Intelligent lunar surface engineering equipment with exploration, fragmentation, excavation and shoveling functions

Abstract

The application relates to an intelligent lunar surface operation engineering equipment with functions of exploration, crushing, digging and shoveling, and belongs to the technical field of lunar surface engineering equipment. A motion platform is a horizontally arranged four-wheel independently driven bearing platform. Operation execution mechanisms are installed at the front end and the two side walls of the motion platform, and the crushing of a hard lunar surface weathering layer and the digging of soft lunar soil are realized through the operation execution mechanisms. A navigation system is installed at the side wall of the motion platform. An energy system is installed on the rear end side wall of the motion platform to provide a power source. An intelligent operation control system is integrated in the motion platform to make decisions and realize operation execution selection, and output operation positions and operation parameters. The operation execution mechanisms start operation according to the operation positions and the operation parameters. The application provides the intelligent lunar surface operation engineering equipment with the functions of exploration, crushing, digging and shoveling, supports the technical requirements of large-scale lunar surface engineering operation, and provides technical support for engineering operation in large-scale lunar surface activities.

Description

Technical Field

[0001] This invention belongs to the field of lunar surface engineering equipment technology, and relates to an intelligent lunar surface operation engineering equipment with exploration-breaking-dig-shoveling functions. Background Technology

[0002] As lunar scientific exploration missions continue to advance, lunar surface activities are evolving from small-scale scientific sampling to large-scale resource development and utilization. Future major projects such as manned lunar exploration and lunar surface activities, lunar exploration, and lunar base construction will require large-scale engineering activities including lunar resource extraction, engineering construction, and waste disposal, leading to an increasingly strong demand for lunar surface operation engineering equipment.

[0003] Existing geoengineering equipment generally relies on manual operation and suffers from high energy consumption, heavy weight, and inability to adapt to the extreme environmental conditions of the lunar surface, making it difficult to directly apply to lunar engineering operations. Furthermore, existing lunar surface equipment is mostly designed for rover exploration, surveying, and small-scale scientific sampling missions, with no reports of equipment specifically designed for large-scale lunar engineering operations. Considering the extreme environmental conditions and limited energy resources on the lunar surface, existing lunar engineering equipment suffers from shortcomings such as poor intelligent operation capabilities, limited functionality, insufficient reaction force for small-weight equipment operating in low-gravity environments, and low operational capabilities for low-power equipment. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions to support the technical requirements of large-scale lunar surface engineering operations and provide technical support for engineering operations in large-scale lunar activities.

[0005] The solution of the present invention is: An intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions includes a motion platform, an operation execution mechanism, a navigation system, an energy system, and an intelligent operation control system; The motion platform is a horizontally positioned four-wheel independent drive load-bearing platform; the operation execution mechanism is installed at the front end and side walls of the motion platform, enabling the breaking up of the hard lunar regolith and the excavation of soft lunar soil; the navigation system is installed on the side walls of the motion platform to collect images and environmental information during the operation and support navigation decisions; the energy system is installed on the rear side wall of the motion platform to convert solar energy into electrical energy for storage and provide a power source; the intelligent operation control system is integrated inside the motion platform, making decisions and implementing operation selection, and outputting the operation position and operation parameters; the operation execution mechanism starts the operation according to the operation position and operation parameters.

[0006] In the aforementioned intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions, the motion platform includes a chassis, a drive and steering motor, and omnidirectional wheels; The chassis is horizontally positioned; each of the four corners at the bottom of the chassis has a swivel wheel; each swivel wheel is equipped with a corresponding drive and steering motor to drive the corresponding swivel wheel to move and steer.

[0007] In the aforementioned intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions, the operation execution mechanism includes a folding swing arm, a vibratory disc saw, a bucket, and two pusher mechanisms; The chassis has a groove on its top along the centerline; the root of the folding arm is installed at the bottom of the groove; the vibratory disc saw and the bucket are both installed at the end of the folding arm; the vibratory disc saw and the bucket are rotatably connected to the end of the folding arm via a rotating shaft; under the control of the folding arm, the vibratory disc saw and the bucket work alternately; two pusher mechanisms are symmetrically arranged on the two side walls of the chassis; the folding arm is a three-degree-of-freedom robotic arm structure; in the retracted state of the folding arm, the vibratory disc saw and the bucket are retracted into the groove at the top of the chassis, reducing the overall envelope size.

