Vertical acquisition muck removal test device for simulating lunar environment

Abstract

The utility model relates to the technical field of lunar mining, in particular to a vertical acquisition ballast removal test device for simulating the lunar environment, which comprises a simulation bin, a lunar environment simulation mechanism, a mechanical arm structure and a vertical acquisition mechanism are respectively arranged in the simulation bin, and the mechanical arm structure is used for controlling the vertical acquisition mechanism to move at any position along the surface of rock ballast; the moon environment simulation mechanism comprises a temperature regulator and a vacuum generator; the vertical collection mechanism comprises a spiral feeder and an impact collection assembly, a placement bin is arranged at the bottom in the simulation bin and located below the impact collection assembly, and a collection bin is arranged at a slag discharge port of the spiral feeder; the mechanical arm structure comprises a fixed base, a rotary base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a rotary mechanical arm which are sequentially connected, and the spiral feeder is fixedly connected with the rotary mechanical arm. The problem that rock slag on the earth surface is difficult to collect in the moon mining process is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of lunar mining, in particular to a vertical mucking test device for simulating lunar environment. Background Art

[0002] As human society continues to develop, the space we inhabit is also expanding. As the closest planet to Earth and rich in mineral resources, the Moon has become a strategic resource for national development. In future lunar exploration, after crushing rocks from the lunar surface, collecting the rock fragments due to the low gravity and vacuum environment presents a significant challenge. Against this backdrop, the construction of a test facility to simulate and study vertical rock collection and lifting technology in a lunar environment is of great significance. Utility Model Content

[0003] In order to solve the above technical problems, the present invention specifically adopts the following technical solutions.

[0004] A vertical rock collection and mucking test device for simulating a lunar environment, characterized by comprising a simulation chamber, wherein a lunar environment simulation mechanism, a robotic arm structure, and a vertical rock collection mechanism are respectively provided in the simulation chamber, wherein the robotic arm structure is used to control the vertical rock collection mechanism to move to any position along the rock mucking surface;

[0005] The lunar environment simulation mechanism includes a temperature regulator and a vacuum generator located on the inner wall of the simulation chamber;

[0006] The vertical collection mechanism includes a spiral loader installed at the end of the mechanical arm structure, an impact collection assembly connected to the slag inlet of the spiral loader, a placement bin for holding rock slag at the bottom of the simulation chamber below the impact collection assembly, and a collection bin for receiving rock slag at the slag discharge outlet of the spiral loader.

[0007] Preferably, the robotic arm structure includes a fixed base, a rotating base, a first robotic arm, a second robotic arm, a third robotic arm, and a rotating robotic arm connected in sequence. The fixed base is fixed on the inner wall of one side of the simulation chamber, the rotating base is rotatably connected to the fixed base, the rotating robotic arm is rotatably connected to the third robotic arm, the rotating base, the first robotic arm, the second robotic arm, and the third robotic arm are hinged in sequence, and the spiral loader is fixedly connected to the rotating robotic arm.

[0008] Preferably, the impact collection assembly includes a fixed component and a movable component movably mounted in the fixed component. The movable component is driven by the motion assembly to reciprocate along the fixed component. A check component is provided in the front section of the movable component. The check component includes a first check blade and a second check blade connected by a first blade shaft and a second blade shaft respectively, a rotating shaft provided between the first blade shaft and the second blade shaft, and a torsion spring provided on the rotating shaft.

[0009] Preferably, a threaded connection is provided between the front section and the rear section of the movable component.

[0010] Preferably, a cross-shaped impact head is provided at the slag inlet of the front section of the movable component, and the cross section of the impact head is triangular.

[0011] Preferably, the motion assembly includes a motor arranged in the fixed component, a second bevel gear arranged on the output shaft of the motor, a first bevel gear meshing with the second bevel gear, a crank connected to the first bevel gear, and a connecting rod hinged to one end of the crank. The motor is fixed in the fixed component through a base, the connecting rod is connected to the rear section of the movable component, and the first bevel gear is fixed on the inner wall of the front section of the movable component through a rotating shaft.

[0012] Preferably, a flexible connecting member is provided between the impact acquisition assembly and the screw feeder.

[0013] Preferably, a first inflatable component and a second inflatable component are respectively arranged on both sides of the flexible connecting member, and an air tank, an airbag, and an air pump respectively connected to the air tank and the airbag are arranged in the first inflatable component and the second inflatable component.

