembled deployable main frame 1 and lunar regolith-filled wall 2. Finally, several self-driving track components 711 are installed between the corresponding intermediate track suspension structures 51 and edge track suspension structures 52, completing the assembly of the building module.

[0052] II. Construction Module Travel Process: The controller controls the motor reducers in all self-driven track assemblies 711, enabling simultaneous start and stop of all motor reducers. When the motor reducer is started, its shaft drives the two drive wheels 7112, which in turn drives all driven wheels 7113 via the flexible track 7111, allowing the construction module to travel within the lava tube. If the construction module overturns due to rough terrain, the movable outer skin covers the main structure, ensuring that the track structure remains in contact with the terrain, thus not affecting the module's movement.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile building module for extreme terrain applications in lunar lava tubes, characterized in that: It includes a deployable main structure and a movable outer skin structure, with the movable outer skin structure covering the deployable main structure. The deployable main structure includes a deployable main frame (1), a lunar soil filling wall (2), two sets of watertight doors (3), and two observation windows (4). The lunar soil filling wall (2) is fitted on the outside of the deployable main frame (1). Two sets of watertight doors (3) are installed at the head and tail ends of the deployable main frame (1) in a hinged manner. Each set of watertight doors (3) has an observation window (4) embedded in it. The movable outer skin structure includes a track suspension system (5), a solar photovoltaic energy collection system (6), and two layers of covered track units (7). Unit (7) is arranged sequentially from head to tail along the length of the main structure outside the deployable main structure. Each layer of track-covering unit (7) includes four sets of track-covering structures (71). Four sets of track-covering structures (71) are evenly arranged around the deployable main structure along the circumferential direction. The four sets of track-covering structures (71) are connected to the deployable main structure through the track suspension system (5). Each set of track-covering structures (71) includes two self-drive track components (711). The two self-drive track components (711) are arranged side by side along the length of the deployable main structure. A solar photovoltaic energy collection system (6) is provided between two adjacent sets of track-covering structures (71).

2. The mobile building module for extreme terrain applications in lunar lava tubes according to claim 1, characterized in that: The deployable main frame (1) is a deployable shape memory alloy main frame.

3. The mobile building module for extreme terrain applications in lunar lava tubes according to claim 2, characterized in that: The unfoldable main frame (1) has a hollow rotating body structure in the unfolded state. The outer side of the hollow rotating body structure is processed with multiple annular positioning grooves from the head to the tail along the length direction of the main frame. The lunar soil filling wall (2) includes multiple annular walls (21). The multiple annular walls (21) are respectively matched with multiple annular positioning grooves. The multiple annular walls (21) are respectively fitted into the multiple annular positioning grooves of the hollow rotating body structure.

4. The mobile building module for extreme terrain applications in lunar lava tubes according to claim 3, characterized in that: Lunar soil-filled wall (2) is 3D printed using lunar soil resources obtained in situ.

5. The mobile building module for extreme terrain applications in lunar lava tubes according to claim 4, characterized in that: Multiple annular walls (21) are arranged sequentially from the head to the tail of the main frame as follows: first annular wall (211), second annular wall (212), third annular wall (213), fourth annular wall (214), fifth annular wall (215), and sixth annular wall (216). The first annular wall (211) and the sixth annular wall (216) have the same structure, and the structure of the first annular wall (211) and the sixth annular wall (216) is a frustum shell structure with the large diameter end facing inward and the small diameter end facing outward. The second annular wall (212) and the fifth annular wall (215) have the same structure, and the structure of the second annular wall (212) and the fifth annular wall (215) is a cylindrical shell structure. The third annular wall (213) and the fourth annular wall (214) have the same structure, and the structure of the third annular wall (213) and the fourth annular wall (214) is a frustum shell structure with the small diameter end facing inward and the large diameter end facing outward.