[0008] In the aforementioned intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions, the vibratory disc saw includes a saw disc, a first eccentric wheel, a second eccentric wheel, 6 active wheels, and 6 passive wheels; The saw disc has a ring-shaped structure, and gears are installed on its inner wall. The first and second eccentric wheels are coaxially connected and located at the axis of the saw disc. Gears are installed on the outer walls of both the first and second eccentric wheels. Six driving wheels are evenly distributed circumferentially, and the driving wheels are located between the saw disc and the first eccentric wheel, and between the saw disc and the second eccentric wheel. Each driven wheel meshes with a corresponding driving wheel. The driven wheels are located between the saw disc and the first eccentric wheel, and between the saw disc and the second eccentric wheel. Gears are provided on the outer walls of the driving wheel and the driven wheel; the driving wheel meshes with the inner wall of the saw disc, the outer wall of the first eccentric wheel, and the corresponding driven wheel respectively; the driven wheel meshes with the outer wall of the second eccentric wheel and the corresponding driving wheel respectively; with the rotation of the 6 driving wheels, the saw disc rotates while the first eccentric wheel and the second eccentric wheel rotate in opposite directions to cancel out the rotational inertia. The first and second eccentric wheels are installed symmetrically on the left and right sides. When the first and second eccentric wheels rotate, they cancel out the left and right forces, generating only the up and down impact vibration force. With the help of the downward vibration impact force, the hard lunar regolith is broken by vibration.

[0009] In the aforementioned intelligent lunar surface operation equipment with exploration-breaking-digging-shoveling functions, the vibratory disc saw has the function of detecting the mechanical parameters of the lunar regolith; through the set low-speed rotation mode, the vibratory disc saw monitors and obtains the feedback parameters of thrust and torque, which are used by the intelligent operation control system for decision-making.

[0010] In the aforementioned intelligent lunar surface operation equipment with exploration-breaking-digging-shoveling functions, the pusher mechanism realizes the pushing and leveling of lunar soil; the pusher mechanism includes a cooling pipe, a blade body, and a heat dissipation rib; The blade body is a vertically placed rectangular plate structure; the blade body is attached to the side wall of the chassis; heat dissipation ribs are evenly distributed on the blade body; the blade body is connected to the vibrating saw disc and the bucket through cooling pipes to transfer the heat generated by the working mechanism during operation to the blade body; during heat dissipation, the blade body is inserted into the lunar soil to dissipate heat and ensure that the temperature is within the control range.

[0011] In the aforementioned intelligent lunar surface operation equipment with exploration-breaking-digging-shoveling functions, the shovel body includes a middle shovel body, two rotating shafts, and two end shovel bodies; The middle section blade body is a horizontally placed rectangular plate structure; two end blade bodies are symmetrically arranged on both sides of the middle section blade body; each end blade body is connected to the middle section blade body through a rotating shaft; the two end blade bodies can rotate and unfold relative to the middle section blade body.

[0012] In the aforementioned intelligent lunar surface operation equipment with exploration-breaking-digging-shoveling functions, the navigation system includes an inertial navigation module and a visual sensing module. The inertial navigation module includes a gyroscope and an accelerometer. The gyroscope and accelerometer are used to measure the angular velocity and acceleration of the equipment to track its motion. The visual sensing module includes a laser rangefinder and a depth sensor to collect and capture image information during the operation, support navigation decisions, and assist the operating mechanism in intelligent selection.

[0013] In the aforementioned intelligent lunar surface operation equipment with exploration-breaking-digging-shoveling functions, the energy system includes a solar panel, a panel support frame, and two battery packs; The solar panel is mounted on the rear end of the chassis via a panel bracket; two battery packs are symmetrically arranged on the two side walls of the chassis; the solar panel is connected to the two battery packs; the solar panel converts solar energy into electrical energy and stores it in the two battery packs; the solar panel has a foldable structure, and when folded, it covers the upper surface of the motion platform; when unfolded, the angle of the solar panel is adjusted via the panel bracket.

