Double-cabin-door lunar surface intelligent tool box based on rotating disc type lifting platform

Abstract

The invention discloses a double-cabin-door intelligent lunar surface tool box based on a rotating disc type lifting platform, and relates to intelligent lunar surface tool boxes. The problems that an existing tool is long in switching time and low in switching efficiency are solved. The sensing mechanism is used for sensing the type of a to-be-stored tool on the mechanical arm and the type of a to-be-grabbed tool, sensing that the mechanical arm has put the tool into the inner cabin barrel or has taken away the tool, and sending a sensing result to the controller; the controller is used for controlling the cabin barrel door to be opened according to the type of a tool to be stored or the type of a tool to be grabbed, controlling the rotating disc mechanism to drive the lifting mechanism on the rotating disc mechanism to rotate, enabling the lifting mechanism to be aligned with an inner cabin barrel in the cabin barrel assembly corresponding to the type of the tool to be stored, and then controlling the lifting mechanism to eject the aligned inner cabin barrel out of an outer cabin barrel; the control module is further used for controlling the lifting mechanism to descend according to the sensing result that the tool is placed in the inner cabin barrel or the sensing result that the mechanical arm takes away the tool, the inner cabin barrel slides into the outer cabin barrel, and the cabin barrel door is controlled to be closed. The tool grabbing device is used for grabbing or placing tools.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical design and relates to a lunar intelligent toolbox. Background Art

[0002] With the paradigm shift of lunar exploration projects from short-term scientific research to long-term residence, the construction of lunar surface infrastructure has become a strategic direction for the development of deep space exploration technology. According to the "International Lunar Research Station Roadmap (2021-2035)", key technologies such as in-situ resource utilization on the lunar surface and modular base construction will be focused on in the next decade. In this context, the functional diversity and environmental adaptability of exploration equipment face new challenges. The current lunar surface exploration equipment mainly has the following technical bottlenecks:

[0003] The function of the end effector (tool) is single. Existing lunar surface detectors mostly adopt a fixed tool configuration, and the end effector of the robotic arm mainly has single functions such as drilling and shoveling. Although the existing modular tool system realizes limited tool replacement, due to the insufficient standardization degree of the interface, the tool switching takes up to 45 minutes, which is difficult to meet the demand for rapid response in complex terrains.

[0004] The lunar dust protection efficiency is insufficient. Lunar dust particles (particle size < 20μm) have sharp angular shapes due to the lack of atmospheric friction, and carry surface charges (Z value can reach +10V) under the action of the solar wind, and are easy to invade the mechanism gap through van der Waals force and electrostatic adsorption. In the Apollo mission, lunar dust caused a 60% decrease in the light transmittance of the panoramic camera and a 40% attenuation of the solar cell power. Existing dust prevention solutions (such as compressed gas purging) have the problem of irreversible working medium consumption, while the passive labyrinth seal has an interception efficiency of less than 35% for submicron-sized charged dust particles.

[0005] The lack of multi-task collaboration ability. Traditional lunar surface payload containers (such as the biological experiment module of Chang'e-4) adopt a functional separation design, and the sample storage, tool maintenance and energy relay systems are physically isolated, resulting in a mass redundancy of 28%.

[0006] The above defects seriously restrict the operation efficiency and service life of lunar surface equipment. Therefore, it is urgent to develop an intelligent toolbox system with adaptive tool switching, multi-level dust protection and multi-functional integration characteristics to support future large-scale lunar surface infrastructure tasks. Summary of the Invention

[0007] The purpose of the present invention is to solve the problems of long tool switching time and low switching efficiency of existing tools, and a dual-hatch lunar intelligent toolbox based on a turntable lifting platform is proposed.

[0008] The dual-hatch lunar intelligent toolbox based on a turntable lifting platform, the toolbox includes a box body 2, a sensing mechanism, a turntable lifting mechanism, a tool storage mechanism 3 and a controller;

[0009] The rotary lifting mechanism 1 is located at the bottom of the box body 2. The rotary lifting mechanism includes a rotary table mechanism 1 and a lifting mechanism, and the lifting mechanism is arranged on the rotary table mechanism 1;

[0010] The tool storage mechanism 3 includes a closed cabin plate 3-1, N cabin cylinder assemblies and a cabin cylinder door 5; Different tools are placed in the N cabin cylinder assemblies. The upper end faces of the N cabin cylinder assemblies are embedded in the through holes 3-1-1 on the closed cabin plate 3-1 and are arranged along the circumferential direction of the closed cabin plate 3-1;

[0011] The tool storage mechanism 3 is arranged in the box body 2, and the closed cabin plate 3-1 is flush with the upper surface of the box body; There is a spacing between the rotary lifting mechanism 1 and the tool storage mechanism 3;

[0012] A sensing mechanism, which is used to sense the type of the tool to be stored on the robotic arm, the type of the tool to be grasped, sense that the robotic arm has placed the tool into the inner cabin cylinder 3-3 or the robotic arm has taken away the tool, and send the sensing result to the controller;