[0014] The beneficial effects of the present utility model are as follows:

[0015] The present utility model uses a vacuum generator and a temperature regulator to make the vacuum degree and temperature in the simulation chamber reach the standards of the lunar environment, and uses a robotic arm structure to control the movement trajectory of the vertical acquisition mechanism to ensure that the impact acquisition assembly can move to any position on the surface of the rock slag, thereby simulating the acquisition of rock slag at different positions; moreover, the impact acquisition assembly includes a movable component and a fixed component connected movably, and the movable component is driven by a motion assembly inside the fixed component to perform reciprocating telescopic motion along the fixed component, thereby realizing the acquisition of rock slag. Specifically, a crank and connecting rod mechanism is used to drive the movable component of the impact acquisition assembly to move, and the impact head is used to repeatedly impact on the surface of the rock slag. Under the action of the torsion spring, the impact force of the rock slag pushes open the first check fan blade and the second check fan blade, and brings the rock slag into the inside of the impact acquisition assembly. The rock slag continuously accumulates in the chamber of the impact acquisition assembly with the impact. When the rock slag reaches a certain height, it is sent into the screw feeder by the flexible connecting member. Due to the low gravity environment of the moon, the rock slag is more likely to rise to the slag discharge port and be discharged with the screw feeder. During this process, the first inflatable component and the second inflatable component can expand or contract with each other to change the angle of the impact acquisition assembly relative to the screw feeder, so as to adjust the angle when the impact acquisition assembly collects rock slag at the slag inlet and the angle when the impact acquisition assembly transports the rock slag to the slag inlet of the screw feeder, which is more conducive to the acquisition or transportation of rock slag. Description of the Drawings

[0016] Figure 1It is a schematic diagram of the overall structure of the utility model structure;

[0017] Figure 2 It is a schematic diagram of the structure of the robotic arm structure;

[0018] Figure 3 It is a schematic diagram of the structure of the vertical acquisition mechanism;

[0019] Figure 4 It is a schematic diagram of the structure of the moving part in the impact acquisition component;

[0020] Figure 5 It is a bottom view schematic diagram of the moving part;

[0021] Figure 6 It is Figure 4 The schematic diagram of the B-B direction structure in

[0022] Figure 7 It is a schematic diagram of the structure of the fixed part in the impact acquisition component;

[0023] Figure 8 It is a schematic diagram of the structure of the feed inlet of the screw feeder;

[0024] Figure 9 It is Figure 8 The enlarged schematic diagram at position A in

[0025] The reference numerals in the figure are: 1, temperature regulator; 2, simulation chamber; 3, robotic arm structure; 4, vacuum generator; 5, collection chamber; 6, vertical acquisition mechanism; 7, placement chamber; 8, rock debris; 301, rotating robotic arm; 302, fourth rotating shaft; 303, third robotic arm; 304, third rotating shaft; 305, second robotic arm; 306, second rotating shaft; 307, first robotic arm; 308, first rotating shaft; 309, rotating base; 310, fixed base; 11, flexible connecting piece; 12, first inflatable part; 13, moving part; 14, connecting rod; 15, crank; 16, first bevel gear; 17, second bevel gear; 18, motor; 19, fixed part; 20, second inflatable part; 21, spiral blade; 22, housing; 23, coupling; 24, connecting key; 25, conveying motor; 26, upper end cover; 27, upper bearing; 28, upper bearing end cover; 29, slag discharge port; 31, lower end cover; 32, lower bearing end cover; 33, lower bearing; 131, first check fan blade; 132, second check fan blade; 133, impact head; 134, rear section of the moving part; 135, front section of the moving part; 136, first fan blade rotating shaft; 137, torsion spring; 138, second fan blade rotating shaft; 139, rotating shaft; 191, base; 192, front fixing bracket; 193, rear fixing bracket; 194, slag outlet; 41, impact acquisition component; 42, screw feeder; 221, slag inlet; 222, baffle. Detailed Embodiments

[0026] The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present utility model, and are not intended to limit the present utility model.

