Microwave-mechanical self-adapting anchoring device for asteroid resource mining

Abstract

The present application relates to the technical field of extraterrestrial resource development, in particular to a microwave-mechanical self-adaptive anchoring device for asteroid resource mining. The device comprises a mechanical arm, a microwave generator, an anchoring drill and an anchoring shell. The mechanical arm is internally provided with a microwave transmission channel, and the microwave generator guides the microwave to the anchoring shell through the channel; the anchoring shell is made of microwave absorbing material and can absorb microwave to heat and assist in melting the surrounding asteroid soil. The anchoring drill is driven by a conical structure and a ring-shaped push plate to drive the anchoring shell to drill down synchronously, and the mechanical lower arm is separated after anchoring is completed through a disengaging plate, a disengaging block and a limiting groove. The system identifies the dielectric properties of the asteroid soil through a dielectric detection device, self-adaptively adjusts the microwave working parameters, and realizes closed-loop control of the melting temperature by using a thermocouple. Through microwave melting anchoring, a fused anchoring body is formed in situ, which has the advantages of high anchoring strength, small disturbance to the asteroid, strong environmental adaptability, safe detachment and the like.

Description

Technical Field

[0001] This invention relates to the field of extraterrestrial resource development technology, and in particular to a microwave-mechanical adaptive anchoring device for asteroid resource mining. Background Technology

[0002] As human resource development and utilization activities expand to asteroids and other extraterrestrial celestial bodies, achieving reliable and high-strength attachment and anchoring of mining equipment to the surfaces of these celestial bodies has become a prerequisite for key tasks such as in-situ exploration, resource extraction, and collection.

[0003] However, the microgravity environment on the surface of small celestial bodies (typically 10⁻⁶) -6 -10 - The sheer size (on the order of 2g) causes common self-friction anchoring methods on Earth to fail; the unconsolidated, low-strength weathered layer covering the surface makes simple mechanical gripping prone to causing surface collapse; the surface material composition, size, and density have great uncertainties, requiring the system to have a high degree of adaptability; at the same time, the strict energy, mass, and computing resource constraints faced by the probe require the anchoring system to be efficient, energy-saving, and reliable. Currently, for anchoring methods on small celestial bodies, mechanical puncture / grab anchors are prone to failure on loose surfaces and have limited anchoring depth, and are greatly affected by low gravity; adhesive anchors have unstable long-term performance in extreme space environments (high vacuum, large temperature differences) and risk contaminating scientific samples; electrostatic / van der Waals force attachment is only suitable for objects with extremely small masses. Therefore, it is particularly urgent to develop a new anchoring technology that can adapt to a variety of unknown surfaces, provide high-strength connections, and has minimal disturbance to asteroids. Summary of the Invention

[0004] To address the challenge of reliable and stable adhesion on microgravity and low-strength surfaces, this invention provides a microwave-mechanical adaptive anchoring device for asteroid resource mining.

[0005] Therefore, the present invention provides the following technical solution:

[0006] A microwave-mechanical adaptive anchoring device for asteroid resource mining includes a robotic arm, a microwave generator, an anchoring drill bit, and an anchoring shell. The robotic arm is installed on the main body of the asteroid resource mining equipment, and a microwave transmission channel is provided inside the robotic arm. The microwave generator is located inside the robotic arm, and the microwave transmitting end of the microwave generator is located inside the microwave transmission channel. A drilling motor is installed inside the robotic arm, and the output end of the drilling motor is fixedly connected to the anchoring drill bit. The anchoring shell is sleeved on the anchoring drill bit. The microwaves emitted by the microwave generator can enter the anchoring shell through the microwave transmission channel. The anchoring shell is made of microwave absorbing material, which is used to absorb the microwaves emitted by the microwave generator and heat them up, assisting in melting the surrounding soil and rock to achieve anchoring (the microwaves emitted by the microwave generator reach the surrounding soil and rock after passing through the microwave transmission channel and the anchoring shell, and are absorbed by the soil and rock, melting under the action of the microwaves. At the same time, the anchoring shell also absorbs a certain amount of microwaves to heat up, assisting in melting the surrounding asteroid soil. Then, the microwave heating is stopped, and the asteroid soil solidifies rapidly in a low-temperature environment, forming a high-strength fused anchor bolt, achieving reliable anchoring between the device and the asteroid).