[0014] In the aforementioned intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions, the intelligent operation control system includes an information acquisition module, a data processing and inversion analysis module, an intelligent judgment and decision-making module, and a decision execution module. Information acquisition module: Acquires the rotational speed, thrust, and torque of the vibratory disc saw; acquires image information from the vision sensing module; and sends the rotational speed, thrust, torque, and image information of the vibratory disc saw to the data processing and inversion analysis module. Data processing and inversion analysis module: Receives the rotational speed, thrust, torque, and image information of the vibratory disc saw from the information acquisition module; performs inversion processing on the rotational speed, thrust, and torque of the vibratory disc saw to obtain the mechanical properties of the lunar regolith layer; and sends the mechanical properties and image information of the lunar regolith layer to the intelligent judgment and decision-making module; the mechanical properties of the lunar regolith layer include strength, modulus, cohesion, and friction angle. Intelligent Judgment and Decision Module: Receives mechanical indicators and image information of lunar regolith from the data processing and inversion analysis module; selects a vibratory disc saw, bucket, or pusher mechanism from preset schemes based on the range of mechanical indicators of lunar regolith and lunar surface conditions in the image information, and outputs the operation position and operation parameters; outputs the selection result, operation position, and operation parameters to the decision execution module. Decision execution module: Receives the selection results, work position and work parameter output from the intelligent judgment and decision module, and drives the vibratory disc saw, bucket or pusher mechanism to start work according to the work position and work parameters.

[0015] The advantages of this invention compared to the prior art are: (1) This invention realizes intelligent equipment, integrating multiple working mechanisms such as detection, excavation, crushing and pushing, autonomously detects the mechanical properties of the weathered layer on the lunar surface, and realizes autonomous selection of working mechanisms based on the detection results; (2) The present invention innovatively uses a hard weathered layer crushing tool - a vibrating disc saw, which can provide additional vibration force during the disc saw rotary cutting and crushing process, thereby increasing the crushing effect of the lunar surface weathered layer; (3) The present invention integrates the vibratory disc saw and the bucket into a swing arm, reducing the weight of the equipment and realizing the miniaturization of the equipment.

[0016] (4) The present invention adopts an innovative heat dissipation mode, designing the bulldozer blade as a radiator to dissipate heat generated by the machinery under extreme lunar environment operation, thereby achieving effective thermal control; (5) The entire lunar surface operation equipment of the present invention has high flexibility and can greatly reduce the envelope size after shrinking, effectively saving launch costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall intelligent lunar surface operation engineering equipment of the present invention; Figure 2 This is a side view of the intelligent lunar surface operation engineering equipment of the present invention; Figure 3 This is a schematic diagram of the operation execution mechanism of the present invention; Figure 4 This is a schematic diagram of the vibratory disc saw structure of the present invention; Figure 5 This is a schematic diagram of the intelligent operation control system of the present invention. Detailed Implementation

[0018] The present invention will be further described below with reference to the embodiments.

[0019] This invention provides an intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions, which solves the current technical problems such as poor intelligent operation capabilities, single functions, insufficient reaction force of small self-weight operation equipment in low gravity environment, and low operation capability of low power consumption equipment, and supports the technical requirements of large-scale lunar surface engineering operations.

[0020] Intelligent lunar surface operation engineering equipment with exploration, crushing, digging, and shoveling functions, such as Figure 1 , Figure 2 As shown, the system specifically includes a motion platform 1, a work execution mechanism, a navigation system 8, an energy system, and an intelligent work control system. The motion platform 1 is a horizontally positioned four-wheel independent drive load-bearing platform. The work execution mechanism is installed at the front and side walls of the motion platform 1, enabling the breaking up of the hard lunar regolith and the excavation of soft lunar soil. The navigation system 8 is installed on the side walls of the motion platform 1, collecting images and environmental information during the operation to support navigation decisions. The energy system is installed on the rear side wall of the motion platform 1, converting solar energy into electrical energy for storage and providing a power source. The intelligent work control system is integrated inside the motion platform 1, making decisions and selecting work execution methods, and outputting the work location and parameters. The work execution mechanism then begins operation based on the work location and parameters.

[0021] The motion platform 1 of the present invention includes a chassis, a drive and steering motor 2, and omnidirectional wheels 3. The chassis is horizontally arranged; one omnidirectional wheel 3 is arranged at each of the four corners of the bottom of the chassis; one drive and steering motor 2 is installed on each omnidirectional wheel 3 to drive the corresponding omnidirectional wheel 3 to move and turn.