[0013] The controller is used to control the opening of the cabin cylinder door 5 according to the type of the tool to be stored or the type of the tool to be grasped. At the same time, it controls the rotary table mechanism 1 to drive the lifting mechanism thereon to rotate, so that the lifting mechanism aligns with the inner cabin cylinder 3-3 in the cabin cylinder assembly corresponding to the type of the tool to be stored, and then controls the lifting mechanism to push the aligned inner cabin cylinder 3-3 out of the outer cabin cylinder 3-4; It is also used to control the lowering of the lifting mechanism according to the sensing result that the tool has been placed into the inner cabin cylinder 3-3 or the sensing result that the robotic arm has taken away the tool, so that the inner cabin cylinder 3-3 slides into the outer cabin cylinder 3-4, and controls the closing of the cabin cylinder door 5.

[0014] Preferably, the rotary table mechanism 1 includes a rotary table 1-1, a first motor 1-2, a meshing gear 1-3 and an internal meshing gear 1-4; The lifting mechanism includes a push rod motor and a base 1-5;

[0015] The chassis of the first motor 1-2 is embedded in the lower surface of the box body 2. The rotary table 1-1 is annular. A slot is opened on the rotary table 1-1 for placing the base 1-5. The internal meshing gear 1-4 is connected to the inner ring of the rotary table 1-1. The internal meshing gear 1-4 meshes with the meshing gear 1-3. The second motor 1-2 is located at the bottom of the rotary table 1-1, and the output shaft of the second motor 1-2 is connected to the meshing gear 1-3;

[0016] The push rod motor is arranged at the bottom of the rotary table 1-1 opposite to the position of the base 2. The output shaft of the push rod motor passes through the rotary table 1-1 and is connected to the bottom of the base 2. When the output shaft of the push rod motor extends, the base 1-5 is lifted into the outer cabin cylinder 3-4, and the inner cabin cylinder 3-3 is pushed out of the top of the outer cabin cylinder 3-4. When the output shaft of the push rod motor contracts, the inner cabin cylinder 3-3 slides into the outer cabin cylinder 3-4.

[0017] Preferably, the toolbox further includes a plurality of locking mechanisms 4;

[0018] A plurality of locking mechanisms 4 are uniformly arranged at the edge of the upper circumferential surface of the base 1-5 for locking the outer wall of the inner cabin cylinder 3-2.

[0019] Preferably, each locking mechanism 4 includes a fixed block 4-1, a locking slider 4-2 and a second motor;

[0020] The fixed block 4-1 is arranged at the edge of the upper circumferential surface of the base 2, the locking slider 25 is embedded inside the fixed block 4-1, and the locking slider 25 faces the inner cabin cylinder 3-2;

[0021] Both side walls of the locking slider 25 are slidably connected to both side walls of the fixed block 4-1 through tracks. The second motor is arranged inside the fixed block 4-1 and is used to drive the locking slider 4-2 to expand and contract, so as to lock or release the outer wall of the inner cabin cylinder 3-2.

[0022] Preferably, the cabin door 5 is a hemispherical cabin door;

[0023] A hemispherical cabin door is movably connected at each through hole 3-1-1.

[0024] Preferably, the toolbox further includes a sector-shaped rotating cabin door 3-2;

[0025] The sector-shaped rotating cabin door 3-2 covers the upper opening of the outer cabin cylinder 3-4, and the controller controls the opening or closing of the sector-shaped rotating cabin door 3-2.

[0026] Preferably, the sector-shaped rotating cabin door 3-2 includes a slideway 3-2-5, a cabin door frame 3-2-6, a rotating frame 3-2-1, a plurality of rotating connecting rods 3-2-2, fixed bolt holes 3-2-3, a plurality of sector-shaped blades 3-2-4 and a third motor;

[0027] Both the cabin door frame 3-2-6 and the rotating frame 3-2-1 are circular rings. The cabin door frame 3-2-6 is sleeved on the outer ring surface of the rotating frame 3-2-1, and the cabin door frame 3-2-7 is slidably connected to the rotating frame 3-2-1 through the slideway 3-2-5. The cabin door frame 3-2-7 is fixedly connected to the outer cabin cylinder 3-4 by bolts through the fixed bolt holes 3-2-3. One end of each rotating connecting rod 3-2-2 is hinged to the rotating frame 3-2-1, and the other end of each rotating connecting rod 3-2-2 and a corner point 3-2-4-1 of the sector-shaped blade 3-2-4 are both hinged to the inner ring of the rotating frame 3-2-1. The controller drives the rotating frame 3-2-1 to rotate through the third motor, and drives the sector-shaped blade 3-2-4 to rotate through the rotating connecting rod 3-2-2, so as to open or close the cabin door.

