A robot for star catalogue narrow cave exploration
By designing a star surface exploration robot suitable for narrow caves, and employing flexible pipe modules and a rope-driven structure, the problem of existing robots being unable to enter narrow caves has been solved, achieving omnidirectional exploration and high flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2026-03-16
- Publication Date
- 2026-05-19
AI Technical Summary
Existing star surface exploration robots are large and complex, making them unsuitable for exploring narrow caves.
A robot comprising a traversing mechanism and a cave exploration mechanism was designed. The cave exploration mechanism consists of a guide probe, a flexible pipe module, a telescopic control module, and a bending control module. It adopts a flexible pipe module and a rope-driven structure to achieve slender and flexible cave exploration.
It enables omnidirectional exploration of robots in narrow caves, enhances the exploration adaptability and operational flexibility in complex terrain, and has a compact structure that is easy to operate.
Smart Images
Figure CN121849256B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of space robot technology, and relates to a star surface exploration tool, and more particularly to a robot for exploring narrow caves on the star surface. Background Technology
[0002] Space exploration robots are key equipment for performing in-situ exploration, sampling, and resource utilization missions of extraterrestrial objects. As deep space exploration targets shift from short-term reconnaissance to long-term stays and resource development, higher demands are placed on the robots' mobility, environmental adaptability, autonomous operation capabilities, and engineering practicality. Currently, research in this field shows a trend towards development from single-function to multi-functional integration, from individual operation to cluster collaboration, and from technology verification to large-scale application. Technological innovation is concentrated on novel mobile mechanisms, intelligent sensing and control, and specialized tools for in-situ resource utilization.
[0003] To detect narrow caves on the planetary surface, a suitable-sized and functionally appropriate detection robot is needed. Existing technologies all excel in specific performance aspects, but they generally face the core contradiction of balancing environmental adaptability, reliability, and overall efficiency. Patent CN111123911A discloses a legged intelligent planetary surface detection robot perception system and its operating method, including a three-dimensional laser sensor, a left-eye visible light camera, a right-eye visible light camera, a structured light measurement camera, an inertial measurement unit, and an industrial control computer. This system can autonomously adapt to different terrain environments, achieving long-distance, intelligent obstacle avoidance, autonomous roaming, and safe arrival at pre-designated target detection locations. It can also assist the robotic arm's end effector in performing precise operations on collected samples. However, the robot's overall size is large, requiring a large movement space, making it unsuitable for detecting narrow caves. Patent CN121452437A discloses a serpentine pipe inspection robot and its application method, which includes two identical tank-shaped inspection vehicles and a serpentine joint body connecting the two. The robot as a whole can flexibly adapt to the bending changes of vertical, horizontal and various bends of pipes, and achieve stable serpentine meandering movement. It solves the problems of poor adaptability to complex pipes and single function of existing pipe robots, and realizes long-distance, all-round detection and multi-functional operation in complex pipe environments. However, its structure is complex, requires multiple detection heads, and has a high manufacturing cost. Summary of the Invention
[0004] This invention addresses the shortcomings of existing star surface exploration robots, such as large size, complex structure, and inability to adapt to narrow caves, by providing a robot for exploring narrow caves on the star surface.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:
[0006] A robot for exploring narrow caves on the surface of a planet includes a traveling mechanism, a shell, and a cave exploration mechanism. The shell is mounted on the traveling mechanism and can be driven to move by the traveling mechanism. The front end of the shell is provided with a mounting compartment. One end of the cave exploration mechanism is installed in the mounting compartment, and the other end can extend or retract into the mounting compartment. The cave exploration mechanism can perform bending movements to complete an omnidirectional exploration task after the robot enters a narrow cave on the surface of a planet.
[0007] Furthermore, the cave exploration mechanism includes a guide probe, a flexible pipe module, a telescopic control module, and a bending control module. The telescopic control module includes a telescopic drive motor and a lead screw shaft, with the telescopic drive motor driving the lead screw shaft to rotate. The flexible pipe module includes several segments arranged in series, each segment having a trapezoidal internal thread that sequentially engages with the lead screw shaft. Each segment also has a sliding fit with the installation chamber, with adjacent segments abutting against each other to sequentially transmit driving force. When the flexible pipe module extends out of the installation chamber, it can be driven and controlled by the bending control module to perform bending actions. The guide probe is located at the front end of the flexible pipe module and is used to collect cave image information.