[0022] like Figure 3As shown, the operating mechanism includes a folding swing arm 4, a vibratory disc saw 5, a bucket 6, and two pusher mechanisms 7. A groove is formed on the top of the chassis along the centerline; the root of the folding swing arm 4 is installed at the bottom of the groove; the vibratory disc saw 5 and the bucket 6 are both installed at the ends of the folding swing arm 4; the vibratory disc saw 5 and the bucket 6 are rotatably connected to the ends of the folding swing arm 4 via a rotating shaft; under the control of the folding swing arm 4, the vibratory disc saw 5 and the bucket 6 work alternately; the two pusher mechanisms 7 are symmetrically arranged on the two side walls of the chassis; the folding swing arm 4 is a three-degree-of-freedom robotic arm structure; in the retracted state of the folding swing arm 4, the vibratory disc saw 5 and the bucket 6 retract into the top groove of the chassis, reducing the overall envelope size.

[0023] like Figure 4 As shown, the vibratory disc saw 5 includes a saw disc 51, a first eccentric wheel 53, a second eccentric wheel 54, six driving wheels 55 and six driven wheels 56; Structurally, the saw disc 51 has a ring-shaped structure, and gears are provided on the inner wall of the saw disc 51; the first eccentric wheel 53 and the second eccentric wheel 54 are coaxially connected and located at the axis of the saw disc 51; gears are provided on the outer walls of the first eccentric wheel 53 and the second eccentric wheel 54; six driving wheels 55 are evenly distributed circumferentially, and the driving wheels 55 are located between the saw disc 51 and the first eccentric wheel 53, and between the saw disc 51 and the second eccentric wheel 54; each driven wheel 56 meshes with a corresponding driving wheel 55; the driven wheel 56 is located between the saw disc 51 and the first eccentric wheel 53, and between the saw disc 51 and the second eccentric wheel 54. From the perspective of meshing transmission, gears are provided on the outer walls of the driving wheel 55 and the driven wheel 56; the driving wheel 55 meshes with the inner wall of the saw disc 51, the outer wall of the first eccentric wheel 53, and the corresponding driven wheel 56 respectively; the driven wheel 56 meshes with the outer wall of the second eccentric wheel 54 and the corresponding driving wheel respectively; under the rotation of the six driving wheels 55, while the saw disc 51 rotates, the first eccentric wheel 53 and the second eccentric wheel 54 rotate in opposite directions to cancel out the rotational inertia; In addition, the first eccentric wheel 53 and the second eccentric wheel 54 are installed symmetrically on the left and right sides; when the first eccentric wheel 53 and the second eccentric wheel 54 rotate, they cancel out the left and right forces and only generate up and down impact vibration forces. With the help of the downward vibration impact force, the hard lunar regolith is broken by vibration.

[0024] The vibratory disc saw 5 has the function of detecting the mechanical parameters of lunar regolith; through the set low-speed rotation mode, the vibratory disc saw 5 monitors the feedback parameters of thrust and torque, which are used by the intelligent operation control system for decision-making.

[0025] The pusher mechanism 7 of the present invention realizes the pushing and leveling of lunar soil on the lunar surface; the pusher mechanism 7 includes a cooling pipe 12, a blade body 13, and heat dissipation ribs 15. The blade body 13 is a vertically placed rectangular plate structure; the blade body 13 is attached to the side wall of the chassis; heat dissipation ribs 15 are evenly distributed on the blade body 13; the blade body 13 is connected to the vibrating saw disc 5 and the bucket 6 respectively through the cooling pipe 12, realizing the conduction of heat generated during the operation of the working mechanism to the blade body 13; during heat dissipation, the blade body 13 is inserted into the lunar soil to complete the heat dissipation and ensure that the temperature is within the controllable range.

[0026] The shovel body 13 of this invention is provided with heat dissipation ribs 15 to increase the heat dissipation area. A cooling pipe 12 is provided between the shovel body 13 and the vibrating saw disc 5 and the bucket 6 to conduct the heat generated during the digging and crushing operation to the shovel body 13. During the heat dissipation process, the shovel body 13 is inserted into the lunar soil to complete the heat dissipation and ensure that the temperature of the equipment is within the controllable range.

