An intelligent drilling-type space mining robot

Abstract

The present invention relates to an intelligent drilling-type space mining robot, comprising: a frame, on which a storage box is fixed, the interior of the storage box is communicated with a compressor, and the communication position is covered with a filter screen; a traveling mechanism is installed on both sides of the frame; the drilling and suction mechanism includes a lifting mechanism, a high-pressure gas tank, a drill barrel, a connecting pipe, a high-pressure delivery pipe and a servo motor, the drill barrel is rotatably connected to the lifting end of the lifting mechanism, a drill bit is fixed at its bottom end, a drill bit hole is formed along the axis of the drill bit, the high-pressure delivery pipe is arranged corresponding to the drill bit hole and forms a high-pressure area through an air outlet hole; a robotic arm is installed at the rear end of the frame for collecting large-particle ores; through the cooperation of the drilling and suction mechanism and the high-pressure air flow, the present invention uses the high-pressure air flow to transport small-particle ores to the storage box and intercepts them through the filter screen, solving the problems of low mining efficiency and poor adaptability of existing space mining robots in a low-gravity and high-radiation environment.

Description

Technical Field

[0001] The present invention relates to the technical field of space resource exploitation, and more specifically, to an intelligent drilling type space mining robot. Background Art

[0002] With the increasing depletion of the earth's mineral resources, the development of space resources has become the strategic high point of the global scientific and technological competition, especially the moon, Mars, near-earth asteroids, etc. that contain rich mineral resources. In order to solve the problem of the depletion of the earth's mineral resources, it is imperative to develop and utilize rich space resources, and thus space mining has emerged.

[0003] Due to the harsh environment in space, space mining robots, as the direct and necessary means for space resource collection, have become a hot research topic at home and abroad. Due to the short development time, the current mining robots mainly have the following disadvantages:

[0004] (1) The existing space mining robot technologies mostly focus on detection and sampling, lacking mature solutions for large-scale mining in low-gravity and high-radiation environments and reliable robot body structures;

[0005] (2) Due to the extreme working environment, the robot mechanism is prone to thermal fatigue damage and component damage in high-radiation environments, and the rugged and complex terrain and gravel environment are likely to cause the failure of the robot's walking mechanism, resulting in the suspension and failure of the mining task;

[0006] (3) In the space environment, the robot has problems such as low energy supply efficiency, low resource exploitation and processing efficiency, etc., and in the process of autonomous operation, the robot needs to solve problems such as autonomous navigation and dynamic path planning, multi-robot cooperation and resource allocation optimization, and fault diagnosis and self-healing;

[0007] Therefore, how to provide a new intelligent drilling type space mining robot that can ensure high collection efficiency while collecting ores in a vacuum environment is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the present invention provides an intelligent drilling type space mining robot, aiming to solve the technical problems that the traditional mining robots cannot well adapt to the low-gravity space environment and have low mining efficiency.

[0009] An intelligent drilling type space mining robot includes:

[0010] A frame, on which a storage box is fixed. The interior of the storage box is communicated with the inlet of a compressor, and the communication position is covered with a filter screen;

[0011] A walking mechanism, which is installed on both sides of the frame;

[0012] Drilling and suction mechanism, the drilling and suction mechanism includes a lifting mechanism, a high-pressure gas tank, a drill barrel, a connecting pipe, a high-pressure delivery pipe and a servo motor I; the lifting mechanism is installed at the front end of the frame; the high-pressure gas tank is fixed on the frame and communicated with the outlet of the compressor; the drill barrel is rotatably connected to the outer wall surface of the lifting part of the lifting mechanism, and a drill bit I is fixed at its bottom end, and the drill bit I is provided with a drill bit hole along its axis; a delivery channel is arranged inside the pipe wall of the high-pressure delivery pipe, the top end of the high-pressure delivery pipe is tightly connected to the lifting part of the lifting mechanism, and an air inlet pipe communicated with the delivery channel is connected to its outer wall surface, the air inlet pipe is connected to the high-pressure gas tank through a pipeline, the bottom end of the high-pressure delivery pipe is movably and sealingly connected to the drill bit I corresponding to the top port of the drill bit hole, and the high-pressure delivery pipe is communicated with the drill bit hole; an air outlet hole communicated with the delivery channel is arranged at a position near the bottom end of the inner wall surface of the high-pressure delivery pipe; the connecting pipe is coaxially arranged with the high-pressure delivery pipe and its outer wall surface is tightly and sealingly connected to the inner wall surface of the high-pressure delivery pipe, the bottom port of the connecting pipe is arranged above the air outlet hole, and the top port of the connecting pipe is communicated with the inside of the storage box through a pipeline; the fixed end of the servo motor I is tightly connected to the lifting part of the lifting mechanism and is located on one side of the drill barrel, and the power output end of the servo motor I is drivingly connected to the outer wall surface of the drill barrel to drive the drill barrel to rotate;