[0008] Furthermore, the bending control module includes a rope drive unit and a fixing block, with the fixing block located in front of the first vertebral segment; multiple rope drive units are provided and are evenly installed around the telescopic control module in a circumferential manner; each rope drive unit includes a linear actuator and a steel wire rope, one end of which is connected to the linear actuator and can be driven by the linear actuator to output downward tension, and the other end passes through all the vertices arranged in series and is fixedly connected to the fixing block.
[0009] Furthermore, the installation compartment includes an inner compartment and an annular outer compartment surrounding the inner compartment. The telescopic control module is installed inside the inner compartment, and the rope drive unit is arranged inside the annular outer compartment.
[0010] Furthermore, each rope drive unit also includes three guide wheels, two of which are mounted side by side on the top of the annular outer compartment, and the other guide wheel is mounted on the bottom of the inner compartment. The bottom of the inner compartment has a cable pass-through opening that communicates with the annular outer compartment. After the wire rope is led out from the linear drive, it changes direction through the two guide wheels on the top of the annular outer compartment, then extends to the bottom of the annular outer compartment, passes through the cable pass-through opening at the bottom of the inner compartment, changes direction again through the guide wheel at the bottom of the inner compartment, and then extends upward along the axis of the lead screw shaft, finally passing through all the tandemly arranged joints.
[0011] Furthermore, the cave exploration mechanism also includes a flexible sheathing tube, which is fitted over the flexible pipe module so that all the connected joints are coaxial with the lead screw shaft when the flexible pipe module switches from a bent state to a straight state.
[0012] Furthermore, each segment of the bone has an arc-shaped protrusion at each of its two ends on its upper surface; adjacent segments are arranged orthogonally, so that the bottom of the front segment abuts against the arc-shaped protrusion of the rear segment.
[0013] Furthermore, the guide probe includes a mounting base, an image acquisition module, and an illumination module. The mounting base is located at the front end of the flexible pipe module. Both the image acquisition module and the illumination module are mounted on the mounting base. The illumination module is used to provide supplementary lighting for the cave location, and the image acquisition module is used to acquire image information inside the cave.
[0014] Furthermore, the image acquisition module includes an imaging lens, an imaging optical fiber, and a lens support. The mounting base has an installation channel in the center, and the lens support is inserted into the installation channel. The imaging lens is installed at the front end of the lens support. One end of the imaging optical fiber is connected to the imaging lens, and the other end passes through the central through hole of the flexible pipe module and is connected to the control module for transmitting the image signal acquired by the imaging lens.
[0015] Furthermore, the lighting module includes an LED base, LED beads, an lighting optical fiber, and a baffle. The LED base has threaded holes, and the front end of the lens support has external threads. The LED base is screwed onto the lens support and is located at the front end of the mounting base. The LED base has four mounting slots, and four LED beads are evenly fixed in the four mounting slots of the LED base around the imaging lens. One end of the lighting optical fiber is connected to the LED beads, and the other end passes through the mounting slots and the central through hole of the flexible pipe module to connect to the control module, which is used to power the four LED beads.
[0016] The beneficial effects of this invention compared to the prior art are:
[0017] 1. The cave detection mechanism designed in this invention is slender and flexible, with a compact overall structure and small size, meeting the detection requirements of narrow caves. Furthermore, the cave detection mechanism can freely extend and retract from its outer shell, allowing it to penetrate deep into narrow caves to conduct environmental perception and data collection during space surface cave exploration missions, enhancing the robot's adaptability and operational flexibility in complex terrain.