[0027] The blade body 13 includes a middle blade body 131, two rotating shafts 132, and two end blade bodies 133. The middle blade body 131 is a horizontally placed rectangular plate structure; the two end blade bodies 133 are symmetrically arranged on both sides of the middle blade body 131; each end blade body 133 is connected to the middle blade body 131 through a rotating shaft 132; the two end blade bodies 133 can rotate and unfold relative to the middle blade body 131.

[0028] The navigation system 8 includes an inertial navigation module and a visual sensing module; the inertial navigation module includes a gyroscope and an accelerometer; the gyroscope and accelerometer are used to measure the angular velocity and acceleration of the equipment to track its motion state; the visual sensing module includes a laser rangefinder and a depth sensor to collect and capture image information during the operation, support navigation decisions, and assist the operating mechanism in intelligent selection.

[0029] The energy system includes a solar panel 9, a solar panel support 10, and two battery packs 11. The solar panel 9 is mounted on the rear end of the chassis via the solar panel support 10; the two battery packs 11 are symmetrically arranged on the two side walls of the chassis; the solar panel 9 is connected to the two battery packs 11; the solar panel 9 converts solar energy into electrical energy, which is then stored in the two battery packs 11; the solar panel 9 has a folding structure, and when folded, it covers the upper surface of the motion platform 1; when unfolded, the angle of the solar panel 9 is adjusted via the solar panel support 10.

[0030] The intelligent operation control system includes an information acquisition module, a data processing and inversion analysis module, an intelligent judgment and decision-making module, and a decision execution module. For example... Figure 5 As shown, the data processing procedure of the intelligent operation control system is as follows: Information acquisition module: acquires the rotational speed, thrust, and torque of the vibratory disc saw 5; acquires image information from the vision sensing module; and sends the rotational speed, thrust, torque, and image information of the vibratory disc saw 5 to the data processing and inversion analysis module.

[0031] Data processing and inversion analysis module: Receives the rotational speed, thrust, torque, and image information of the vibratory disc saw 5 from the information acquisition module; performs inversion processing on the rotational speed, thrust, and torque of the vibratory disc saw 5 to obtain the mechanical properties of the lunar regolith; and sends the mechanical properties and image information of the lunar regolith to the intelligent judgment and decision-making module; the mechanical properties of the lunar regolith include strength, modulus, cohesion, and friction angle.

[0032] Intelligent Judgment and Decision Module: Receives mechanical indicators and image information of lunar regolith from the data processing and inversion analysis module; selects vibrating disc saw 5, bucket 6 or pusher mechanism 7 from preset schemes to perform operations based on the range of mechanical indicators of lunar regolith and lunar surface conditions in the image information, and outputs the operation position and operation parameters; outputs the selection result, operation position and operation parameters to the decision execution module.

[0033] Decision execution module: Receives the selection results, work position and work parameters from the intelligent judgment and decision module, and drives the vibratory disc saw 5, bucket 6 or pusher mechanism 7 to start work according to the work position and work parameters.

[0034] The intelligent operation control system of the present invention is used to comprehensively analyze the properties (strength, modulus, cohesion and friction angle) of the lunar surface operation object obtained by the detection module (thrust, torque and speed) and the vision sensing module (image information). Based on the parameter range and lunar surface conditions, it makes decisions and realizes the autonomous selection of the digging, crushing and pushing mechanisms, and outputs the operation position and specific operation parameters.

[0035] This invention realizes intelligent equipment that integrates multiple working mechanisms such as detection, excavation, crushing, and pushing. It can autonomously detect the mechanical properties of the weathered layer on the lunar surface and autonomously select the working mechanism based on the detection results.

[0036] This invention innovatively uses a vibrating disc saw, a tool for breaking up hard weathered layers, which can provide additional vibration force during the disc saw's rotary cutting and breaking process, thereby increasing the breaking effect of the lunar surface weathered layer.

[0037] This invention integrates a vibratory disc saw and a bucket onto a single swing arm, reducing the equipment's weight and achieving a compact design. Simultaneously, it employs an innovative heat dissipation mode, designing the bulldozer blade as a radiator to effectively dissipate heat generated by the machine during operations in the extreme lunar environment, thus achieving effective thermal control.