[0027] Embodiment 1

[0028] A vertical collection and mucking test device for simulating the lunar environment, as Figures 1 to 9 shown, includes a simulation chamber 2. Inside the simulation chamber 2, there are respectively a lunar environment simulation mechanism, a robotic arm structure 3, and a vertical collection mechanism 6. The robotic arm structure 3 is used to control the vertical collection mechanism 6 to move to any position along the surface of the rock debris 8, for exploring the influence law of the moving speed and path of the vertical collection mechanism 6 on the mucking effect;

[0029] The lunar environment simulation mechanism includes a temperature regulator 1 and a vacuum generator 4 installed on the inner wall of the simulation chamber 2, to ensure that the simulation chamber 2 has a suitable temperature and vacuum degree to meet the requirements of the lunar environment; The temperature regulator includes: a sensor and a controller. The sensor is used to detect the temperature inside the lunar environment simulation chamber 2, and the controller is used to receive the sensor information and regulate according to the set target temperature. The controller includes elements for starting and stopping heating or refrigeration; The vacuum generator 4 uses a vacuum pump to extract the gas inside the lunar environment simulation chamber 2 to create a low-pressure environment, measures and monitors the pressure inside the simulation chamber 2 through a vacuum gauge, and monitors and adjusts the operation of the vacuum generator through a control system, including the speed of the vacuum pump, control valves, and adjustment of other parameters, to maintain the required vacuum level.

[0030] The vertical collection mechanism 6 includes a screw feeder 42 installed at the end of the robotic arm structure 3, and an impact collection assembly 41 connected to the feed inlet of the screw feeder 42 through a flexible connector 11. A placement bin 7 for holding the rock debris 8 is provided below the impact collection assembly 41 at the bottom inside the simulation chamber 2, and a collection bin 5 for receiving the rock debris 8 is provided at the discharge port 29 of the screw feeder 42;

[0031] The spiral feeder 42 includes a housing 22, a conveying motor 25 installed at the upper end of the housing 22, a screw rod rotatably arranged in the housing 22, and screw blades 21 arranged on the screw rod. The two ends of the screw rod are respectively rotatably connected to the housing through an upper bearing 27 and a lower bearing 33. The end faces of the upper bearing 27 and the lower bearing 33 are respectively sealed with an upper end cover 26 and a lower end cover 31. The upper bearing end cover 26 is a non-standard part and is connected to the housing 22 at one end for sealing, and the other end is made into a platform with a through hole, which is convenient for the conveying motor 25 to be connected to the rotating robotic arm 301. A baffle 222 is arranged on one side of the spiral feeder 42 at the slag inlet 221. The baffle 222 structure is adopted at the slag inlet of the housing 22, which can prevent the rock slag from falling from the slag inlet 221 to the flexible connector 11 during the vertical conveying process, affecting the slag discharging efficiency. After the rock slag enters the slag inlet 221, it enters the bottom of the spiral feeder 42 along the channel of the slag inlet 221, and then is transported to the slag outlet 29 by the spiral feeder 42. During the rising process of the rock slag, the whole pipeline is in a continuous sealed state, preventing the rock slag from falling into the slag inlet, greatly improving the transportation performance.

[0032] The impact collection assembly 41 is used to vertically collect the rock slag 8 from the rock slag placement bin 7, and then convey it upward through the spiral feeder 42 to the slag discharge port 29 and finally be centrally discharged into the rock slag collection bin 5.

[0033] The robotic arm structure 3 includes a fixed base 310, a rotating base 309, a first robotic arm 307, a second robotic arm 305, a third robotic arm 303, and a rotating robotic arm 7 connected in sequence. The connected fixed base 310 is fixed on the inner wall of one side of the simulation bin 2. The rotating base 309 is rotatably connected to the connected fixed base 310. The rotating robotic arm 7 is rotatably connected to the third robotic arm 303. The rotating base 309, the first robotic arm 307, the second robotic arm 305, and the third robotic arm 303 are respectively hinged through a first rotating shaft 308, a second rotating shaft 306, and a third rotating shaft 304 in sequence, and the spiral feeder 42 is fixedly connected to the rotating robotic arm 7. The front end of the rotating robotic arm 301 is made into a platform with a through hole, and the vertical collection mechanism is fixed on the rotating robotic arm 301 with bolts, so that the vertical collection and slag discharging system can move at any position on the rock slag surface. The robotic arms are connected by rotating shafts and driven by hydraulic motors, which not only enhances the load-bearing capacity but also can achieve precise displacement control.