[0028] Preferably, the tool storage mechanism 3 further includes a locker 3-5;

[0029] The locker 3-5 is arranged on the inner wall of the inner cabin cylinder 3-3 and is used to dock with the locker 3-5 on the tool, so as to lock the tool in the inner cabin cylinder 3-3.

[0030] Preferably, the locker 3-5 includes a housing 3-5-1, a locking tongue 3-5-2, a semi-circular locking block 3-5-3, a locking groove 3-5-4, a fourth motor, a sliding groove 3-5-5, an arc groove 3-5-6 and a sliding rod 3-5-7.

[0031] The housing 3-5-1 is L-shaped. The locking tongue 3-5-2 is embedded in the port of the vertical end of the L-shape. The back of the vertical end of the L-shape is arranged on the inner wall of the inner cabin cylinder 3-2. The locking groove 3-5-4 is opened on the horizontal end of the L-shape. The directions of both the locking tongue 3-5-2 and the locking groove 3-5-4 face the upper opening of the inner cabin cylinder 3-3. The sliding groove 3-5-5 is opened at the front end of the vertical end of the L-shape. The semi-circular locking block 3-5-3 is embedded in the sliding groove 3-5-5. The arc groove 3-5-6 is opened on the semi-circular locking block 3-5-3. One end of the sliding rod 3-5-7 is clamped in the arc groove 3-5-6. The other end of the sliding rod 3-5-7 is driven by a fifth motor. The sliding rod 3-5-7 drives the semi-circular locking block 3-5-3 to rotate in the sliding groove 3-3-5 under the drive of the fourth motor. When the semi-circular locking block 3-5-3 is connected to the semi-circular locking ring 3-5-3 on the tool locker to form a circle and a part of the semi-circular locking ring 3-5-3 on the tool locker is clamped into the sliding groove 3-5-5, the locking of the two lockers is realized. When a part of the semi-circular locking ring 3-5-3 on the tool locker comes out of the sliding groove 3-5-5, the unlocking of the two lockers is realized.

[0032] Preferably, the tool storage mechanism 3 further includes a gripper 3-6 and a servo motor.

[0033] The gripper 3-6 is arranged on the inner wall of the inner cabin cylinder 3-3. The servo motor controls the opening or closing of the gripper 3-6, so as to loosen or fix the tool.

[0034] The beneficial effects of the present invention are as follows:

[0035] The dust-proof design of the hemispherical hatch and the sector-shaped rotating hatch fully considers the working environment on the lunar surface where dust particles are small and dense. The hemispherical hatch reduces dust adhesion and prevents component damage caused by the rapid accumulation of dust. The sector-shaped rotating hatch is based on a rotating sealing mechanism with asymmetric sector blades, and realizes the constant linear velocity control during the opening and closing process through the optimization of the planar four-bar mechanism, further reducing the dust falling into the tool cabin; the influence of dust on the sensitivity of the switch is small; the gripper lock can further integrate a magnetorheological damper (maximum damping force 1.5 kN) on the gripper base, and the excitation current is adjusted in real time through a fuzzy PID controller to suppress the vibration amplitude during the tool storage state within ±0.05 mm; the turntable type lifting platform avoids the problems of the large number of motor installations and the occupied space caused by the independent control of the lifting of different hatches. By rotating the turntable to a suitable position, the inner cabin cylinder is driven to rise, which is convenient for the disassembly and docking of the end with the robotic arm.

[0036] The outer hemispherical hatch uses a laser-etched aluminum substrate material, which can effectively reduce the adhesion of lunar dust to the hatch; the inner sector-shaped rotating hatch has few mechanical gaps, low sensitivity to the interference of lunar dust, and is not prone to mechanical damage caused by dust entering the gaps; in addition, the switching process of the sector-shaped rotating hatch is gentle, and the dust adhering to the sector door is not easy to fall into the cabin interior. At the same time, a turntable type lifting platform is adopted, which drives an internal meshing gear pair (transmission accuracy ±15 arcsec) through a harmonic reducer to realize the rapid locking of the turntable at discrete poses of π / 6 rad (response time <1.2 s), and a ball screw-linear guide pair is used to realize the vertical displacement of the storage cabin, and the lifting stroke is adaptively matched with the tool length. According to the types of docking ends, the lifting platform is rotated to an appropriate position, effectively reducing the number of motor installations, reducing the volume of the toolbox, improving the space utilization rate of the lunar surface intelligent toolbox, and making it more convenient to combine with the detector or the sample storage box. The entire docking plane adopts an inclined plane design, reducing the docking difficulty of the robotic arm and improving the switching efficiency. Description of the Drawings

[0037] Figure 1 It is an exploded view of the main structure of the intelligent toolbox;

[0038] Figure 2 It is a three-dimensional view of the intelligent toolbox. In the figure, Figure 2 (a) is a three-dimensional view of the intelligent toolbox with a box body, Figure 1 (b) is a three-dimensional view of the intelligent toolbox without a box body;