[0018] 2. The flexible pipe module of this invention adopts a segmented structure design. Each segment is connected to the telescopic control module based on the screw-nut pair principle for transmission control. Each segment can be controlled independently, and they can also interact with each other. That is, after the front segment disengages from the screw shaft, the driving force of the rear segment can push the extended front segment to continue moving forward, causing the flexible pipe module to gradually extend. Alternatively, the segment that has disengaged from the screw shaft can be re-screwed onto the screw shaft under the compression of the front segment. When the extended flexible pipe module is bent by the bending control module, the movement of the rear segment is not interfered with, and it can continue to move forward under the drive of the screw shaft.
[0019] 3. The bending control module of this invention adopts a rope-driven structure. On the one hand, it can connect the various sections to form the overall structure of the flexible pipe module. At the same time, adjacent sections are connected by steel wire ropes and kept in close contact, which can ensure the orderly expansion and contraction of each section and achieve precise control of the expansion and contraction length of the flexible pipe module. On the other hand, it can precisely control the flexible pipe module to complete the bending action in a preset direction. The overall structure is simple and easy to operate.
[0020] 4. The traveling mechanism of this invention adopts a tracked wheel system. The driving motor and drive gear control the movement of the driving wheel shaft and drive pulley, which in turn drives the driven wheel shaft and driven pulley via the track. The outer shell is whistle-shaped with a hollow upper semi-cylindrical structure, facilitating the installation of the driving module and control module. This results in a compact and small robot structure, allowing the robot to easily enter narrow caves. Combined with the flexible pipe module, it enables omnidirectional exploration of the cave interior. Attached Figure Description
[0021] The accompanying drawings, which form part of this invention, are provided to give a further understanding of the invention.
[0022] Figure 1 This is a three-dimensional structural diagram of a robot for exploring narrow caves on the surface of stars according to the present invention.
[0023] Figure 2 This is a side view of a robot for exploring narrow caves on the star surface according to the present invention.
[0024] Figure 3 This is a top view of a robot for exploring narrow caves on the star surface according to the present invention.
[0025] Figure 4 for Figure 3 A cross-sectional view of section BB.
[0026] Figure 5 for Figure 3 A cross-sectional view at point AA.
[0027] Figure 6 for Figure 1 A magnified view of a portion of point A in the middle.
[0028] Figure 7 This is a schematic diagram of the cave exploration mechanism (with the flexible covering tube removed).
[0029] Figure 8 This is a cross-sectional view of a cave exploration device (with the flexible sheath removed).
[0030] Figure 9 for Figure 8 A magnified view of a section at point B.
[0031] Figure 10 This is a schematic diagram of the structure of a joint.
[0032] Figure 11 This is a bottom view (without the outer shell) of a robot for exploring narrow caves on the star surface according to the present invention.
[0033] Explanation of reference numerals in the attached figures:
[0034] 1. Traveling mechanism; 11. Traveling drive motor; 12. Drive gear; 13. Driven gear; 14. Drive axle; 15. Track; 16. Drive pulley; 17. Driven pulley; 18. Driven axle; 2. Outer shell; 21. Inner compartment; 211. Cable entry port; 22. Annular outer compartment; 3. Cave exploration mechanism; 31. Guide probe; 311. Mounting base; 312. Imaging lens; 313. Lens support; 314. LED Base; 315, LED beads; 316, baffle; 32, flexible sheathing tube; 33, flexible pipe module; 331, joint; 332, wire hole; 333, arc-shaped protrusion; 334, slider; 34, telescopic control module; 341, telescopic drive motor; 342, lead screw shaft; 35, bending control module; 351, linear actuator; 352, wire rope; 353, guide wheel; 354, fixing block; 4, control module. Detailed Implementation
[0035] The invention will now be described in detail with reference to the accompanying drawings and specific embodiments.
[0036] See Figure 1 This embodiment describes a robot for exploring narrow caves on the surface of a planet. The robot includes a traveling mechanism 1, a shell 2, and a cave exploration mechanism 3. The shell 2 is mounted on the traveling mechanism 1 and can be driven by the traveling mechanism 1 to move. The front end of the shell 2 has a mounting compartment. The cave exploration mechanism 3 has a slender structure, with one end installed inside the mounting compartment and the other end extending out or retracting into the mounting compartment. The cave exploration mechanism 3 can perform bending movements, mimicking the shape and function of a head, to achieve omnidirectional exploration of the interior of a narrow cave after the robot enters it.