[0034] The impact collection component 41 includes a fixed component 19 and a movable component 13 movably sleeved within the fixed component 19. The movable component 13 reciprocates along the fixed component 19 driven by a motion component. A check component is provided within the front section of the movable component 13. The check component includes a first check fan blade 131 and a second check fan blade 132 respectively connected through a first fan blade rotating shaft 136 and a second fan blade rotating shaft 138, a rotating shaft 139 provided between the first fan blade rotating shaft 136 and the second fan blade rotating shaft 138, and a torsion spring 137 provided on the rotating shaft 139. The two ends of the torsion spring 137 respectively abut against the first fan blade rotating shaft 136 and the second fan blade rotating shaft 138. In order to accelerate, the check component here can also be a multi-fan blade structure.

[0035] The movable component 13 is a front and rear two-section structure connected by threads, ensuring the flatness and coaxiality of the contact transition surface, thereby facilitating the disassembly, assembly, and maintenance of the check component inside the movable component 13.

[0036] In order to impact large unbroken rock fragments into small rock fragments for easy collection of the rock fragments, and at the same time protect the first fan blade rotating shaft, the second fan blade rotating shaft, and the rotating shaft, a cross-shaped impact head 133 is provided at the feed inlet of the front section of the movable component 13, and the cross-section of the impact head 133 is triangular.

[0037] The motion component includes a motor 18 provided within the fixed component 19, a second bevel gear 17 provided on the output shaft of the motor 18, a first bevel gear 16 meshing with the second bevel gear 17, a crank 15 connected to the first bevel gear 16, and a connecting rod 14 hinged to one end of the crank 15. The motor 18 is fixed within the fixed component through a base 191. The connecting rod 14 is connected to the rear section of the movable component 13. The first bevel gear 16 is fixed to the inner wall of the front section of the movable component 13 through a rotating shaft. Specifically, a front fixing bracket 192 is provided at the top within the front section of the movable component 13, and a rear fixing bracket 193 is fixed to the rear wall within the front section of the movable component 13. The two ends of the rotating shaft are respectively provided on the front fixing bracket 192 and the rear fixing bracket 193. The second bevel gear 17 and the first bevel gear 16 are meshed at a 90° angle to change the transmission direction, enabling the motor 18 to be axially arranged along the impact collection component 41, saving installation space. The motion component drives the movable component 13 to reciprocate along the fixed component 19.

[0038] A plurality of through holes are evenly distributed on the crank 15. The first bevel gear 16 is connected to the through holes on the crank 15 through a connecting shaft to adjust the length of the crank 15, thereby expanding the adjustment range of the impact frequency.

[0039] On both sides of the flexible connecting piece 11, a first inflatable component 12 and a second inflatable component 20 are respectively provided. The flexible connecting piece 11, the first inflatable component 12, and the second inflatable component 20 are respectively connected to the impact acquisition component 41 and the screw feeder 42 by threaded holes and bolts, which can not only maintain good connection strength but also ensure the smoothness and flatness of the inner wall surfaces of the impact acquisition component 41 and the screw feeder 42. An air tank, an airbag, and an air pump respectively connected to the air tank and the airbag are provided in the first inflatable component 12 and the second inflatable component 20. The air tank stores inert gas. By contracting the first inflatable component 12 and expanding the second inflatable component 20 or expanding the first inflatable component 12 and contracting the second inflatable component 20, the angle between the impact acquisition component 41 and the screw feeder 42 can be changed.

[0040] The working process of the present utility model is as follows: First, the temperature regulator 1 and the vacuum generator 4 are used to monitor and regulate the temperature and pressure in the simulation chamber 2 to the target values.

[0041] Then, the hydraulic motor drives the robotic arm structure 3 to drive the screw feeder 42 and the impact acquisition component 41 to move to different positions in the placement bin 7 for acquisition. At the same time, the screw feeder 42 and the motor 18 are started, so as to drive the second bevel gear 17 to engage and rotate the first bevel gear 16, and further drive the crank 15 and the connecting rod 14 to drive the movable component 13 to perform telescopic reciprocating motion along the fixed component 19, so that the impact head 133 impacts the rock debris 8 in the placement bin 7 and impacts the large rock debris 8 into small rock debris 8. Under the action of the torsion spring 137, the impact force flushes open the first check fan blade 131 and the second check fan blade 132. When no rock debris 8 enters the impact acquisition component 41, the torsion spring 137 resets, and the first check fan blade 131 and the second check fan blade 132 block the feed inlet of the movable component 13 to prevent the rock debris 8 in the impact acquisition component 41 from falling.