[0039] Figure 3 It is a structural diagram with the base not aligned with the inner cabin cylinder;

[0040] Figure 4 It is a structural diagram with the base aligned with the inner cabin cylinder;

[0041] Figure 5Schematic diagram of the base and the locking mechanism thereon;

[0042] Figure 6 Structural diagram of the end of the inner cabin cylinder about to be grasped by the robotic arm;

[0043] Figure 7 Disassembly diagram of the intelligent toolbox. In the figure, Figure 7 (a) Structural diagram of each component of the toolbox, Figure 7 (b) Structural diagram of the box body;

[0044] Figure 8 Schematic diagram of the sector-shaped rotating door. In the figure, Figure 8 (a) Schematic diagram of the closed state of the sector-shaped rotating door, Figure 8 (b) Schematic diagram of the open state of the sector-shaped rotating door;

[0045] Figure 9 Connection structure diagram of the sector-shaped rotating door;

[0046] Figure 10 Structural diagram of the inner cabin cylinder and the outer cabin cylinder. In the figure, Figure 10 (a) Structural diagram of the outer cabin cylinder, Figure 10 (b) Structural diagram of the inner cabin cylinder;

[0047] Figure 11 Structure and state diagram of the lock. In the figure, Figure 11 (a) State diagram of the two locks before locking, Figure 11 (b) State diagram of the two locks during the locking process, Figure 11 (c) State diagram of the two locks after locking, Figure 11 (d) Structure diagram of the lock. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0050] Next, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments, but it is not limited to the present invention.

[0051] Embodiment:

[0052] This embodiment is a double-cabin lunar surface intelligent toolbox based on a turntable lifting platform. AsFigure 1 As shown, it is in its non-working state. The present invention is applicable to assisting lunar exploration robots to select and replace the end of the robotic arm according to different lunar surface environments, and the main body is composed of a circumferential array of storage compartments.

[0053] In addition, to ensure the normal progress of mechanical movement, and at the same time ensure the intelligent vision recognition function of the intelligent box for the lunar surface and the signal transmission between the box body and the robotic arm end, theoretically, there are installations of serial port power-on, communication modules, and electronic components such as cameras and lidar. However, the present invention mainly focuses on the dust-proof method, locking device, and lifting device of the intelligent toolbox, so the mechanical structure design and movement mode of the three are mainly elaborated.

[0054] A dual-hatch lunar surface intelligent toolbox based on a turntable type lifting platform, characterized in that the toolbox includes a box body 2, a sensing mechanism, a turntable type lifting mechanism, a tool storage mechanism 3, and a controller;

[0055] The turntable type lifting mechanism 1 is located at the bottom of the box body 2, and the turntable type lifting mechanism includes a turntable mechanism 1 and a lifting mechanism, and the lifting mechanism is arranged on the turntable mechanism 1;

[0056] The tool storage mechanism 3 includes a closed hatch plate 3-1, N cabin cylinder components, and a cabin cylinder door 5; different tools are placed in the N cabin cylinder components, and the upper end surfaces of the N cabin cylinder components are embedded in the through holes 3-1-1 on the closed hatch plate 3-1 and are arranged along the circumferential direction of the closed hatch plate 3-1;

[0057] The tool storage mechanism 3 is arranged inside the box body 2, and the closed hatch plate 3-1 is flush with the upper surface of the box body; there is a spacing between the turntable type lifting mechanism 1 and the tool storage mechanism 3;

[0058] The sensing mechanism is used to sense the type of tool to be stored on the robotic arm, the type of tool to be grabbed, sense that the robotic arm has placed the tool into the inner cabin cylinder 3-3 or the robotic arm has taken away the tool, and send the sensing result to the controller;

[0059] The controller is used to control the opening of the cabin cylinder door 5 according to the type of tool to be stored or the type of tool to be grabbed, and at the same time control the turntable mechanism 1 to drive the lifting mechanism thereon to rotate, so that the lifting mechanism aligns with the inner cabin cylinder 3-3 in the cabin cylinder component corresponding to the type of tool to be stored, and then control the lifting mechanism to push the aligned inner cabin cylinder 3-3 out of the outer cabin cylinder 3-4; it is also used to control the lowering of the lifting mechanism according to the sensing result that the tool has been placed into the inner cabin cylinder 3-3 or the sensing result that the robotic arm has taken away the tool, the inner cabin cylinder 3-3 slides into the outer cabin cylinder 3-4, and control the cabin cylinder door 5 to close.