[0037] The robot designed in this embodiment has a compact overall structure and small design, which can go deep into the cave to carry out exploration tasks. The cave exploration mechanism 3 is slender and flexible, which can bend inside the narrow cave and can freely extend and retract from the outer shell 2. In the star surface cave exploration task, it can carry out environmental perception and data collection inside the narrow cave, which enhances the robot's exploration adaptability and operational flexibility in complex terrain.
[0038] To achieve bending and stretching functions, combined with Figure 6 , Figure 7 and Figure 8As shown in the diagram, the cave detection mechanism 3 of this embodiment includes a guide probe 31, a flexible covering tube 32, a flexible pipe module 33, a telescopic control module 34, and a bending control module 35. Combined with... Figure 8 The installation compartment includes an inner compartment 21 and an annular outer compartment 22 surrounding the inner compartment 21. A telescopic control module 34 is installed in the inner compartment 21, and includes a telescopic drive motor 341 and a lead screw 342. The telescopic drive motor 341 is fixed to the bottom of the inner compartment 21. One end of the lead screw 342 is connected to the motor shaft of the telescopic drive motor 341 and can rotate with it; the other end extends towards the hatch of the inner compartment 21. Figure 7 and Figure 8 The flexible pipe module 33 is composed of several segments 331 connected in series. Each segment 331 has a trapezoidal internal thread that sequentially engages with a lead screw shaft 342. Four sliders 334 are evenly distributed on the outer circumference of each segment 331. Four sliding grooves are formed along the length of the inner wall of the inner compartment 21. Each segment 331 is slidably connected to the inner compartment 21 through the sliding engagement of the sliders 334 and the sliding grooves. This allows each segment 331 to reciprocate along the axis of the lead screw shaft 342 under its drive. Adjacent segments 331 abut against each other to sequentially transmit driving force when the flexible pipe module 33 extends or retracts into the installation compartment. Figure 4 and Figure 8As shown, the bending control module 35 includes a rope drive unit and a fixing block 354. The fixing block 354 is located in front of the first segment 331 and abuts against it. Four rope drive units are provided and are evenly installed circumferentially within the annular outer compartment 22. Each rope drive unit includes a linear actuator 351, a wire rope 352, and a guide wheel 353. The linear actuator 351 is preferably a ball screw pair. Three guide wheels 353 are provided, with two guide wheels 353 mounted side-by-side on the top of the annular outer compartment 22 and the other guide wheel 353 mounted on the bottom of the inner compartment 21. The bottom of the inner compartment 21 has a cable pass-through port 211 communicating with the annular outer compartment 22. One end of the wire rope 352 is connected to the lead screw nut in the linear actuator 351, which can drive the linear actuator 351 and output downward tension. The other end is reversed by the two guide wheels 353 at the top of the annular outer compartment 22, extends to the bottom of the annular outer compartment 22, passes through the wire hole 211 at the bottom of the inner compartment 21, reverses again by the guide wheels 353 at the bottom of the inner compartment 21, and then extends upward along the axis of the lead screw shaft 342, passes through all the tandemly arranged joints 331 in sequence, and is fixedly connected to the fixing block 354. A flexible covering tube 32 is fitted over the flexible pipe module 33, and an extension opening is provided on the flexible covering tube 32 at a position opposite to the slider 334. The slider 334 on the joint 331 protrudes through this extension opening. The flexible covering tube 32 has a certain degree of elasticity, which allows it to deform with the flexible pipe module 33. Furthermore, when the flexible pipe module 33 switches from a bent state to a straight state, it ensures that all the connected joints 331 are coaxial with the lead screw shaft 342, guaranteeing that the flexible pipe module 33 can be smoothly reset when it retracts into the installation chamber. A guide probe 31 is installed at the front end of the flexible covering tube 32 to collect image information inside the cave.