[0013] Robotic arm, the robotic arm is installed at the rear end of the frame to collect large particle ores left after drilling;

[0014] During the drilling process of the drill bit I, due to the bottom end of the drill bit hole being blocked by ores, the gas discharged from the air outlet hole forms a high-pressure gas area between the bottom port of the connecting pipe and the drill bit hole, and the gas in the high-pressure gas area carries the ore particles in this area into and deposits in the low-pressure storage box through the connecting pipe.

[0015] Through the above technical solutions, the present invention is provided with an air outlet hole communicated with the high-pressure gas tank in the drill bit hole of the drill bit I, and a high-pressure area is formed at the drill bit hole by delivering gas to the air outlet hole. During the mining process, the bottom port of the drill bit hole is blocked by the ore layer, and the inside of the storage box is communicated with the compressor. The gas in the high-pressure area forms a conveying air flow flowing from the air outlet hole to the inside of the storage box. The small particle ores during the drilling process are carried into the storage box by the conveying air flow and intercepted by the filter screen, and has the characteristics of being able to collect ores through air flow in a vacuum environment and high collection efficiency.

[0016] Preferably, the lifting mechanism includes columns, fixed cylinders, lifting plates, hydraulic rods I, slide rails and sliders. The number of columns is two, symmetrically arranged on both sides of the drill tube. The inner cylindrical surface of the fixed cylinder is provided with a circumferentially arranged annular groove, and the outer surface of the drill tube is rotatably connected to the inner cylindrical surface of the fixed cylinder and is provided with an annular protrusion arranged opposite to the annular groove. The two lifting plates are symmetrically arranged on both sides of the fixed cylinder. The number of hydraulic rods I is two, and their fixed ends are respectively fixedly connected to the two columns, and their telescopic ends are respectively fixedly connected to the upper plate surfaces of the two lifting plates. The number of slide rails is two, respectively fixedly connected to the opposite surfaces of the two columns. The two sliders are respectively fixedly connected to one ends of the two lifting plates away from the fixed cylinder, and the sliders are slidably connected to the slide rails. The top end of the high-pressure delivery pipe is fixedly connected to the fixed cylinder, and the fixed end of the servo motor I is fixedly connected to the upper plate surface of the lifting plate.

[0017] Preferably, it further includes an anchoring mechanism. The anchoring mechanism includes hydraulic rods II, a support frame, a drill rod, a servo motor II, hydraulic rods III and a telescopic assembly. The fixed end of the hydraulic rod II is fixedly connected to the front bottom surface of the frame. The top end of the support frame is fixedly connected to the telescopic end of the hydraulic rod II. The servo motor II is located inside the support frame, the fixed end of the servo motor II is fixedly connected to the support frame, the power output end of the servo motor II passes through and exposes outside the bottom end of the support frame, the top end of the drill rod is fixedly connected to the power output end of the servo motor II, and the bottom end of the drill rod is fixedly connected with a drill bit II. The fixed end of the hydraulic rod III is fixedly connected to the bottom end of the support frame. The telescopic assembly includes a connecting ring I, a long connecting rod, a short connecting rod and a connecting ring II. The connecting ring I is sleeved on the outer periphery of the drill rod and its upper end surface is fixedly connected to the telescopic end of the hydraulic rod III. The first end of the long connecting rod is hinged to the lower end surface of the connecting ring I, the first end of the short connecting rod is hinged to the second end of the long connecting rod. The connecting ring II is sleeved on the outer periphery of the drill rod and is located between the connecting ring I and the drill bit II, and the second end of the short connecting rod is hinged to the upper end surface of the connecting ring II.