[0038] The entire lunar surface operation equipment of the present invention has high flexibility, and can greatly reduce the envelope size after shrinking, effectively saving launch costs.

[0039] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An intelligent lunar surface operation engineering equipment with exploration-crushing-digging-shoveling functions, characterized in that: It includes a motion platform (1), a work execution mechanism, a navigation system (8), an energy system, and an intelligent work control system; Among them, the motion platform (1) is a horizontally set four-wheel independent drive bearing platform; the operation execution mechanism is installed at the front end and side walls of the motion platform (1), and the operation execution mechanism realizes the breaking of the hard lunar surface weathering layer and the excavation of soft lunar soil; the navigation system (8) is installed on the side wall of the motion platform (1), and realizes the collection of images and environmental information during the operation process to support navigation decision-making; the energy system is installed on the rear side wall of the motion platform (1), and converts solar energy into electrical energy for storage to provide a power source; the intelligent operation control system is integrated inside the motion platform (1), makes decisions and realizes the operation execution selection, and outputs the operation position and operation parameters; the operation execution mechanism starts the operation according to the operation position and operation parameters.

2. The intelligent lunar surface operation engineering equipment with exploration-crushing-digging-shoveling functions according to claim 1, characterized in that: The motion platform (1) includes a chassis, a drive and steering motor (2) and omnidirectional wheels (3). The chassis is set horizontally; one universal wheel (3) is set at each of the four corners of the bottom of the chassis; one drive and steering motor (2) is installed on each universal wheel (3) to drive the corresponding universal wheel (3) to move and turn.

3. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 2, characterized in that: The operating mechanism includes a folding swing arm (4), a vibrating disc saw (5), a bucket (6), and two pusher mechanisms (7). The chassis has a groove on the top along the centerline; the root of the folding arm (4) is installed at the bottom of the groove on the chassis; the vibrating disc saw (5) and the bucket (6) are both installed at the end of the folding arm (4); the vibrating disc saw (5) and the bucket (6) are rotatably connected to the end of the folding arm (4) through a rotating shaft; under the control of the folding arm (4), the vibrating disc saw (5) and the bucket (6) work alternately; two pusher mechanisms (7) are symmetrically arranged on the two side walls of the chassis; the folding arm (4) is a three-degree-of-freedom robotic arm structure; when the folding arm (4) is in the retracted state, the vibrating disc saw (5) and the bucket (6) are retracted into the groove on the top of the chassis, reducing the overall envelope size.

4. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 3, characterized in that: The vibratory disc saw (5) includes a saw disc (51), a first eccentric wheel (53), a second eccentric wheel (54), six driving wheels (55) and six driven wheels (56). The saw disc (51) has a ring structure, and gears are provided on the inner wall of the saw disc (51); the first eccentric wheel (53) and the second eccentric wheel (54) are coaxially connected and located at the axis of the saw disc (51); gears are provided on the outer walls of the first eccentric wheel (53) and the second eccentric wheel (54); six driving wheels (55) are evenly distributed circumferentially, and the driving wheels (55) are located between the saw disc (51) and the first eccentric wheel (53), and between the saw disc (51) and the second eccentric wheel (54); each passive wheel (56) meshes with a corresponding driving wheel (55); the passive wheel (56) is located between the saw disc (51) and the first eccentric wheel (53), and between the saw disc (51) and the second eccentric wheel (54); Gears are provided on the outer walls of the driving wheel (55) and the driven wheel (56); the driving wheel (55) meshes with the inner wall of the saw disc (51), the outer wall of the first eccentric wheel (53), and the corresponding driven wheel (56) respectively; the driven wheel (56) meshes with the outer wall of the second eccentric wheel (54) and the corresponding driving wheel respectively; under the rotation of the 6 driving wheels (55), while the saw disc (51) rotates, the first eccentric wheel (53) and the second eccentric wheel (54) rotate in opposite directions to cancel out the rotational inertia; The first eccentric wheel (53) and the second eccentric wheel (54) are installed symmetrically on the left and right sides; when the first eccentric wheel (53) and the second eccentric wheel (54) rotate, the left and right forces are offset, and only the up and down impact vibration force is generated. With the help of the downward vibration impact force, the hard lunar weathering layer is broken by vibration.

5. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 4, characterized in that: The vibratory disc saw (5) has the function of detecting the mechanical parameters of lunar regolith; through the set low-speed rotation mode, the vibratory disc saw (5) monitors and obtains the feedback parameters of thrust and torque, which are used by the intelligent operation control system for decision-making.

6. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 3, characterized in that: The pusher mechanism (7) realizes the pushing and leveling of lunar soil; the pusher mechanism (7) includes a cooling pipe (12), a blade body (13) and a heat dissipation rib (15). Among them, the blade body (13) is a vertically placed rectangular plate structure; the blade body (13) is attached to the side wall of the chassis; heat dissipation ribs (15) are evenly distributed on the blade body (13); the blade body (13) is connected to the vibrating disc saw (5) and the bucket (6) respectively through the cooling pipe (12) to realize the heat generated by the working mechanism during operation to the blade body (13); during the heat dissipation process, the blade body (13) is inserted into the lunar soil to complete the heat dissipation and ensure that the temperature is within the control range.

7. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 6, characterized in that: The blade body (13) includes a middle blade body (131), two rotating shafts (132) and two end blade bodies (133). The middle section blade body (131) is a horizontally placed rectangular plate structure; two end blade bodies (133) are symmetrically arranged on both sides of the middle section blade body (131); each end blade body (133) is connected to the middle section blade body (131) through a rotating shaft (132); the two end blade bodies (133) can rotate and unfold relative to the middle section blade body (131).

8. The intelligent lunar surface operation engineering equipment with exploration-crushing-digging-shoveling functions according to claim 5, characterized in that: The navigation system (8) includes an inertial navigation module and a visual sensing module; wherein, the inertial navigation module includes a gyroscope and an accelerometer; the gyroscope and accelerometer are used to measure the angular velocity and acceleration of the equipment to track the motion state; the visual sensing module includes a laser rangefinder and a depth sensor to collect and capture image information during the operation, support navigation decision-making, and assist the operating mechanism in intelligent selection.

9. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 2, characterized in that: The energy system includes a solar panel (9), a panel support (10), and two battery packs (11). Among them, the solar panel (9) is installed at the rear end of the chassis via the panel bracket (10); two battery packs (11) are symmetrically arranged on the two side walls of the chassis; the solar panel (9) is connected to the two battery packs (11); the solar panel (9) converts solar energy into electrical energy and stores it in the two battery packs (11); the solar panel (9) has a folding structure, and the solar panel (9) covers the upper surface of the motion platform (1) when folded; the angle of the solar panel (9) is adjusted by the panel bracket (10) when unfolded.

10. The intelligent lunar surface operation engineering equipment with exploration-breaking-digging-shoveling functions according to claim 8, characterized in that: The intelligent operation control system includes an information acquisition module, a data processing and inversion analysis module, an intelligent judgment and decision-making module, and a decision execution module. Information acquisition module: acquires the rotational speed, thrust and torque of the vibratory disc saw (5); acquires image information from the vision sensing module; The rotational speed, thrust, torque and image information of the vibratory disc saw (5) are sent to the data processing and inversion analysis module. Data processing and inversion analysis module: Receives the rotational speed, thrust, torque and image information of the vibrating disc saw (5) from the information acquisition module; performs inversion processing on the rotational speed, thrust and torque of the vibrating disc saw (5) to obtain the mechanical properties of the lunar regolith layer; and sends the mechanical properties and image information of the lunar regolith layer to the intelligent judgment and decision module; the mechanical properties of the lunar regolith layer include strength, modulus, cohesion and friction angle. Intelligent Judgment and Decision Module: Receives mechanical indicators and image information of lunar regolith from the data processing and inversion analysis module; selects vibrating disc saw (5), bucket (6) or pusher mechanism (7) from the preset scheme according to the range of mechanical indicators of lunar regolith and the lunar surface conditions in the image information, and outputs the operation position and operation parameters; outputs the selection result, operation position and operation parameters to the decision execution module; Decision execution module: Receives the selection results, work position and work parameter output from the intelligent judgment and decision module, and drives the vibrating disc saw (5), bucket (6) or pusher mechanism (7) to start work according to the work position and work parameters.

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