[0039] When the robot is driven by the traveling mechanism 1 to move into a cave on the star surface, the telescopic drive motor 341 is activated, and the lead screw shaft 342 rotates with its motor shaft. At the same time, the four linear actuators 351 synchronously release the wire and keep the steel wire rope 352 taut to ensure close contact between adjacent bone segments 331. Each bone segment 331 moves towards the hatch of the inner cabin 21 along the axis of the lead screw shaft 342 under the limit of the inner cabin 21. When the first segment 331 disengages from the lead screw shaft 342, because adjacent segments 331 abut against each other, the second segment 331, while moving outward along the lead screw shaft 342, pushes the first segment 331 away from the lead screw shaft 342. When the second segment 331 disengages from the lead screw shaft 342, the third segment 331, while moving outward along the lead screw shaft 342, pushes both the second and first segments 331 away from the lead screw shaft 342, and so on, thus enabling the flexible pipe module 33 to extend from the inner chamber 21. Simultaneously, controlling the release speed of the four linear actuators 351 causes the four steel wire ropes 352 to exert different driving forces on the flexible pipe module 33, causing it to bend in different directions. Subsequently, the guide probe 31 collects image information inside the cave, gradually achieving comprehensive information collection inside the cave and completing the cave exploration mission.
[0040] After the robot has completed image information acquisition, the four linear actuators 351 control the four steel wire ropes 352 to extend to the same length and maintain tension. At this time, the flexible pipe module 33 changes from a bent state to a straight state, and the axis of all joints 331 is coaxial with the lead screw shaft 342. The flexible pipe module 33 can be regarded as a rigid pipe. The last joint 331 that extends abuts against the end of the lead screw shaft 342. The telescopic drive motor 341 is started, and the lead screw shaft 342 rotates with its motor shaft. The last joint 331 that extends is screwed onto the lead screw shaft 342 under the squeezing force of the front joint 331. Under the limit of the inner chamber 21, the joint 331 moves into the chamber along the axis of the lead screw shaft 342. This process continues until all the extended joints 331 are gradually screwed onto the lead screw shaft 342, thereby realizing the retraction of the flexible pipe module 33. At the same time, the four linear actuators 351 synchronously retract the line at the same speed and maintain tension to ensure close contact between adjacent rib sections 331 and generate compressive force until the flexible pipe module 33 is completely retracted into the inner cabin 21.
[0041] Therefore, the flexible pipe module 33 adopts a structure design with vertices 331 connected in series. Each vertices 331 and the telescopic control module 34 are controlled by a screw and nut pair. Each vertices 331 can be controlled independently, and they can also generate forces with each other. That is, after the front vertices 331 disengage from the screw shaft 342, the driving force of the rear vertices 331 can push the extended front vertices 331 to continue moving forward, so that the flexible pipe module 33 gradually extends. Alternatively, the vertices 331 that have disengaged from the screw shaft 342 can be re-screwed onto the screw shaft 342 under the compression of the front vertices 331. When the extended flexible pipe module 33 is bent by the bending control module 35, the movement of the rear vertices 331 is not interfered with, and they can continue to move forward under the drive of the screw shaft 342. The bending control module 35 adopts a rope-driven structure. On the one hand, it can connect the various segments 331 in series to form the overall structure of the flexible pipe module 33. At the same time, adjacent segments 331 are connected by steel wire ropes 352 and kept in close contact, which can ensure the orderly extension and retraction of each segment 331 and achieve precise control of the extension and retraction length of the flexible pipe module 33. On the other hand, it can precisely control the flexible pipe module 33 to complete the bending action in a preset direction. The overall structure is simple and easy to operate. Therefore, under the coordinated drive of the extension control module 34 and the bending control module 35, the flexible pipe module 33 in this embodiment can simultaneously realize bending and extension actions, which can meet the needs of star surface cave exploration operations.