[0018] Preferably, the anchoring mechanism further includes an anti-rotation assembly. The anti-rotation assembly includes an anti-rotation cylinder and an anti-rotation block. The anti-rotation cylinder is sleeved on the outer periphery of the hydraulic rod II. The side wall surface of the anti-rotation cylinder is provided with a chute along its axial direction. The anti-rotation block is fixedly connected to the telescopic end of the hydraulic rod II and is slidably connected to the chute.

[0019] Preferably, the number of the anchoring mechanisms is two, respectively fixedly connected to the bottom surfaces of the front end and the rear end of the frame.

[0020] Preferably, the number of the hydraulic rods III is two, symmetrically arranged on both sides of the drill rod.

[0021] Preferably, the number of the long connecting rods and the short connecting rods is multiple, and they are arranged in a circumferential array along the axial direction of the drill rod.

[0022] Preferably, it further includes a camera, and the camera is installed at the front end of the frame.

[0023] Preferably, it further includes a solar panel, which is installed above the frame and fixedly connected to the frame.

[0024] Preferably, it further includes a hydraulic station, a battery and a controller. The hydraulic station is connected to the first hydraulic rod, the second hydraulic rod and the third hydraulic rod through pipelines. The battery is installed on the frame and electrically connected to the solar panel to supply power to the compressor, the hydraulic station, the first servo motor, the second servo motor and the controller. The controller is electrically connected to the control module of the compressor, the control module of the hydraulic station, the camera, the control module of the first servo motor and the control module of the second servo motor.

[0025] Through the above technical solutions, compared with the prior art, the present invention discloses an intelligent drilling-type space mining robot, which has the following beneficial effects: through the cooperation of the robotic arm and the drilling and suction mechanism, it can effectively collect large-particle and small-particle ores, further improving the comprehensiveness and efficiency of collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional schematic diagram of an intelligent drilling-type space mining robot provided by the present invention;

[0027] Figure 2 A three-dimensional schematic diagram of the frame, storage box, drilling and suction mechanism and anchoring mechanism assembled by the present invention;

[0028] Figure 3 A partial cross-sectional view of the frame and the drilling and suction mechanism assembled by the present invention;

[0029] Figure 4 For Figure 3 A partial enlarged view of A;

[0030] Figure 5 For Figure 3 A partial enlarged view of B;

[0031] Figure 6 For Figure 3 A partial enlarged view of C;

[0032] Figure 7 A partial cross-sectional view of the drill pipe provided by the present invention;

[0033] Figure 8 A partial cross-sectional view of the high-pressure delivery pipe provided by the present invention;

[0034] Figure 9 For Figure 7 A partial enlarged view of D;

[0035] Figure 10 For Figure 8 A partial enlarged view of E;

[0036] Figure 11 is Figure 8 Partial enlarged view at F;

[0037] Figure 12 Partial sectional view of the frame and the anchoring mechanism assembled according to the present invention;

[0038] Figure 13 is Figure 12 Partial enlarged view at G;

[0039] Figure 14 Explosion diagram of the anchoring mechanism provided by the present invention;

[0040] Figure 15 Stereoscopic diagram of the telescopic assembly provided by the present invention;

[0041] Figure 16 Partial sectional view of the fixed cylinder, the lifting plate, the slider and the fixed frame assembled according to the present invention;

[0042] Figure 17 Partial sectional view of the storage box provided by the present invention.