[0042] Finally, the rock debris 8 enters the interior of the screw feeder 42 along the feed inlet channel of the screw feeder 42, and then is transported by the screw feeder 42 to the discharge port 29 and then falls into the collection bin 5. In the above process, the inert gas in the tank is pumped into the airbag by the air pump, so that the first inflatable component 12 contracts and the second inflatable component 20 expands or the first inflatable component 12 expands and the second inflatable component 20 contracts, thereby changing the angle of the impact acquisition component 41 relative to the screw feeder 42, and further adjusting the angle when the impact acquisition component 41 collects the rock debris 8 at the feed inlet and the angle when the impact acquisition component 41 transports the rock debris 8 to the feed inlet of the screw feeder 42, which is more conducive to the collection or transportation of the rock debris 8.

[0043] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A vertical acquisition and mucking test device for simulating the lunar environment, characterized in that It includes a simulation chamber (2), in which a lunar environment simulation mechanism, a robotic arm structure (3), and a vertical collection mechanism (6) are respectively provided. The robotic arm structure (3) is used to control the vertical collection mechanism (6) to move along any position on the surface of the rock debris (8). The lunar environment simulation mechanism includes a temperature regulator (1) and a vacuum generator (4) provided on the inner wall of the simulation chamber (2). The vertical collection mechanism (6) includes a screw feeder (42) installed at the end of the robotic arm structure (3), and an impact collection assembly (41) connected to the feed inlet of the screw feeder (42). A placement bin (7) for holding the rock debris (8) is provided below the impact collection assembly (41) at the bottom in the simulation chamber (2). A collection bin (5) for receiving the rock debris (8) is provided at the discharge port (29) of the screw feeder (42).

2. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 1, characterized in that: The robotic arm structure (3) includes a fixed base (310), a rotating base (309), a first robotic arm (307), a second robotic arm (305), a third robotic arm (303), and a rotating robotic arm (7) connected in sequence. The fixed base (310) is fixed on one inner wall of the simulation chamber (2). The rotating base (309) is rotatably connected to the fixed base (310). The rotating robotic arm (7) is rotatably connected to the third robotic arm (303). The rotating base (309), the first robotic arm (307), the second robotic arm (305), and the third robotic arm (303) are sequentially hinged to each other, and the screw feeder (42) is fixedly connected to the rotating robotic arm (7).

3. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 1, characterized in that: The impact collection assembly (41) includes a fixed component (19) and a movable component (13) movably sleeved in the fixed component (19). The movable component (13) reciprocates along the fixed component (19) driven by a motion component. A check component is provided in the front section of the movable component (13). The check component includes a first check fan blade (131) and a second check fan blade (132) respectively connected by a first fan blade rotating shaft (136) and a second fan blade rotating shaft (138), a rotating shaft (139) provided between the first fan blade rotating shaft (136) and the second fan blade rotating shaft (138), and a torsion spring (137) provided on the rotating shaft (139).

4. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 3, characterized in that: The front section and the rear section of the movable component (13) are connected by a thread.

5. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 3, wherein: A cross-shaped impact head (133) is provided at the feed inlet of the front section of the movable component (13), and the cross section of the impact head (133) is triangular.

6. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 3, characterized in that: The moving component includes a motor (18) disposed within a fixed component (19), a second bevel gear (17) disposed on the output shaft of the motor (18), a first bevel gear (16) meshing with the second bevel gear (17), a crank (15) connected to the first bevel gear (16), and a connecting rod (14) hinged to one end of the crank (15). The motor (18) is fixed within the fixed component (19) through a base (191). The connecting rod (14) is connected to the rear section of the moving component (13), and the first bevel gear (16) is fixed to the inner wall of the front section of the moving component (13) through a rotating shaft.

7. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 1, characterized in that: A flexible connecting member (11) is provided between the impact acquisition component (41) and the screw feeder (42).

8. The vertical acquisition and mucking test device for simulating the lunar environment according to claim 7, wherein: A first inflatable component (12) and a second inflatable component (20) are respectively provided on both sides of the flexible connecting member (11). An air tank, an airbag, and an air pump respectively connected to the air tank and the airbag are provided within the first inflatable component (12) and the second inflatable component (20).

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