[0042] In order to enable the flexible pipe module 33 to bend under the drive of the rope-driven unit, combined with Figure 7 and Figure 10 As shown, in this embodiment, each segment 331 has an arc-shaped protrusion 333 at each of its opposite ends on its upper surface. Adjacent segments 331 are arranged orthogonally, with the bottom of the front segment 331 abutting against the arc-shaped protrusion 333 of the rear segment 331. A gap is reserved between them except for the contact area of the arc-shaped protrusion 333, allowing the front segment 331 to rotate around the arc-shaped protrusion 333 of the rear segment 331, similar to a seesaw. Each segment 331 has four evenly spaced wire holes 332 along its circumference, symmetrically distributed. Two wire holes 332 are located at the positions of the arc-shaped protrusions 333, and the other two are located in the middle of the two arc-shaped protrusions 333. Four steel wire ropes 352 pass through these four wire holes 332 to apply a driving force to the segment 331.
[0043] When any one of the four steel wire ropes 352 is under downward tension while the other three remain relaxed, the downward-pulling steel wire rope 352 will exert a single-point compressive force on the joint 331 through the fixing block 354. This compressive force will drive the joint 331 to flip around the arc-shaped protrusion 333. Each joint 331 will flip in sequence under this force, ultimately achieving unidirectional bending of the flexible pipe module 33 towards the downward-pulling side of the steel wire rope 352.
[0044] See Figure 6 and Figure 9 In this embodiment, the guide probe 31 includes a mounting base 311, an image acquisition module, and an illumination module. The mounting base 311 is fixedly mounted on a fixing block 354, and both the image acquisition module and the illumination module are mounted on the mounting base 311. The illumination module is used to provide supplemental lighting for the cave location, while the image acquisition module is responsible for acquiring image information inside the cave. The robot also includes a control module 4, which is electrically connected to the traveling mechanism 1, the guide probe 31, the telescopic control module 34, and the bending control module 35, and is used to receive and transmit signals.
[0045] Combination Figure 6 and Figure 9 As shown in the diagram, the image acquisition module of this embodiment includes an imaging lens 312, an imaging optical fiber (not shown in the figure), and a lens support 313. The mounting base 311 has an installation channel in its center, and the lens support 313 is inserted into the installation channel. The imaging lens 312 is installed at the front end of the lens support 313. One end of the imaging optical fiber is connected to the imaging lens 312, and the other end passes through the central through hole of the flexible pipe module 33 and is connected to the control module 4 for transmitting the image signal acquired by the imaging lens 312.
[0046] Combination Figure 6 and Figure 9 As shown in the diagram, the lighting module in this embodiment includes an LED base 314, LED beads 315, an illumination fiber (not shown in the figure), and a baffle 316. The LED base 314 has a threaded hole, and the front end of the lens support 313 has an external thread. The LED base 314 is screwed onto the lens support 313 and is located at the front end of the mounting base 311. Simultaneously, the LED base 314 has four mounting slots, and four LED beads 315 are evenly fixed in the four mounting slots around the imaging lens 312. One end of the illumination fiber is connected to the LED beads 315, and the other end passes through the mounting slot and the central through-hole of the flexible conduit module 33 and is connected to the control module 4 to supply power to the four LED beads 315. The imaging fiber and the illumination fiber can be bundled into an integrated fiber within the central through-hole of the flexible conduit module 33.
[0047] See Figures 1 to 5The traveling mechanism 1 in this embodiment includes a traveling drive module and a track traveling module. The traveling drive module includes a traveling drive motor 11, a driving gear 12, a driven gear 13, and a driving wheel shaft 14. The traveling drive motor 11 is installed inside the housing 2. The driving gear 12 is connected to the motor shaft of the traveling drive motor 11 and can rotate with it. The driven gear 13 is fitted onto the driving wheel shaft 14 and meshes with the driving gear 12. The track traveling module is provided in two sets and symmetrically arranged on the left and right sides of the housing 2. Each set of track traveling modules includes a track 15, a driving pulley 16, and two driven pulleys 17. The driving pulley 16 and the two driven pulleys 17 are arranged in a triangular shape. The track 15 is wrapped around the driving pulley 16 and the two driven pulleys 17 and is tensioned. Among them, the two drive pulleys 16 in the two sets of track travel modules are arranged opposite each other. The two drive pulleys 16 are respectively connected to the two ends of the drive wheel shaft 14 and can rotate with it. The driven pulleys 17 on both sides correspond to each other on the left and right, and are rotatably connected to the side wall of the outer shell 2 through the driven wheel shaft 18.