[0043] Wherein:

[0044] 1 - Frame;

[0045] 2 - Storage box; 21 - Filter screen; 22 - Connection port; 23 - Through port;

[0046] 3 - Traveling mechanism;

[0047] 4 - Drilling and suction mechanism; 42 - High - pressure gas tank; 43 - Drilling barrel; 44 - Connecting pipe; 45 - High - pressure delivery pipe; 46 - Servo motor 1; 47 - Drill bit 1; 48 - Connector; 411 - Column; 412 - Fixed cylinder; 413 - Lifting plate; 414 - Hydraulic rod 1; 415 - Slide rail; 416 - Slider; 417 - Fixed frame; 431 - Ring - shaped protrusion; 451 - Delivery channel; 452 - Intake pipe; 453 - Air outlet hole; 471 - Drill bit hole; 4121 - Ring groove;

[0048] 5 - Manipulator;

[0049] 6 - Anchoring mechanism; 61 - Hydraulic rod 2; 62 - Support frame; 63 - Drill rod; 64 - Servo motor 2; 65 - Hydraulic rod 3; 66 - Telescopic assembly; 67 - Drill bit 2; 661 - Connecting ring 1; 662 - Long connecting rod; 663 - Short connecting rod; 664 - Connecting ring 2; 681 - Anti - rotation cylinder; 682 - Anti - rotation block; 6811 - Chute;

[0050] 71 - Camera; 72 - Solar panel. Detailed implementation manners

[0051] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0052] See the attached Figure 1-11 As shown in FIGS. 16 and 17, an embodiment of the present invention discloses an intelligent drilling-type space mining robot, including: a frame 1, a traveling mechanism 3, a drilling and suction mechanism 4, and a robotic arm 5;

[0053] A storage box 2 is fixed on the frame 1. The inside of the storage box 2 is communicated with the inlet of the compressor, and the communication position is covered with a filter screen 21;

[0054] The traveling mechanism 3 is installed on both sides of the frame 1;

[0055] The drilling and suction mechanism 4 includes a lifting mechanism, a high-pressure gas tank 42, a drill pipe 43, a connecting pipe 44, a high-pressure delivery pipe 45, and a servo motor 46. The lifting mechanism is installed at the front end of the frame 1; the high-pressure gas tank 42 is fixed on the frame 1 and communicated with the outlet of the compressor; the drill pipe 43 is rotatably connected to the outer wall surface of the lifting part of the lifting mechanism, and a drill bit 47 is fixed at its bottom end. The drill bit 47 is provided with a drill bit hole 471 along its axis; a delivery channel 451 is provided inside the wall of the high-pressure delivery pipe 45. The top end of the high-pressure delivery pipe 45 is fixedly connected to the lifting part of the lifting mechanism, and an air inlet pipe 452 communicated with the delivery channel 451 is connected to its outer wall surface. The air inlet pipe 452 is connected to the high-pressure gas tank 42 through a pipeline. The bottom end of the high-pressure delivery pipe 45 is movably and sealingly connected to the top port of the drill bit hole 471 corresponding to the drill bit 47, and the high-pressure delivery pipe 45 is communicated with the drill bit hole 471; an air outlet hole 453 communicated with the delivery channel 451 is provided at a position near the bottom end of the inner wall surface of the high-pressure delivery pipe 45; the connecting pipe 44 is coaxially arranged with the high-pressure delivery pipe 45 and its outer wall surface is fixedly and sealingly connected to the inner wall surface of the high-pressure delivery pipe 45. The bottom port of the connecting pipe 44 is arranged above the air outlet hole 453, and the top port of the connecting pipe 44 is communicated with the inside of the storage box 2 through a pipeline; the fixed end of the servo motor 46 is fixedly connected to the lifting part of the lifting mechanism and is located on one side of the drill pipe 43. The power output end of the servo motor 46 is drivingly connected to the outer wall surface of the drill pipe 43 to drive the drill pipe 43 to rotate;

[0056] The robotic arm 5 is installed at the rear end of the frame 1 to collect large particle ores left after drilling;

[0057] During the drilling process of the drill bit 47, due to the bottom end of the drill bit hole 471 being blocked by ores, the gas discharged from the air outlet hole 453 forms a high-pressure gas area between the bottom port of the connecting pipe 44 and the drill bit hole 471. The gas in the high-pressure gas area carries the ore particles in this area and enters and deposits in the low-pressure storage box 2 through the connecting pipe 44.

[0058] Specifically, a connection port 22 and a through port 23 communicating with the internal space are provided on the side wall of the storage box 2. The top opening of the communication pipe 44 is communicated with the connection port 22 through a pipeline. The filter screen 21 is fixed inside the storage box 2 and covers the inner port of the through port 23.