[0060] Further defined, the turntable mechanism 1 includes a turntable 1-1, a first motor 1-2, a meshing gear 1-3, and an internal meshing gear 1-4; the lifting mechanism includes a push rod motor and a base 1-5;

[0061] The chassis of the first motor 1-2 is embedded in the lower surface of the box body 2. The turntable 1-1 is annular. A card slot is opened on the turntable 1-1 for placing the base 1-5. The internal meshing gear 1-4 is connected to the inner ring of the turntable 1-1. The internal meshing gear 1-4 meshes with the meshing gear 1-3. The second motor 1-2 is located at the bottom of the turntable 1-1, and the output shaft of the second motor 1-2 is connected to the meshing gear 1-3;

[0062] The push rod motor is arranged at the bottom of the turntable 1-1 opposite to the position of the base 2. The output shaft of the push rod motor passes through the turntable 1-1 and is connected to the bottom of the base 2. When the output shaft of the push rod motor extends, the base 1-5 is lifted into the outer cylinder 3-4, and the inner cylinder 3-3 is pushed out of the top of the outer cylinder 3-4. When the output shaft of the push rod motor contracts, the inner cylinder 3-3 slides into the outer cylinder 3-4.

[0063] Further defined, the tool box further includes a plurality of locking mechanisms 4;

[0064] The plurality of locking mechanisms 4 are uniformly arranged at the edge of the upper circumferential surface of the base 1-5 for locking the outer wall of the inner cylinder 3-2.

[0065] Further defined, each locking mechanism 4 includes a fixed block 4-1, a locking slider 4-2, and a second motor;

[0066] The fixed block 4-1 is arranged at the edge of the upper circumferential surface of the base 2. The locking slider 25 is embedded inside the fixed block 4-1, and the locking slider 25 faces the inner cylinder 3-2;

[0067] Both side walls of the locking slider 25 are slidably connected to both side walls of the fixed block 4-1 through tracks. The second motor is arranged inside the fixed block 4-1 for driving the locking slider 4-2 to expand and contract to lock or release the outer wall of the inner cylinder 3-2.

[0068] Specifically, tracks are provided on both the outer wall of the inner cylinder 3-3 and the inner wall of the outer cylinder 3-4, and the two are slidably connected through the tracks. The height of the inner cylinder 3-3 is less than that of the outer cylinder 3-4. A section of track is arranged at the middle position of the inner wall of the outer cylinder 3-4, so that when the inner cylinder 3 falls back, it will not fall out of the outer cylinder 3-4; as Figure 5 shown, grooves 2-1 are uniformly opened on the circumferential surface of the base. Since slide rails are provided on the inner wall of the outer cylinder, when the base enters the inner cylinder, the slide rails cooperate with the grooves.

[0069] When the robotic arm needs to dock with a certain end, the drive motor starts, driving the meshing gears to rotate. Further, through the internal meshing gears, the turntable is driven to rotate, aligning the base with the bottom of the inner cabin cylinder of the end to be docked. Then, driven by the motor, the base slowly moves upward to contact the inner cabin cylinder. The motor drives the locking slider to move outward, fitting with the bottom slot of the inner cabin cylinder to complete the fixation of the inner cylinder wall. The motor further drives the base and the inner cabin cylinder to move upward along the track.

[0070] Further defined, the cabin door 5 is a hemispherical cabin door;

[0071] A hemispherical cabin door is movably connected to each through hole 3-1-1.

[0072] Further defined, the toolbox further includes a sector-shaped rotating cabin door 3-2;

[0073] The sector-shaped rotating cabin door 3-2 covers the upper opening of the outer cabin cylinder 3-4, and the controller controls the opening or closing of the sector-shaped rotating cabin door 3-2.

[0074] Further defined, the sector-shaped rotating cabin door 3-2 includes a slideway 3-2-5, a cabin door frame 3-2-6, a rotating frame 3-2-1, a plurality of rotating connecting rods 3-2-2, fixed bolt holes 3-2-3, a plurality of sector-shaped leaves 3-2-4 and a third motor;

[0075] Both the cabin door frame 3-2-6 and the rotating frame 3-2-1 are circular rings. The cabin door frame 3-2-6 is sleeved on the outer ring surface of the rotating frame 3-2-1, and the cabin door frame 3-2-7 is slidably connected to the rotating frame 3-2-1 through the slideway 3-2-5. The cabin door frame 3-2-7 is fixedly connected to the outer cabin cylinder 3-4 by bolts through the fixed bolt holes 3-2-3. One end of each rotating connecting rod 3-2-2 is hinged to the rotating frame 3-2-1, and the other end of each rotating connecting rod 3-2-2 and a corner point 3-2-4-1 of the sector-shaped leaf 3-2-4 are both hinged to the inner ring of the rotating frame 3-2-1. The controller drives the rotating frame 3-2-1 to rotate through the third motor, driving the sector-shaped leaf 3-2-4 to rotate through the rotating connecting rod 3-2-2, thereby opening or closing the cabin door.

[0076] Specifically, the cabin door design: The cabin door is divided into an inner and an outer cabin door. The outer cabin door is a hemispherical cabin door. Fine slideways are arranged on the inner surface of the hemispherical cabin door along the direction of the large arc. The opening and closing direction is controlled by the fitting of the slideways with the cabin door track. At the same time, the cabin door track ends at the outer track of the outer cabin cylinder and a gap is reserved, so that the dust entering the cabin door track leaves the cabin along the track. The inner cabin door is a sector-shaped rotating cabin door.