[0007] Furthermore, the lower end of the anchoring drill bit is conical, and an annular push plate is provided on the inner side of the lower end of the anchoring shell. The diameter of the rod part of the anchoring drill bit is larger than the diameter of the central through hole of the annular push plate. When the anchoring drill bit moves downward, it can push against the annular push plate through the conical part, driving the anchoring shell to move downward synchronously into the borehole (while the anchoring drill bit is drilling downward, its conical part pushes the annular push plate to realize the synchronous downward movement of the anchoring drill bit and the anchoring shell, ensuring that the anchoring shell can enter the borehole together with the drill bit).

[0008] Furthermore, a linear module is installed inside the robotic arm, and the motor housing of the drilling motor is fixedly installed on the slider of the linear module (the linear module drives the drilling motor and the anchoring drill to move along the axial direction of the robotic arm, thereby realizing the feeding and retraction of the anchoring drill and saving costs).

[0009] Furthermore, the end of the robotic arm is rotatably connected to a lower robotic arm. A rotary motor is fixedly installed inside the robotic arm. The output end of the rotary motor is coaxially arranged with the end of the robotic arm and the lower robotic arm. The output end of the rotary motor is fixedly connected to a drive rod, which is fixedly connected to the lower robotic arm. An annular release plate is provided on the inner side of the end of the lower robotic arm, and a release groove is provided on the release plate. An anchoring shell is sleeved inside the lower robotic arm. A release block is provided on the outer side of the upper end of the anchoring shell. The release block can pass through the release groove. (When the mining operation is completed, the drive rod is driven by the rotary motor to rotate the lower robotic arm, so that the release block and the release groove are aligned, the robotic arm is lifted, and the anchoring shell is separated from the lower robotic arm, which facilitates the detachment of the mining equipment from the asteroid.)

[0010] Furthermore, the lower mechanical arm is provided with a limiting groove along the axial direction; when the anchoring housing is in the undetached state, the release block slides in the limiting groove; there is an axial gap between the end of the limiting groove and the release plate that is adapted to the height of the release block (the limiting groove plays a limiting and guiding role for the release block, ensuring that the anchoring housing moves stably with the lower mechanical arm when it is not detached, and the axial gap provides space for the release block to rotate and detach, ensuring smooth release action).

[0011] Furthermore, the anchoring shell is made of silicon carbide (silicon carbide has excellent microwave absorption performance, can efficiently absorb microwaves and heat up rapidly, and also has good high temperature resistance and structural strength, making it suitable for the extreme environment of asteroids and the requirements of molten anchoring).

[0012] Furthermore, the asteroid resource mining equipment is equipped with a thruster, and a force sensor is installed at the end of the robotic arm (the thruster can help adjust the position of the equipment to ensure that the anchoring point is aligned; the force sensor can detect the contact force between the end of the robotic arm and the surface of the asteroid in real time, so as to avoid excessive contact force that damages the surface of the asteroid or insufficient contact force that fails to form an effective contact, thus ensuring the safety and accuracy of the anchoring operation).

[0013] Furthermore, it also includes a control unit, a dielectric detection device, and a thermocouple. The dielectric detection device, microwave generator, and thermocouple are all electrically connected to the control unit. The dielectric detection device is mounted on the robotic arm, and the thermocouple is mounted on the anchoring shell. (The control unit realizes the coordinated control of each component. The dielectric detection device can collect reflected power signals and identify the dielectric properties of the star soil, providing a basis for microwave parameter optimization. The thermocouple monitors the temperature of the anchoring area in real time to ensure that the melting process is controllable and avoids excessively high or low temperatures from affecting the anchoring effect.)

[0014] Advantages and positive effects of the present invention: This invention establishes a microwave transmission channel inside the robotic arm, guiding microwaves generated by a microwave generator to the anchoring shell. The anchoring shell is made of microwave-absorbing material, which can absorb microwaves and heat up, assisting the small planetary soil to heat up, melt, and then solidify under the action of microwaves, forming an in-situ fused anchor. The connection is transformed from fragile surface friction to the fused solidification of the planetary soil material, which can achieve a strength far greater than that of pure mechanical anchoring, sufficient to support heavy load operations, and providing high anchoring strength and reliability.

[0015] The microwave transmission channel directly guides microwaves to the anchor shell and the asteroid soil, resulting in concentrated microwave energy transfer, high thermal efficiency, and low energy loss. Simultaneously, through the cooperative structure of the robotic arm end, lower robotic arm, release plate, release block, and locking groove, the anchor shell can be separated from the robotic arm after the mining operation is completed. This facilitates the safe detachment of the device from the asteroid after the operation is completed, enabling the device to be reused and saving costs.