[0059] More specifically, it further includes a connector 48. The bottom end of the connector 48 is screwed to the top opening of the communication pipe 44, and the top end of the connector 48 is communicated with the connection port 22 through a pipeline.

[0060] See Appendix Figure 3 、 5 See FIGS. 7 and 16. The lifting mechanism includes columns 411, fixed cylinders 412, lifting plates 413, hydraulic cylinders 414, slide rails 415 and sliders 416. The number of columns 411 is two, which are symmetrically arranged on both sides of the drill cylinder 43. A circumferentially arranged annular groove 4121 is formed on the inner cylindrical surface of the fixed cylinder 412. The outer surface of the drill cylinder 43 is rotatably connected to the inner cylindrical surface of the fixed cylinder 412 and is provided with an annular protrusion 431 arranged opposite to the annular groove 4121. The two lifting plates 413 are symmetrically arranged on both sides of the fixed cylinder 412. The number of hydraulic cylinders 414 is two, and their fixed ends are respectively fixedly connected to the two columns 411, and their telescopic ends are respectively fixedly connected to the upper plate surfaces of the two lifting plates 413. The number of slide rails 415 is two, which are respectively fixedly connected to the opposite surfaces of the two columns 411. The two sliders 416 are respectively fixedly connected to one end of the two lifting plates 413 away from the fixed cylinder 412, and the sliders 416 are slidably connected to the slide rails 415. The top end of the high-pressure delivery pipe 45 is fixedly connected to the fixed cylinder 412, and the fixed end of the servo motor 46 is fixedly connected to the upper plate surface of the lifting plate 413.

[0061] Specifically, it further includes a fixing bracket 417. The top end of the fixing bracket 417 is fixedly connected to the outer surface of the high-pressure delivery pipe 45, and the bottom end of the fixing bracket 417 is fixedly connected to the fixed cylinder 412.

[0062] See Appendix Figure 12-15, further comprising an anchoring mechanism 6, the anchoring mechanism 6 includes a second hydraulic rod 61, a support frame 62, a drill rod 63, a second servo motor 64, a third hydraulic rod 65 and a telescopic assembly 66. The fixed end of the second hydraulic rod 61 is fixedly connected to the bottom surface of the front end of the frame 1; the top end of the support frame 62 is fixedly connected to the telescopic end of the second hydraulic rod 61; the second servo motor 64 is located inside the support frame 62, the fixed end of the second servo motor 64 is fixedly connected to the support frame 62, the power output end of the second servo motor 64 passes through and protrudes from the bottom end of the support frame 62, the top end of the drill rod 63 is fixedly connected to the power output end of the second servo motor 64, and a second drill bit 67 is fixedly connected to the bottom end of the drill rod 63; the fixed end of the third hydraulic rod 65 is fixedly connected to the bottom end of the support frame 62; the telescopic assembly 66 includes a first connecting ring 661, a long connecting rod 662, a short connecting rod 663 and a second connecting ring 664. The first connecting ring 661 is sleeved on the outer periphery of the drill rod 63 and its upper end surface is fixedly connected to the telescopic end of the third hydraulic rod 65. The first end of the long connecting rod 662 is hinged to the lower end surface of the first connecting ring 661. The first end of the short connecting rod 663 is hinged to the second end of the long connecting rod 662. The second connecting ring 664 is sleeved on the outer periphery of the drill rod 63 and is located between the first connecting ring 661 and the second drill bit 67. The second end of the short connecting rod 663 is hinged to the upper end surface of the second connecting ring 664. Thus, the stability of the robot in a low-gravity environment is enhanced. The anchoring mechanism 6 can provide additional supporting force on rough terrain, prevent the robot from sliding during operation, and thus ensure the smooth progress of the mining operation.

[0063] In some embodiments, the anchoring mechanism 6 further includes an anti-rotation assembly. The anti-rotation assembly includes an anti-rotation cylinder 681 and an anti-rotation block 682. The anti-rotation cylinder 681 is sleeved on the outer periphery of the second hydraulic rod 61. A chute 6811 is axially formed on the side wall surface of the anti-rotation cylinder 681. The anti-rotation block 682 is fixedly connected to the telescopic end of the second hydraulic rod 61 and is slidably connected to the chute 6811. Thus, through the cooperation of the anti-rotation cylinder 681 and the anti-rotation block 682, the second hydraulic rod 61 is prevented from rotating during the telescopic process, thereby ensuring the stability of the anchoring mechanism 6.