[0077] Further defined, the tool storage mechanism 3 further includes a lock 3-5;

[0078] The locker 3-5 is arranged on the inner wall of the inner cabin cylinder 3-3 and is used to dock with the locker 3-5 on the tool, so as to lock the tool in the inner cabin cylinder 3-3.

[0079] Further defined, the locker 3-5 includes a housing 3-5-1, a locking tongue 3-5-2, a semi-circular locking block 3-5-3, a locking groove 3-5-4, a No. 4 motor, a sliding groove 3-5-5, an arc groove 3-5-6 and a sliding rod 3-5-7;

[0080] The housing 3-5-1 is L-shaped. The locking tongue 3-5-2 is embedded at the port of the vertical end of the L-shape. The back of the vertical end of the L-shape is arranged on the inner wall of the inner cabin cylinder 3-2. The horizontal end of the L-shape is provided with a locking groove 3-5-4. The directions of the locking tongue 3-5-2 and the locking groove 3-5-4 both face the upper opening of the inner cabin cylinder 3-3. A sliding groove 3-5-5 is opened at the front end of the vertical end of the L-shape. The semi-circular locking block 3-5-3 is embedded in the sliding groove 3-5-5. An arc groove 3-5-6 is opened on the semi-circular locking block 3-5-3. One end of the sliding rod 3-5-7 is clamped in the arc groove 3-5-6. The other end of the sliding rod 3-5-7 is driven by a No. 5 motor. The sliding rod 3-5-7 drives the semi-circular locking block 3-5-3 to rotate in the sliding groove 3-3-5 under the drive of the No. 4 motor. When the semi-circular locking block 3-5-3 is connected with the semi-circular locking ring 3-5-3 on the tool locker to form a circle, and a part of the semi-circular locking ring 3-5-3 on the tool locker is clamped into the sliding groove 3-5-5, the locking of the two lockers is realized. When a part of the semi-circular locking ring 3-5-3 on the tool locker comes out of the sliding groove 3-5-5, the unlocking of the two lockers is realized.

[0081] Further defined, the tool storage mechanism 3 further includes a gripper 3-6 and a servo motor;

[0082] The gripper 3-6 is arranged on the inner wall of the inner cabin cylinder 3-3. The servo motor controls the opening or closing of the gripper 3-6, so as to loosen or fix the tool.

[0083] Specifically, the gripper penetrates the inner cabin cylinder through the base and is fixedly connected to its outer surface, and the opening and closing of the jaws are controlled by an external servo motor. Its main function is to limit the vibration and shaking at the end. The main design of the inner cabin cylinder is the fixing device at the end; in this embodiment, the fixing device and the locking device are used in combination to improve the stability of the end storage.

[0084] Workflow:

[0085] Next, the auxiliary functions of the lunar surface intelligent toolbox in the exploration mission will be presented according to the specific workflow of the toolbox.

[0086] The workflow of the toolbox assisting the detector to replace the end can be divided into three main parts: intelligent recognition, storing the end, and docking and retrieving the end.

[0087] Intelligent recognition

[0088] Step 1: Intelligent recognition. The camera intelligently recognizes the lunar surface conditions and determines the end tools to be used: The drill bit can be used to collect hard lunar rocks such as basalt and breccia to obtain geological samples; the shovel can be used to quickly collect the soft surface lunar soil in the flat mare region; the gripper can accurately grasp the massive rock samples; the electric saw can be used to cut rocks to make building materials required for lunar surface infrastructure, etc.

[0089] Store the end

[0090] Step 2: Turntable selection. Automatically determine the currently docked end on the robotic arm, and the turntable lift 1 drives the base 2 to rotate to the position where the end is vacant.

[0091] Step 3: Lock the inner cylinder. The base moves upward to dock with the inner cylinder 3-3, and the locking slider 4-1 moves along the chute to complete the locking of the inner cylinder and the lifting base.

[0092] Step 4: Open the hatch. Open the hemispherical hatch 5 and the sector rotary hatch 3-2 successively.

[0093] Step 5: Lift the end. The motor starts, and the base and the inner cylinder 3-3 are pushed to move upward along the translation track through the rails respectively.

[0094] Step 6: Lock the end. After the robotic arm successfully locks the lock in the end with the lock in the inner cylinder, the robotic arm leaves the storage area, and the gripper fixes the end.

[0095] Step 7: Lower the inner cylinder. The motor starts and drives the base and the inner cylinder to move downward along the sliding track.

[0096] Step 8: Close the hatch. Close the hemispherical hatch 5 and the sector rotary hatch 3-2 successively.