[0016] By combining a microwave generator, dielectric detection device, and control unit, the dielectric properties of asteroid regolith can be identified in a low-power detection mode, and the microwave operating parameters can be adaptively adjusted. Microwave heating does not rely on a gravity environment and can effectively melt and anchor various asteroid surfaces, such as loose asteroid regolith and hard bedrock, demonstrating strong environmental adaptability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This invention provides a schematic diagram of a microwave-mechanical adaptive anchoring device for asteroid resource mining.

[0019] Figure 2 This invention provides a schematic diagram of the internal structure of the mechanical lower arm of a microwave-mechanical adaptive anchoring device for asteroid resource mining.

[0020] Figure 3 This invention provides a schematic diagram of the detachment structure of a microwave-mechanical adaptive anchoring device for asteroid resource mining.

[0021] Figure 4 This invention provides a schematic diagram of the anchoring process for a microwave-mechanical adaptive anchoring device used in asteroid resource mining.

[0022] Figure 5 This invention provides a flowchart of the operation of a microwave-mechanical adaptive anchoring device for asteroid resource mining.

[0023] In the diagram: 1. Robotic arm; 2. Microwave generator; 3. Anchoring drill bit; 4. Anchoring housing; 5. Drilling motor; 6. Annular push plate; 7. Linear module; 8. Lower robotic arm; 9. Rotary motor; 10. Drive rod; 11. Release plate; 12. Release groove; 13. Release block; 14. Limiting groove; 15. Asteroid surface; 16. Melting anchor bolt. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] This invention provides a microwave-mechanical adaptive anchoring device for asteroid resource mining, such as... Figure 1-2 As shown, it includes a robotic arm 1, a microwave generator 2, an anchoring drill 3, and an anchoring housing 4; it also includes a control unit, a dielectric detection device, and a thermocouple. The dielectric detection device, the microwave generator 2, and the thermocouple are all electrically connected to the control unit. The dielectric detection device is mounted on the robotic arm 1, and the thermocouple is mounted on the anchoring housing 4.

[0026] Robotic arm 1 is a multi-degree-of-freedom robotic arm. This multi-degree-of-freedom robotic arm can adjust its end-effector posture to align the anchoring drill 3 and anchoring housing 4 with the asteroid anchoring point, adapting to different anchoring scenarios. Robotic arm 1 is installed on the main body of the asteroid resource mining equipment. The arm of robotic arm 1 is made of lightweight composite material and has an internal microwave transmission channel. Within the microwave transmission channel is a flexible waveguide system. A microwave radiation port is fixedly installed at the end of the flexible waveguide system, and its radiation direction is aligned with the contact area between the anchoring housing 4 and the asteroid regolith, used to focus microwave energy onto the anchoring interface.

[0027] Microwave generator 2 is a miniature microwave generator, which is installed inside the robotic arm 1. The microwave transmitting end of microwave generator 2 is located in the microwave transmission channel. Microwave generator 2 is connected to the microwave radiation port through a flexible waveguide system to provide melting energy. The microwaves emitted by microwave generator 2 can enter the anchoring shell 4 through the microwave transmission channel, the flexible waveguide system and the microwave radiation port.

[0028] like Figure 2-3As shown, the end of the robotic arm 1 is rotatably connected to the lower robotic arm 8. A rotary motor 9 is fixedly installed inside the robotic arm 1. The output end of the rotary motor 9 is coaxially arranged with the end of the robotic arm 1 and the lower robotic arm 8. The output end of the rotary motor 9 is fixedly connected to the drive rod 10, which is fixedly connected to the lower robotic arm 8. An annular release plate 11 is provided on the inner side of the end of the lower robotic arm 8. A release groove 12 is provided on the release plate 11. A limiting groove 14 is provided axially inside the lower robotic arm 8. The anchoring housing 4 is a self-supporting housing, which is sleeved outside the anchoring drill 3 and inside the lower robotic arm 8. A release block 13 is provided on the outer side of the upper end of the anchoring housing 4. The release block 13 can pass through the release groove 12. When the anchoring housing 4 is in the unreleased state, the release block 13 slides in the limiting groove 14. An axial gap is left between the end of the limiting groove 14 and the release plate 11 to match the height of the release block 13.