[0064] In this embodiment, the number of the anchoring mechanisms 6 is two, which are respectively fixedly connected to the bottom surfaces of the front end and the rear end of the frame 1. Thus, this design can provide more uniform supporting force and enhance the overall stability of the robot.

[0065] In this embodiment, the number of the third hydraulic rods 65 is two, which are symmetrically arranged on both sides of the drill rod 63.

[0066] In this embodiment, the number of the long connecting rods 662 and the short connecting rods 663 is multiple, and they are arranged in a circumferential array along the axial direction of the drill rod 63. Thus, through this design, the anchoring force can be more evenly distributed, the stability and reliability of the anchoring mechanism are improved, and at the same time, the adaptability of the robot in complex terrain is enhanced.

[0067] Specifically, the number of telescopic components 66 is four.

[0068] In some specific embodiments, a camera 71 is further included, and the camera 71 is installed at the front end of the frame 1. Thus, it is used to monitor the environment and operation status around the robot in real time. This design can improve the perception ability of the robot during autonomous operation, facilitating dynamic path planning and fault diagnosis for remote operators or autonomous control systems.

[0069] In some specific embodiments, a solar panel 72 is further included, and the solar panel 72 is installed above the frame 1 and fixedly connected to the frame 1. Thus, it provides sustainable energy support for the robot. The design of the solar panel 72 can effectively solve the problem of low energy supply efficiency in the space environment, extend the operation time of the robot, and improve its reliability in long-term tasks.

[0070] In this embodiment, a hydraulic station, a battery, and a controller are further included. The hydraulic station is connected to the first hydraulic rod 414, the second hydraulic rod 61, and the third hydraulic rod 65 through pipelines. The battery is installed on the frame 1 and electrically connected to the solar panel 72 to supply power to the compressor, the hydraulic station, the first servo motor 46, the second servo motor 64, and the controller. The controller is electrically connected to the control module of the compressor, the control module of the hydraulic station, the camera 71, the control module of the first servo motor 46, and the control module of the second servo motor 64.

[0071] The camera 71 can serve as an environmental perception module to ensure the movement and work of the robot. Through the controller, the mining robot can deploy machine vision algorithms through the camera 71. Combining visual odometry with on-board lidar point cloud data, etc., a SLAM (Simultaneous Localization and Mapping), autonomous navigation system, and obstacle avoidance system adapted to rugged terrain can be developed to plan the movement path of the robot and respond to sudden obstacles in milliseconds. Through the intelligent control of the control center, the invention can adapt to the mining work of the space mining robot in various unknown environments of various extraterrestrial celestial bodies, greatly increasing the efficiency and possibility of space mining.

[0072] The specific principle and usage method of an intelligent drilling type space mining robot provided in this embodiment are as follows:

[0073] 1. After moving the robot to the target area, start the second servo motor 64 to rotate through the controller, driving the drill rod 63 and the second drill bit 67 to rotate. Control the hydraulic pump through the controller to extend the second hydraulic rod 61, and the second drill bit 67 drills into the ground. Control the hydraulic pump through the controller to extend the third hydraulic rod 65, pushing the connection between the long connecting rod 662 and the short connecting rod 663 to expand outward to anchor the second drill bit 67. The anti-rotation component prevents the second hydraulic rod 61 from rotating to ensure the anchoring effect;

[0074] 2. Start the servo motor 46 through the controller to drive the drill barrel 43 to rotate. Control the hydraulic rod 414 to extend through the controller to control the hydraulic pump. The drill bit 47 starts to drill the ore. The high-pressure gas tank 42 conveys gas to the drill bit hole 471 through the high-pressure delivery pipe 45 to form a high-pressure area at the drill bit hole 471. The small-particle ore drilled is carried into the storage box 2 under the action of the conveying air flow and is intercepted by the filter screen 21;

[0075] 3. Start the robotic arm 5 to collect the large-particle ore left after drilling and transport it to other accommodation cavities of the storage box 2;

[0076] 4. The camera 71 monitors the surrounding environment in real time. The controller performs dynamic path planning and fault diagnosis based on the monitoring data. The robot completes multi-robot collaborative operations or autonomous tasks according to the instructions.