[0097] Step 9: Release the lock. The locking slider 4-2 returns to the inside of the fixed block 4-1 along the chute under the drive of the motor, and the locking between the base 2 and the inner cylinder 3-3 is released.

[0098] Step 10: Restore the turntable lift. Under the drive of the motor, the base returns to the card slot of the turntable lift 1.

[0099] Dock and retrieve the end

[0100] Step 11: According to the intelligent recognition to judge the tool to be applied, the turntable lift rotates again to the lower end of the inner cylinder storing the specific end under the drive of the drive motor.

[0101] Step 12: In the same way as in Steps 3 to 5, successively complete locking the inner cylinder, opening the hatch, and lifting the end.

[0102] Step Twelve: Unlock the end. When the end is successfully docked with the robotic arm, the motor in the locking mechanism is driven to drive the semi-circular locking block into the chute; at the same time, the gripper opens and the robotic arm moves outwards. When the end leaves the inner cabin cylinder, the motor of the locking mechanism stops driving and the mechanism returns to its original state.

[0103] Step Thirteen: In the manner of Steps Seven to Ten, successively complete lowering the inner cabin cylinder, closing the hatch, unlocking, and restoring the rotary lifting platform.

[0104] Although the present invention has been described herein with reference to particular embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Accordingly, it should be understood that numerous modifications may be made to the exemplary embodiments, and other arrangements may be designed, provided that they do not depart from the spirit and scope of the invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment may be used in other described embodiments.

Claims

1. The intelligent toolbox for the lunar surface with double hatches based on a turntable lifting platform, characterized in that The toolbox includes a box body (2), a sensing mechanism, a rotary lifting mechanism, a tool storage mechanism (3) and a controller; The rotary lifting mechanism (1) is located at the bottom of the box body (2). The rotary lifting mechanism includes a rotary table mechanism (1) and a lifting mechanism, and the lifting mechanism is arranged on the rotary table mechanism (1); The tool storage mechanism (3) includes a closed cabin plate (3-1), N cabin barrel assemblies and a cabin barrel door (5); Different tools are placed in the N cabin barrel assemblies. The upper end surfaces of the N cabin barrel assemblies are embedded in through holes (3-1-1) on the closed cabin plate (3-1) and are arranged along the circumferential direction of the closed cabin plate (3-1); The tool storage mechanism (3) is arranged in the box body (2), and the closed cabin plate (3-1) is flush with the upper surface of the box body; There is a spacing between the rotary lifting mechanism (1) and the tool storage mechanism (3); The sensing mechanism is used to sense the type of the tool to be stored on the robotic arm, the type of the tool to be grasped, sense whether the robotic arm has placed the tool into the inner cabin barrel (3-3) or the robotic arm has taken away the tool, and send the sensing result to the controller; The controller is used to control the opening of the cabin barrel door (5) according to the type of the tool to be stored or the type of the tool to be grasped. At the same time, the controller controls the rotary table mechanism (1) to drive the lifting mechanism thereon to rotate, so that the lifting mechanism aligns with the inner cabin barrel (3-3) in the cabin barrel assembly corresponding to the type of the tool to be stored, and then controls the lifting mechanism to push the aligned inner cabin barrel (3-3) out of the outer cabin barrel (3-4); The controller is also used to control the lowering of the lifting mechanism according to the sensing result that the tool has been placed into the inner cabin barrel (3-3) or the sensing result that the robotic arm has taken away the tool, so that the inner cabin barrel (3-3) slides into the outer cabin barrel (3-4), and controls the closing of the cabin barrel door (5).

2. The double-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 1, wherein The rotary table mechanism (1) includes a rotary table (1-1), a first motor (1-2), a meshing gear (1-3) and an internal meshing gear (1-4); The lifting mechanism includes a push rod motor and a base (1-5); The chassis of the first motor (1-2) is embedded in the lower surface of the box body (2). The rotary table (1-1) is annular. A slot is opened on the rotary table (1-1) for placing the base (1-5). The internal meshing gear (1-4) is connected to the inner ring of the rotary table (1-1). The internal meshing gear (1-4) meshes with the meshing gear (1-3). The second motor (1-2) is located at the bottom of the rotary table (1-1), and the output shaft of the second motor (1-2) is connected to the meshing gear (1-3); The push rod motor is arranged at the bottom of the rotary table (1-1) opposite to the position of the base (2). The output shaft of the push rod motor passes through the rotary table (1-1) and is connected to the bottom of the base (2). When the output shaft of the push rod motor extends, the base (1-5) is lifted into the outer cabin barrel (3-4), and the inner cabin barrel (3-3) is pushed out of the top of the outer cabin barrel (3-4). When the output shaft of the push rod motor contracts, the inner cabin barrel (3-3) slides into the outer cabin barrel (3-4).

3. The dual-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 2, wherein, The toolbox further includes a plurality of locking mechanisms (4); The plurality of locking mechanisms (4) are uniformly arranged at the edge of the upper circumferential surface of the base (1-5) and are used to lock the outer wall of the inner cabin barrel (3-2).