[0029] A linear module 7 is installed inside the lower mechanical arm 8, and the motor housing of the drilling motor 5 is fixedly installed on the slider of the linear module 7; the output end of the drilling motor 5 is fixedly connected to the anchoring drill bit 3; the lower end of the anchoring drill bit 3 is conical.

[0030] The anchoring shell 4 is made of microwave absorbing material (silicon carbide), which is used to absorb microwaves emitted by the microwave generator 2 and heat them up to help melt the surrounding rock and soil to achieve anchoring. It is also used to support the surrounding soil and rock after the anchoring drill 3 has completed drilling and retracted, and to form a mechanical interlock with the solidified soil. The lower inner side of the anchoring shell 4 is provided with an annular push plate 6. The diameter of the rod of the anchoring drill 3 is larger than the diameter of the central through hole of the annular push plate 6. When the anchoring drill 3 moves downward, it can push against the annular push plate 6 through the conical part, and drive the anchoring shell 4 to move downward synchronously into the borehole.

[0031] The asteroid resource mining equipment is equipped with a thruster, and a force sensor is installed at the end of the robotic arm 1.

[0032] Working principle: like Figure 4-5 As shown, during operation, the device first uses the onboard optical or lidar system on the asteroid resource mining equipment to select a flat, unobstructed location within the asteroid's operating area as an anchor point. The multi-degree-of-freedom robotic arm 1 is then extended, and the end effector is moved above the anchor point to complete its positioning. Subsequently, the robotic arm 1 drives the end-effector anchoring drill 3 and anchoring housing 4 to approach the asteroid surface 15 at a low speed and small angle. The preferred contact angle is 80-100°, and the preferred contact speed is 5 cm / s. The contact force is detected in real-time by a force sensor at the end of the robotic arm 1. Initial mechanical contact and positioning are completed when the contact force reaches a preset threshold of 50 N.

[0033] During the drilling stage, the linear module 7 inside the robotic arm 1 drives the drilling motor 5 to feed axially. The drilling motor 5 drives the anchoring drill bit 3 to rotate and drill downwards. The conical part at the lower end of the anchoring drill bit 3 abuts against the annular push plate 6 at the lower end of the anchoring housing 4, driving the anchoring housing 4 to move downwards synchronously into the borehole until it penetrates the surface soil and reaches the dense bedrock. After drilling is completed, the linear module 7 drives the anchoring drill bit 3 to retract upwards, causing the anchoring drill bit 3 to detach from the anchoring housing 4. The anchoring housing 4 remains inside the borehole as a self-supporting housing and adheres tightly to the borehole wall, maintaining the stability of the borehole shape.

[0034] Microwave generator 2 is started to enter low-power detection mode. Microwave reflection power data is collected through dielectric detection device, the equivalent dielectric constant and loss tangent of the contact interface area are calculated, and the power and duration parameters of microwave melting are adaptively optimized based on the detection results.

[0035] During the formal melting stage, microwave generator 2 outputs microwave energy, which reaches the asteroid's spherical soil and is absorbed, causing the soil to heat up and melt. Simultaneously, the microwave energy is focused onto the anchoring shell 4 via a flexible waveguide system and microwave radiation port. The anchoring shell 4 is made of microwave-absorbing materials such as silicon carbide, which can efficiently absorb microwave energy and rapidly heat up, assisting in the melting of the asteroid's spherical soil. Microwaves heat the soil through a dielectric loss mechanism: a high-frequency electric field causes repeated orientation and vibration of polar molecules or ions within the material, converting microwave energy into heat energy through intermolecular friction. The spherical soil possesses dielectric loss characteristics; although non-polar minerals lack permanent dipoles, lattice defects and impurities can generate polarization loss in a microwave field. The anchoring shell also generates dielectric loss under a microwave field. Together, these two processes rapidly accumulate heat internally, forming a localized melting pool that penetrates into the surrounding unmelted soil, achieving microwave melting and anchoring of the asteroid's surface rock and soil.

[0036] During this process, thermocouples installed on the anchor housing 4 monitor the melting temperature in real time, and the control unit performs closed-loop regulation based on temperature feedback: 1. If the temperature reaches the expected plateau and is relatively stable, it indicates that the melting process is smooth. 2. If the temperature reaches the expected plateau but fluctuates violently, it may be due to gas release during mineral decomposition during the melting process. The controller can automatically switch to intermittent microwave operation and adopt pulse heating mode to prevent violent splashing. 3. If the temperature rises too slowly, the microwave power is increased according to the preset strategy.