[0077] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent drilling-type space mining robot, characterized in that include: A frame (1), a storage box (2) being fixed on the frame (1), the interior of the storage box (2) being connected to the inlet of the compressor, and the connection position being covered with a filter screen (21); A walking mechanism (3), the walking mechanism (3) being mounted on both sides of the frame (1); A drilling and suction mechanism (4), the drilling and suction mechanism (4) comprising a lifting mechanism, a high-pressure gas tank (42), a drill barrel (43), a connecting pipe (44), a high-pressure delivery pipe (45) and a servo motor (46); the lifting mechanism is mounted at the front end of the frame (1); the high-pressure gas tank (42) is fixed on the frame (1) and is connected to the outlet of the compressor; the drill barrel (43) is rotatably connected to the outer wall surface of the lifting portion of the lifting mechanism, and a drill bit (47) is fixed to its bottom end, and a drill bit hole (471) is provided along its axis; a delivery channel (451) is provided in the wall of the high-pressure delivery pipe (45), the top end of the high-pressure delivery pipe (45) is tightly connected to the lifting portion of the lifting mechanism, and an air intake pipe (452) connected to the delivery channel (451) is connected to the outer wall surface of the high-pressure delivery pipe (45), the air intake pipe (452) is connected to the pipeline of the high-pressure gas tank (42), and the high-pressure delivery pipe (45) The bottom end is dynamically sealedly connected to the top end of the drill hole (471) of the drill bit (47), and the high-pressure delivery pipe (45) is connected to the drill hole (471); the inner wall surface of the high-pressure delivery pipe (45) is provided with an air outlet (453) connected to the delivery channel (451) near its bottom end; the connecting pipe (44) is coaxially arranged with the high-pressure delivery pipe (45) and its outer wall surface is sealed and fastened to the inner wall surface of the high-pressure delivery pipe (45); the bottom end of the connecting pipe (44) is arranged above the air outlet (453), and the top end of the connecting pipe (44) is connected to the inside of the storage box (2) through a pipeline; the fixed end of the servo motor (46) is fastened to the lifting part of the lifting mechanism and is located on one side of the drill barrel (43), and the power output end of the servo motor (46) is transmission-connected to the outer wall surface of the drill barrel (43) to drive the drill barrel (43) to rotate; A mechanical arm (5), which is mounted at the rear end of the frame (1) and collects large particles of ore left after drilling; During the drilling process of the drill bit 1 (47), the bottom end of the drill hole (471) is blocked by ore, and the gas discharged from the gas outlet (453) forms a high-pressure gas zone between the bottom end of the connecting pipe (44) and the drill hole (471). The gas in the high-pressure gas zone carries the ore particles in the area through the connecting pipe (44) and enters and is deposited in the low-pressure storage box (2).

2. The intelligent drilling-type space mining robot according to claim 1, wherein The lifting mechanism includes columns (411), fixed cylinders (412), lifting plates (413), hydraulic cylinders 1 (414), slide rails (415) and sliders (416). The number of columns (411) is two, which are symmetrically arranged on both sides of the drill cylinder (43). A circumferentially arranged annular groove (4121) is formed on the inner cylindrical surface of the fixed cylinder (412). The outer surface of the drill cylinder (43) is rotatably connected to the inner cylindrical surface of the fixed cylinder (412) and is provided with an annular protrusion (431) arranged opposite to the annular groove (4121). The two lifting plates (413) are symmetrically arranged on both sides of the fixed cylinder (412). The number of hydraulic cylinders 1 (414) is two, and their fixed ends are respectively fixedly connected to the two columns (411), and their telescopic ends are respectively fixedly connected to the upper plate surfaces of the two lifting plates (413). The number of slide rails (415) is two, which are respectively fixedly connected to the opposite surfaces of the two columns (411). The two sliders (416) are respectively fixedly connected to one ends of the two lifting plates (413) away from the fixed cylinder (412). The sliders (416) are slidably connected to the slide rails (415). The top end of the high-pressure delivery pipe (45) is fixedly connected to the fixed cylinder (412). The fixed end of the servo motor 1 (46) is fixedly connected to the upper plate surface of the lifting plate (413).

