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CN-122009524-A - Planetary polar region air cushion inspection robot based on in-situ solid gas sublimation driving

CN122009524ACN 122009524 ACN122009524 ACN 122009524ACN-122009524-A

Abstract

The invention discloses a planetary polar region air cushion inspection robot based on in-situ solid gas sublimation driving, belongs to the technical field of deep space exploration and special robots, and is suitable for low-energy consumption long-period inspection of surfaces of solid volatile substances such as Mars polar crowns, mars ice satellites and the like. The robot comprises a sublimation heating chassis, a flexible sealing skirt edge, a semi-closed gas collecting cavity, a flow guide channel, a jet nozzle array and a valve control assembly, wherein the sublimation heating chassis is used for heating solid volatile substances to generate sublimated gas, the flexible sealing skirt edge is arranged on the periphery of the chassis and is surrounded with the surface of a planet to form the semi-closed gas collecting cavity to accumulate gas, the flow guide channel, the jet nozzle array and the valve control assembly are arranged on the periphery of the gas collecting cavity to achieve accurate regulation and control of gas flow and jet, the gesture and propulsion control module is used for jointly regulating heating power and valve control opening, dynamically balancing the pressure of the gas collecting cavity and controlling thrust, and the energy and thermal management system is used for conducting heat of a heat source to the heating chassis in a directional mode. The invention utilizes in-situ sublimated gas to form controllable suspension gas film pressure, and thrust is generated through the nozzle, so that suspension movement and attitude control of the robot on the target surface are realized.

Inventors

  • LI LIFANG
  • WU XIAOMIN
  • GUO PENGZHEN
  • GAO HAIBO

Assignees

  • 哈尔滨工业大学

Dates

Publication Date
20260512
Application Date
20260317

Claims (10)