[0037] Once melting is complete, microwave generator 2 is immediately shut off. The molten asteroid reef rapidly dissipates heat in the cryogenic environment of space, forming a dense, solidified anchor 16 composed of recrystallized mineral phases and amorphous phases, firmly bonding the anchor shell 4 to the asteroid's original rock and reef. Subsequently, the control unit controls the robotic arm 1 to conduct a small-amplitude tensile test, verifying the anchor strength against the standard using a force sensor. Once verified, subsequent operations such as asteroid resource extraction can be carried out based on the stable anchor structure.

[0038] After the mission is completed, the rotary motor 9 drives the lower mechanical arm 8 to rotate, aligning the release block 13 at the upper end of the anchoring housing 4 with the release groove 12 on the release plate 11 of the lower mechanical arm 8. The release block 13 passes through the release groove 12, thus disconnecting the anchoring housing 4 from the mechanical arm 1. When not in contact with the asteroid, the release block 13 slides within the limiting groove 14 of the lower mechanical arm 8. The axial gap between the limiting groove 14 and the release plate 11 provides space for the radial movement of the release block 13. Ultimately, the probe can safely detach and separate from the asteroid with relatively small forces.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A microwave-mechanical adaptive anchoring device for asteroid resource mining, characterized in that, The device includes a robotic arm (1), a microwave generator (2), an anchoring drill (3), and an anchoring housing (4). The robotic arm (1) is installed on the main body of the asteroid resource mining equipment, and a microwave transmission channel is provided inside the robotic arm (1). The microwave generator (2) is located inside the robotic arm (1), and the microwave transmitting end of the microwave generator (2) is located inside the microwave transmission channel. A drilling motor (5) is installed inside the robotic arm (1), and the output end of the drilling motor (5) is fixedly connected to the anchoring drill (3). The anchoring housing (4) is fitted on the anchoring drill (3). The microwave emitted by the microwave generator (2) can enter the anchoring housing (4) through the microwave transmission channel. The anchoring housing (4) is made of microwave absorbing material and is used to absorb the microwave emitted by the microwave generator (2) and heat it up to help melt the surrounding rock and soil to achieve anchoring.

2. The microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, The lower end of the anchoring drill (3) is conical, and the inner side of the lower end of the anchoring shell (4) is provided with an annular push plate (6). The diameter of the rod of the anchoring drill (3) is larger than the diameter of the central through hole of the annular push plate (6). When the anchoring drill (3) moves downward, it can push against the annular push plate (6) through the conical part, and drive the anchoring shell (4) to move downward synchronously into the borehole.

3. The microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, The robotic arm (1) is equipped with a linear module (7), and the motor housing of the drilling motor (5) is fixedly installed on the slider of the linear module (7).

4. A microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, The end of the robotic arm (1) is rotatably connected to the lower robotic arm (8). A rotary motor (9) is fixedly installed inside the robotic arm (1). The output end of the rotary motor (9) is coaxially arranged with the end of the robotic arm (1) and the lower robotic arm (8). The output end of the rotary motor (9) is fixedly connected to the drive rod (10). The drive rod (10) is fixedly connected to the lower robotic arm (8). An annular release plate (11) is provided on the inner side of the end of the lower robotic arm (8). A release groove (12) is provided on the release plate (11). An anchoring housing (4) is sleeved inside the lower robotic arm (8). A release block (13) is provided on the outer side of the upper end of the anchoring housing (4). The release block (13) can pass through the release groove (12).

5. A microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 4, characterized in that, The lower mechanical arm (8) is provided with a limiting groove (14) along the axial direction; when the anchoring housing (4) is in the unreleased state, the release block (13) slides in the limiting groove (14); the end of the limiting groove (14) and the release plate (11) are provided with an axial gap that matches the height of the release block (13).

6. A microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, The anchoring shell (4) is made of silicon carbide.

7. A microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, The asteroid resource mining equipment is equipped with a thruster and a force sensor is installed at the end of the robotic arm (1).

8. A microwave-mechanical adaptive anchoring device for asteroid resource mining according to claim 1, characterized in that, It also includes a control unit, a dielectric detection device and a thermocouple. The dielectric detection device, microwave generator (2) and thermocouple are all electrically connected to the control unit. The dielectric detection device is installed on the robotic arm (1) and the thermocouple is installed on the anchor housing (4).

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