3. The intelligent drilling-type space mining robot according to claim 2, wherein It further includes an anchoring mechanism (6), and the anchoring mechanism (6) includes a second hydraulic rod (61), a support frame (62), a drill rod (63), a second servo motor (64), a third hydraulic rod (65) and a telescopic assembly (66). The fixed end of the second hydraulic rod (61) is fixedly connected to the front bottom surface of the frame (1); the top end of the support frame (62) is fixedly connected to the telescopic end of the second hydraulic rod (61); the second servo motor (64) is located inside the support frame (62), the fixed end of the second servo motor (64) is fixedly connected to the support frame (62), the power output end of the second servo motor (64) passes through and exposes outside the bottom end of the support frame (62), the top end of the drill rod (63) is fixedly connected to the power output end of the second servo motor (64), and a second drill bit (67) is fixedly connected to the bottom end of the drill rod (63); the fixed end of the third hydraulic rod (65) is fixedly connected to the bottom end of the support frame (62); the telescopic assembly (66) includes a first connecting ring (661), a long connecting rod (662), a short connecting rod (663) and a second connecting ring (664). The first connecting ring (661) is sleeved on the outer periphery of the drill rod (63), and its upper end surface is fixedly connected to the telescopic end of the third hydraulic rod (65). The first end of the long connecting rod (662) is hinged to the lower end surface of the first connecting ring (661). The first end of the short connecting rod (663) is hinged to the second end of the long connecting rod (662). The second connecting ring (664) is sleeved on the outer periphery of the drill rod (63) and is located between the first connecting ring (661) and the second drill bit (67). The second end of the short connecting rod (663) is hinged to the upper end surface of the second connecting ring (664).

4. The intelligent drilling-type space mining robot according to claim 3, characterized in that, The anchoring mechanism (6) further includes an anti-rotation assembly, and the anti-rotation assembly includes an anti-rotation cylinder (681) and an anti-rotation block (682). The anti-rotation cylinder (681) is sleeved on the outer periphery of the second hydraulic rod (61). A chute (6811) is axially formed on the side wall surface of the anti-rotation cylinder (681). The anti-rotation block (682) is fixedly connected to the telescopic end of the second hydraulic rod (61) and is slidably connected to the chute (6811).

5. The intelligent drilling-type space mining robot according to claim 3, characterized in that, The number of the anchoring mechanisms (6) is two, which are respectively and fixedly connected to the bottom surfaces of the front end and the rear end of the frame (1).

6. The intelligent drilling-type space mining robot according to claim 3, wherein The number of the third hydraulic rods (65) is two, which are symmetrically arranged on both sides of the drill rod (63).

7. The intelligent drilling-type space mining robot according to claim 3, wherein The number of the long connecting rods (662) and the short connecting rods (663) is multiple, and they are arranged in a circumferential array along the axial direction of the drill rod (63).

8. The intelligent drilling-type space mining robot according to claim 3, characterized in that, It further includes a camera (71), and the camera (71) is installed at the front end of the frame (1).

9. The intelligent drilling-type space mining robot according to claim 8, characterized in that, It further includes a solar panel (72), and the solar panel (72) is installed above the frame (1) and is fixedly connected to the frame (1).

10. The intelligent drilling-type space mining robot according to claim 9, wherein, It also includes a hydraulic station, a battery and a controller. The hydraulic station is connected to the first hydraulic rod (414), the second hydraulic rod (61) and the third hydraulic rod (65) through pipelines. The battery is installed on the frame (1) and electrically connected to the solar panel (72) to supply power to the compressor, the hydraulic station, the first servo motor (46), the second servo motor (64) and the controller. The controller is electrically connected to the control module of the compressor, the control module of the hydraulic station, the camera (71), the control module of the first servo motor (46) and the control module of the second servo motor (64).

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