  1. 1. Planetary polar region air cushion inspection robot based on solid-state gaseous sublimation drive in normal position, its characterized in that includes: the sublimation heating chassis is arranged at the bottom of the machine body and is used for heating solid volatile substances on the surface of the target planet so as to generate sublimated gas; The flexible sealing skirt is arranged around the periphery of the sublimation heating chassis and is used for forming a semi-closed gas collection cavity for accumulating sublimated gas together with the surface of the planet; the flow guide channel and the jet nozzle array are arranged on the periphery of the gas collection cavity and are used for jetting out sublimated gas in the gas collection cavity in a controllable mode; The valve control assembly is used for controlling the on-off of the diversion channel so as to adjust the flow of sublimated gas flowing from the gas collection cavity to each jet nozzle; The attitude and propulsion control module is used for controlling the pressure in the gas collection cavity and the thrust generated from each jet nozzle by jointly adjusting the heating power of the sublimation heating chassis and the opening of the valve control assembly; an energy and thermal management system for distributing and conducting heat from a radioisotope heat source or other heat source to the sublimation heating chassis; The sublimation heating chassis, the flexible sealing skirt edge and the gas collecting cavity are matched, so that the generated sublimation gas can form controllable suspension gas film pressure in a low-pressure or vacuum planetary environment, and suspension movement and attitude control of the robot on the solid volatile covering surface are realized through thrust generated by the jet nozzle array.
  2. 2. An in-situ solid gas sublimation driven planetary polar pole gas cushion inspection robot as claimed in claim 1, wherein the solid volatile material comprises at least one of solid CO 2 、CH 4 、H 2 O ice.
  3. 3. The in-situ solid gas sublimation-driven planetary polar region gas cushion inspection robot according to claim 1, wherein the sublimation heating chassis comprises a sublimation chassis and an insulating interlayer aerogel blanket filled between the back surface of the sublimation chassis and a machine body; The sublimation chassis is made of a high-heat-conductivity material with the heat conductivity of more than 500W/m.K and high hardness; the sublimation chassis is divided into a plurality of heating subareas, and the heating power of each subarea can be independently adjusted, so that the self-stabilization and the inclination compensation of the posture are realized through local sublimation increase and decrease; the heat conductivity of the heat insulation interlayer aerogel felt is smaller than 0.015W/m.K, and the heat insulation interlayer aerogel felt is used for preventing heat from being conducted upwards to damage electronic equipment and ensuring that heat flow is unidirectional downwards.
  4. 4. A planet polar air cushion inspection robot based on in-situ solid state air sublimation driving according to claim 3, wherein the energy and thermal management system comprises a high thermal conductivity heat pipe for distributing waste heat generated by the radioisotope thermal power source to the chassis heating zone with a thermal power of 10-80W.
  5. 5. The in-situ solid gas sublimation-driven planetary polar region gas cushion inspection robot according to claim 1, wherein the flexible sealing skirt is realized by adopting an outer flexible inner hard composite multilayer structure; the composite multilayer structure comprises: the inner layer is a high-air-tightness stressed framework layer and is used for realizing the functions of pressure bearing, shaping, air-tightness blocking and heat reflection; the middle layer is a low-temperature toughening and heat insulation layer and is used for realizing flexible transition, heat insulation and heat preservation functions; The outer layer is a wear-resistant self-lubricating flexible sealing layer and is used for realizing super-compliant sealing and low-friction wear-resistant functions; The lower edge of the flexible sealing skirt edge can be self-adaptively attached to the concave-convex structure of the surface of the planet solid volatile, so that the air leakage is smaller than 20% of the total sublimated gas mass flow rate.
  6. 6. The in-situ solid gas sublimation-driven planetary polar region gas cushion inspection robot is characterized in that the height of the inner cavity of the gas collection cavity is 0.5-3mm, and stable gas cushion suspension pressure of 0.1-5kPa can be established when the mass of the robot is 5-15 kg.
  7. 7. The in-situ solid gas sublimation-driven planetary polar region gas cushion inspection robot according to claim 1, wherein the jet nozzle array at least comprises 8 vector nozzles, which are distributed in the front, rear, left, right and tangential directions, and each vector nozzle corresponds to an electromagnetic proportional valve; The jet speed of the vector nozzle is 30-120m/s, the thrust of a single nozzle is 0.002-0.01N, and the total thrust can reach 0.02-0.15N so as to drive the robot to realize the moving speed of 0.2-1.5 m/s; The outer wall of the vector nozzle is provided with an anti-frosting heating wire or a heat conduction path to prevent the nozzle from being arranged at Clogging with sublimates occurs in environments below 150 ℃.
  8. 8. The in-situ solid gas sublimation driven planetary polar region gas cushion inspection robot according to claim 1, wherein the valve control component is at least one of a proportional adjustable MEMS electromagnetic valve, a shape memory alloy executing valve or a piezoelectric micro valve, so that the flow rate of the nozzle can be continuously adjusted within the range of 0-100%.
  9. 9. A planet polar air cushion inspection robot based on in-situ solid state air sublimation driving according to claim 1, further comprising a thermal anchoring mechanism for braking or fixing comprising a telescopic metal leg, melting a micro ice layer by heating and re-freezing after stopping heating to realize anchoring.
  10. 10. A method for controlling a planet polar region air cushion robot based on solid state volatile sublimation driving, which is applied to the robot as claimed in any one of claims 1 to 9, and comprises the following steps: step 1, heating a chassis to sublimate external solid volatile matters, and establishing suspension pressure in a semi-closed gas collection cavity; Step 2, adjusting the power of each heating partition of the chassis to enable the suspension pressure to be kept within a preset range; Step 3, according to the target motion state, adjusting the opening of a valve corresponding to the nozzle, so that sublimated gas is discharged in a specified direction to generate propelling force; step 4, according to feedback of the IMU and the differential pressure sensor, heating power and valve opening are adjusted in a combined mode, and forward, backward, steering, transverse movement and self-stabilization of the robot are achieved; and 5, when the parking or maintaining position is needed, starting the thermal anchoring mechanism to form frozen type fixing on the ice surface.