4. The double-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 3, wherein Each locking mechanism (4) includes a fixed block (4-1), a locking slider (4-2) and a second motor; The fixed block (4-1) is arranged at the edge of the upper circumferential surface of the base (2). The locking slider (25) is embedded inside the fixed block (4-1), and the locking slider (25) faces the inner cylinder (3-2); Both side walls of the locking slider (25) are slidably connected to both side walls of the fixed block (4-1) through tracks. The second motor is arranged inside the fixed block (4-1) and is used to drive the locking slider (4-2) to expand and contract, so as to lock or release the outer wall of the inner cylinder (3-2).

5. The dual-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 1, characterized in that, The cylinder door (5) is a hemispherical hatch; A hemispherical hatch is movably connected to each through hole (3-1-1).

6. The double-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 1, wherein, The toolbox further includes a sector-shaped rotating hatch (3-2); The sector-shaped rotating hatch (3-2) covers the upper opening of the outer cylinder (3-4), and the controller controls the opening or closing of the sector-shaped rotating hatch (3-2).

7. The double-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 6, characterized in that, The sector-shaped rotating hatch (3-2) includes a slideway (3-2-5), a hatch frame (3-2-6), a rotating frame (3-2-1), a plurality of rotating connecting rods (3-2-2), fixed bolt holes (3-2-3), a plurality of sector-shaped leaves (3-2-4) and a third motor; Both the hatch frame (3-2-6) and the rotating frame (3-2-1) are circular rings. The hatch frame (3-2-6) is sleeved on the outer ring surface of the rotating frame (3-2-1), and the hatch frame (3-2-7) is slidably connected to the rotating frame (3-2-1) through the slideway (3-2-5). The hatch frame (3-2-7) is fixedly connected to the outer cylinder (3-4) by bolts through the fixed bolt holes (3-2-3). One end of each rotating connecting rod (3-2-2) is hinged to the rotating frame (3-2-1), and the other end of each rotating connecting rod (3-2-2) and a corner point (3-2-4-1) of the sector-shaped leaf (3-2-4) are both hinged to the inner ring of the rotating frame (3-2-1). The controller drives the rotating frame (3-2-1) to rotate through the third motor, and drives the sector-shaped leaf (3-2-4) to rotate through the rotating connecting rod (3-2-2), so as to open or close the hatch.

8. The double-cabin lunar intelligent toolbox based on a rotary lift table according to claim 1, wherein, The tool storage mechanism (3) further includes a locker (3-5); The locker (3-5) is arranged on the inner wall of the inner cylinder (3-3) and is used to dock with the locker (3-5) on the tool, so as to lock the tool inside the inner cylinder (3-3).

9. The double-cabin lunar intelligent toolbox based on a rotary lifting platform according to claim 8, characterized in that The locker (3-5) includes a housing (3-5-1), a locking tongue (3-5-2), a semi-circular locking block (3-5-3), a locking groove (3-5-4), a fourth motor, a chute (3-5-5), an arc groove (3-5-6) and a sliding rod (3-5-7); The outer shell (3-5-1) is L-shaped. The locking tongue (3-5-2) is embedded at the port of the vertical end of the L-shape. The back of the vertical end of the L-shape is arranged on the inner wall of the inner cabin cylinder (3-2). A locking groove (3-5-4) is formed in the horizontal end of the L-shape. The directions of both the locking tongue (3-5-2) and the locking groove (3-5-4) face the upper opening of the inner cabin cylinder (3-3). A sliding groove (3-5-5) is formed at the front end of the vertical end of the L-shape. The semi-circular locking block (3-5-3) is embedded in the sliding groove (3-5-5). An arc-shaped groove (3-5-6) is formed in the semi-circular locking block (3-5-3). One end of the sliding rod (3-5-7) is clamped in the arc-shaped groove (3-5-6). The other end of the sliding rod (3-5-7) is driven by the No. 5 motor. Driven by the No. 4 motor, the sliding rod (3-5-7) drives the semi-circular locking block (3-5-3) to rotate in the sliding groove (3-3-5). When the semi-circular locking block (3-5-3) is joined with the semi-circular locking ring (3-5-3) on the tool lock to form a circle, and a part of the semi-circular locking ring (3-5-3) on the tool lock is clamped into the sliding groove (3-5-5), the locking of the two locks is achieved. When a part of the semi-circular locking ring (3-5-3) on the tool lock comes out of the sliding groove (3-5-5), the unlocking of the two locks is achieved.

10. The double-cabin lunar intelligent toolbox based on a turntable lifting platform according to claim 1, wherein, The tool storage mechanism (3) further includes a gripper (3-6) and a servo motor. The gripper (3-6) is arranged on the inner wall of the inner cabin cylinder (3-3). The servo motor controls the opening or closing of the gripper (3-6) to release or fix the tool.

Images