6. The mobile building module for extreme terrain applications in lunar lava tubes according to claim 5, characterized in that: Multiple annular positioning grooves are arranged sequentially from the head to the tail of the main frame as the first annular positioning groove (11), the second annular positioning groove (12), the third annular positioning groove (13), the fourth annular positioning groove (14), the fifth annular positioning groove (15), and the sixth annular positioning groove (16). The first annular positioning groove (11) and the sixth annular positioning groove (16) are matched with the first annular wall (211) and the sixth annular wall (216) respectively; the second annular positioning groove (12) and the fifth annular positioning groove (15) are matched with the second annular wall (212) and the fifth annular wall (215) respectively; and the third annular positioning groove (13) and the fourth annular positioning groove (14) are matched with the third annular wall (213) and the fourth annular wall (214) respectively.

7. A mobile building module for extreme terrain applications in lunar lava tubes according to claim 6, characterized in that: Two sets of circular motor mounting slots (17) are respectively machined between the first annular positioning slot (11) and the second annular positioning slot (12) and between the fifth annular positioning slot (15) and the sixth annular positioning slot (16) on the outer side of the unfoldable main frame (1).

8. A mobile building module for extreme terrain applications in lunar lava tubes according to claim 7, characterized in that: The track suspension system (5) includes four intermediate track suspension structures (51) and four side track suspension structures (52). In the four sets of covered track structures (71), there is a side track suspension structure (52) between each two adjacent sets of covered track structures (71). The bottom end of the side track suspension structure (52) is fixedly connected to the deployable main frame (1) and the lunar soil filling wall (2). In each set of covered track structures (71), there is an intermediate track suspension structure (51) between two self-driving track assemblies (711). The bottom end of the intermediate track suspension structure (51) is fixedly connected to the deployable main frame (1) and the lunar soil filling wall (2). The intermediate track suspension structure (51) includes an intermediate support frame and an intermediate wheel axle support beam. The intermediate support frame is located between two self-driving track assemblies (711). The bottom end of the intermediate support frame is fixedly connected to the deployable main frame (1) and the lunar soil filling wall (2). The top end of the intermediate support frame is fixedly connected to the intermediate wheel axle support beam. Several wheel axle assembly holes are sequentially machined on both sides of the intermediate wheel axle support beam along the length of the support beam from front to back. The track wheel axle ends of the self-driving track assembly (711) are inserted into the corresponding wheel axle assembly holes. The track wheel axle and the intermediate wheel axle support beam are rotatably connected by bearings. The upper end face of the intermediate wheel axle support beam is machined into downward inclined slopes on both sides. The side track suspension structure (52) includes a side support frame and two side wheel axle support beams. The side support frame is located between two adjacent sets of covered track structures (71). The bottom end of the side support frame is fixedly connected to the deployable main frame (1) and the lunar soil filling wall (2). The top two sides of the side support frame are fixedly connected to two side wheel axle support beams arranged side by side. Each side wheel axle support beam has several wheel axle assembly holes processed sequentially from front to back along the length of the support beam on the end face near the track. The track wheel axle end of the self-drive track assembly (711) is inserted into the corresponding wheel axle assembly hole. The track wheel axle and the side wheel axle support beam are rotatably connected by bearings. The upper end face of the side wheel axle support beam is processed into a downward inclined slope.

9. A mobile building module for extreme terrain applications in lunar lava tubes according to claim 8, characterized in that: Several solar panels in the solar photovoltaic energy collection system (6) are installed on the top of the side track suspension structure (52).

10. A mobile building module for extreme terrain applications in lunar lava tubes according to claim 9, characterized in that: Each self-propelled track assembly (711) includes a chassis frame, flexible tracks (7111), two motor reducers, two drive wheels (7112), and multiple driven wheels (7113). Two drive wheels (7112) are respectively provided on both sides of one end of the chassis frame. One end of the axle of the drive wheel (7112) is connected to the chassis frame through a bearing seat. The two motor reducers are installed side by side inside the chassis frame. The ends of the axles of the two drive wheels (7112) are connected to the two motor reducers through couplings. The axle of the drive wheel (7112) is connected to the side track suspension structure (52) through a bearing seat. Multiple driven wheels (7113) are arranged opposite to each other on both sides of the vehicle frame. The axle of the driven wheel (7113) is connected to the vehicle frame through a bearing seat. The flexible track (7111) covers the outside of the vehicle frame. The two ends of the inner side teeth of the flexible track (7111) are respectively engaged with the drive wheel (7112) and the driven wheel (7113) on both sides.

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