Description

Planetary polar region air cushion inspection robot based on in-situ solid gas sublimation driving Technical Field The invention relates to the technical field of deep space exploration and special robots, in particular to a patrol robot aiming at surfaces covered with solid volatile gas (such as dry ice) such as Mars polar cap, mars ice satellite and the like. Background On the surface of astronomical areas such as Mars, cookie, etc., there are a number of volatile ice layers in the form of solid CO 2 or solid CH 4. This type of environment poses the following serious difficulties for traditional mobile detectors: 1. The friction force is extremely low, the traditional wheel type or crawler type detector fails, the friction coefficient between the Mars polar crown and the surface of the volatile ice cover is extremely low, and the wheel type Mars vehicle is easy to slip, idle or sideslip, so that stable movement is difficult to realize. 2. The extremely low temperature environment causes embrittlement and lubrication failure of mechanical structure, namely the temperature of a spark zone is low enough125 ℃ And two surfaces of wood guard160 ℃, The traditional mechanical transmission structure (speed reducer, gear box, bearing and the like) is extremely easy to embrittle or the lubricant is frozen, and the reliability is greatly reduced. 3. The traditional air cushion ship relies on atmospheric compressed air, is not suitable for a rarefaction or even an atmospheric celestial body, namely, the earth air cushion ship supplies air to a chassis through a fan to form positive pressure suspension, but the atmospheric pressure of Mars is only about 600Pa, which is 0.6% of the earth, and the surfaces of wood guard are close to vacuum, so that the technology is completely ineffective. 4. The aircraft has extremely high energy consumption, and in the rarefied atmosphere, the helicopter or the aircraft needs extremely high blade rotating speed and power, and cannot carry out long-period inspection tasks. 5. The lack of feasibility of sublimated gases as a power source has long been neglected: Solid CO 2、CH4 or H 2 O ice has a very high volumetric expansion coefficient at low pressure. Taking CO 2 as an example, the volume expansion rate from solid state sublimation to gas state sublimation is more than 800 times. In a semi-closed chamber, even if the generated gas density is extremely low, it is sufficient to build up an effective pressure in the kPa order. However, the core reasons for the failure of the prior art to utilize sublimation power as a propulsion source are two (1) that sublimation gas cannot build up pressure in an open environment and (2) that there is a lack of an effective sealing structure between the ice surface and the chassis, resulting in a large amount of leakage. Therefore, there is a need for a novel inspection platform that is not dependent on the atmosphere, is mechanically driven simply, can be powered by environmental materials, and can be stably moved on polar ice. Disclosure of Invention The invention aims to realize suspension movement by forming an air cushion by using sublimated gas of volatile ice such as solid CO 2/CH4 and the like; The controllable nozzle sprays sublimated gas to obtain active propulsion and attitude control capability, thereby avoiding a mechanical transmission structure, realizing high reliability at extremely low temperature and meeting the requirements of low energy consumption and long-period inspection tasks on the surfaces of Mars polar regions and ice satellites. In order to achieve the above purpose, the present invention provides the following technical solutions: The invention provides a planetary polar region air cushion inspection robot based on in-situ solid gas sublimation driving, which comprises: the sublimation heating chassis is arranged at the bottom of the machine body and is used for heating solid volatile substances on the surface of the target planet so as to generate sublimated gas; The flexible sealing skirt is arranged around the periphery of the sublimation heating chassis and is used for forming a semi-closed gas collection cavity for accumulating sublimated gas together with the surface of the planet; the flow guide channel and the jet nozzle array are arranged on the periphery of the gas collection cavity and are used for jetting out sublimated gas in the gas collection cavity in a controllable mode; The valve control assembly is used for controlling the on-off of the diversion channel so as to adjust the flow of sublimated gas flowing from the gas collection cavity to each jet nozzle; The attitude and propulsion control module is used for controlling the pressure in the gas collection cavity and the thrust generated from each jet nozzle by jointly adjusting the heating power of the sublimation heating chassis and the opening of the valve control assembly; an energy and thermal management system for distributing and conducting heat fr