[0048] When the drive motor 11 drives the drive gear 12 to rotate, the drive gear 12 drives the drive wheel shaft 14 to rotate through the driven gear 13, which in turn drives the drive pulleys 16 on both sides to rotate. The drive pulleys 16 drive the track 15 to move, thereby realizing the robot's forward or backward movement.
[0049] The working principle and workflow of a robot for exploring narrow caves on the surface of stars according to the present invention will be described in detail below with reference to the accompanying drawings.
[0050] The drive motor 11 drives the drive gear 12 to rotate. The drive gear 12 drives the drive wheel shaft 14 to rotate through the driven gear 13, which in turn drives the drive pulleys 16 on both sides to rotate. The drive pulleys 16 drive the track 15 to move, so that the robot moves to a cave on the star surface.
[0051] Start the telescopic drive motor 341, and the lead screw shaft 342 rotates with its motor shaft. At the same time, the four linear actuators 351 synchronously release the wire rope and keep it taut to ensure close contact between adjacent sections 331. Each section 331 moves towards the hatch of the inner compartment 21 along the axis of the lead screw shaft 342 under the limit of the inner compartment 21. When the first segment 331 disengages from the lead screw shaft 342, because the two adjacent segments 331 abut against each other, the second segment 331, while moving outward along the lead screw shaft 342, will push the first segment 331 to move away from the lead screw shaft 342. When the second segment 331 disengages from the lead screw shaft 342, the third segment 331, while moving outward along the lead screw shaft 342, will push the second segment 331 and the first segment 331 to move away from the lead screw shaft 342, and so on, thereby enabling the flexible pipe module 33 to extend from the inner compartment 21. Simultaneously, by controlling the wire feeding speed of the four linear actuators 351, with one in a downward-pulling state and the other three remaining relaxed, the downward-pulling wire rope 352 will exert a single-point compressive force on the joint 331 through the fixing block 354. This compressive force will drive the joint 331 to flip around the arc-shaped protrusion 333; each joint 331 will flip sequentially under this force, ultimately achieving unidirectional bending of the flexible pipe module 33 towards the downward-pulling side of the wire rope 352, such as... Figure 1 and Figure 6 The image is shown in the diagram. Then, the imaging lens 312 is used to acquire image information of the cave interior and upload it to the control module 4, completing the all-around exploration of the cave interior.
[0052] After the robot completes its data collection, the four linear actuators 351 control the four steel wire ropes 352 to extend to the same length and maintain tension. At this time, the flexible pipe module 33 changes from a bent state to a straight state, and the axes of all joints 331 are coaxial with the lead screw shaft 342. The last joint 331 to extend abuts against the end of the lead screw shaft 342. The telescopic drive motor 341 is activated, and the lead screw shaft 342 rotates with its motor shaft. The last joint 331 to extend is screwed onto the lead screw shaft 342 under the pressure of the preceding joint 331. Under the constraint of the inner chamber 21, this joint 331 moves into the chamber along the axis of the lead screw shaft 342. This process continues until all the extended joints 331 are gradually screwed onto the lead screw shaft 342. At the same time, the four linear actuators 351 synchronously retract the wires at the same speed and maintain tension to ensure close contact between adjacent joints 331 until the flexible pipe module 33 is completely retracted into the inner chamber 21.
[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.
Claims
1. A robot for exploring narrow caves on the surface of stars, characterized in that, It includes a traveling mechanism, an outer shell, and a cave detection mechanism. The outer shell is mounted on the traveling mechanism and can be driven to move by the traveling mechanism. The front end of the outer shell is provided with a mounting compartment. One end of the cave detection mechanism is installed in the mounting compartment, and the other end can extend or retract into the mounting compartment. The cave detection mechanism can perform bending movements to complete omnidirectional detection tasks after the robot enters a narrow cave on the star surface. The cave exploration mechanism includes a flexible pipe module, a telescopic control module, and a bending control module. The telescopic control module includes a telescopic drive motor and a lead screw shaft, with the telescopic drive motor driving the lead screw shaft to rotate. The flexible pipe module includes several ribs arranged in series, each rib having a trapezoidal internal thread that sequentially engages with the lead screw shaft. Each rib also has a sliding fit with the installation chamber, with adjacent ribs abutting against each other to sequentially transmit driving force. When the flexible pipe module extends out of the installation chamber, it can be driven and controlled by the bending control module to perform bending actions. The bending control module includes a rope drive unit and a fixing block, with the fixing block located in front of the first vertebral segment. Multiple rope drive units are provided and are evenly installed around the telescopic control module. Each rope drive unit includes a linear actuator and a steel wire rope. One end of the steel wire rope is connected to the linear actuator, which can drive it and output downward tension. The other end passes through all the vertebral segments arranged in series and is fixed to the fixing block.
2. The robot for exploring narrow caves on the star surface according to claim 1, characterized in that, The installation compartment includes an inner compartment and an annular outer compartment surrounding the inner compartment. The telescopic control module is installed inside the inner compartment, and the rope drive unit is arranged inside the annular outer compartment.
3. The robot for exploring narrow caves on the star surface according to claim 2, characterized in that, Each rope-driven unit also includes three guide wheels, two of which are mounted side by side on the top of the annular outer cabin, and the other guide wheel is mounted on the bottom of the inner cabin, with a cable pass-through opening at the bottom of the inner cabin communicating with the annular outer cabin. After being drawn from the linear actuator, the wire rope changes direction through two guide wheels at the top of the annular outer compartment, then extends to the bottom of the annular outer compartment, passes through the cable threading port at the bottom of the inner compartment, changes direction again through the guide wheels at the bottom of the inner compartment, then extends upward along the axis of the lead screw shaft, and finally passes through all the tandemly arranged joints.
4. The robot for exploring narrow caves on the star surface according to claim 1, characterized in that, The cave exploration mechanism also includes a flexible sheath tube, which is fitted over the flexible pipe module so that all the connected joints are coaxial with the lead screw shaft when the flexible pipe module switches from a bent state to a straight state.
5. A robot for exploring narrow caves on a planetary surface according to claim 1, characterized in that, Each segment of the bone has an arc-shaped protrusion at each of its two opposite ends on its upper surface; adjacent segments are arranged orthogonally, so that the bottom of the front segment rests against the arc-shaped protrusion of the rear segment.
6. The robot for exploring narrow caves on the star surface according to claim 1, characterized in that, The cave exploration mechanism also includes a guide probe, which is located at the front end of the flexible pipe module and is used to collect cave image information.
7. A robot for exploring narrow caves on a planetary surface according to claim 6, characterized in that, The guide probe includes a mounting base, an image acquisition module, and an illumination module. The mounting base is located at the front end of the flexible pipe module. Both the image acquisition module and the illumination module are mounted on the mounting base. The illumination module is used to provide supplemental lighting for the cave location, and the image acquisition module is used to acquire image information inside the cave.
8. A robot for exploring narrow caves on a star surface according to claim 7, characterized in that, The image acquisition module includes an imaging lens, an imaging fiber, and a lens support. The mounting base has an installation channel in the center, and the lens support is inserted into the installation channel. The imaging lens is installed at the front end of the lens support. One end of the imaging fiber is connected to the imaging lens, and the other end passes through the central through hole of the flexible pipe module and is connected to the control module for transmitting the image signal acquired by the imaging lens.
9. A robot for exploring narrow caves on a star surface according to claim 7, characterized in that, The lighting module includes an LED base, LED beads, an illumination fiber, and a baffle. The LED base has threaded holes, and the front end of the lens support has external threads. The LED base is screwed onto the lens support and is located at the front end of the mounting base. The LED base has four mounting slots, and four LED beads are evenly fixed in the four mounting slots around the imaging lens. One end of the illumination fiber is connected to the LED beads, and the other end passes through the mounting slots and the central through hole of the flexible pipe module to connect to the control module, which is used to power the four LED beads.