Three-folding arm type device for lunar surface load transfer
By designing a three-folding arm device, utilizing a rotating base, support arm, upper arm, lower arm, and folding mechanism, the need for lunar payload transfer was addressed, enabling flexible transportation and deployment of lunar payloads.
Patent Information
- Application Number
- CN202511472912.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-15
- Publication Date
- 2025-12-19
AI Technical Summary
Existing technologies cannot provide a lifting and transportation device that can ascend with a spacecraft, be deployed and operate on the lunar surface, and meet the needs of lunar payload transfer.
Design a three-folding arm device, including a rotating base, a support arm, a large arm, a small arm, a large arm folding mechanism, a small arm folding mechanism, and a gripping mechanism. The device can be folded and unfolded through the coordinated movement of these components to achieve the transfer of lunar payload.
It enables flexible transfer of lunar payloads, allowing them to be transported at different locations and altitudes, thus meeting the needs of lunar exploration and the construction of research stations.
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Figure CN121158680A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of space crane, in particular to a three-fold arm device for lunar surface load transfer. BACKGROUND
[0002] With the development of space technology in China, the demand for lunar surface load transfer is increasing, and the space crane is required to be deployed and worked on the lunar surface with the spacecraft ascending. SUMMARY
[0003] The present application provides a three-fold arm device for lunar surface load transfer, which has the functions of folding and unfolding and lunar surface load transfer.
[0004] The present application provides a three-fold arm device for lunar surface load transfer, which comprises a rotary base, a support arm, a large arm, a small arm, a large arm folding mechanism, a small arm folding mechanism and a grabbing mechanism. One end of the rotary base is installed on a lunar surface platform, and the other end is hinged to the support arm. One end of the large arm is hinged to the support arm, and the other end is hinged to the small arm. The large arm folding mechanism connects the support arm and the large arm, and is used to control the folding and unfolding of the large arm. The small arm folding mechanism connects the large arm and the small arm, and is used to control the folding and unfolding of the small arm. The grabbing mechanism is installed at the end of the small arm, and is used to grab the lunar surface load.
[0005] Further, the three-fold arm device has a folded state and an unfolded working state. In the folded state, the support arm, the large arm and the small arm are horizontally stacked and fixed, with the support arm at the bottom, the large arm in the middle and the small arm at the top. In the unfolded working state, the support arm is upright and can rotate around the Z-axis of the device, and the large arm and the small arm can realize folding and stretching motion under the drive of the large arm folding mechanism and the small arm folding mechanism, realizing the movement of the grabbing mechanism.
[0006] Further, the movement of the support arm of the three-fold arm device is realized through the rotary base, which is lifted from horizontal to vertical state and rotated around the Z-axis. The large arm is connected to the support arm through a rotating joint a, and the large arm is rotated through the large arm folding mechanism. The small arm is connected to the large arm through a rotating joint b, and the small arm is rotated through the small arm folding mechanism.
[0007] Furthermore, the boom folding mechanism includes boom swing arm a, boom swing arm b, boom swing arm c, boom connecting rod a, boom connecting rod b, boom connecting rod c, boom connecting rod d, boom connecting rod e, boom winch, and boom rope; one end of boom swing arm a is hinged to the support arm, and the other end is hinged to boom connecting rod a; one end of boom swing arm b is hinged to the boom, and the other end is hinged to boom connecting rod a and boom connecting rod b; one end of boom swing arm c is hinged to the boom, and the other end is hinged to boom connecting rod c and boom connecting rod d; boom connecting rod b is hinged to boom connecting rod c, and boom connecting rod d is hinged to boom connecting rod e; the boom winch is mounted on a bracket on the boom support arm, and the boom rope is connected to one end of boom connecting rod a.
[0008] The boom winch winds up the rope, which pulls the boom link a. After being transmitted through multiple swing arms and links, the traction force acts on the boom, causing it to rotate. The boom winch then releases the rope, and the boom, driven by gravity, rotates in the opposite direction.
[0009] Furthermore, the forearm folding mechanism includes a forearm swing arm a, a forearm connecting rod a, a forearm connecting rod b, a forearm winch, and a forearm rope; one end of the forearm swing arm a is hinged to the forearm, and the other end is hinged to the forearm connecting rod a; one end of the forearm connecting rod a is hinged to the forearm connecting rod b, and the other end is connected to the forearm rope; one end of the forearm connecting rod b is hinged to the forearm, and the forearm winch is mounted on the boom.
[0010] The forearm winch retracts the rope, and the forearm rope pulls the forearm connecting rod a. After being transmitted through multiple swing rods and connecting rods, the traction force acts on the forearm, causing the forearm to rotate. The forearm winch releases the rope, and the forearm is driven by gravity to rotate in the opposite direction. Attached Figure Description
[0011] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the working unfolded state of a three-fold arm device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the transport folded state of a three-fold arm device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the state of the three-fold arm device after the first step of unfolding, according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the state of the three-fold arm device after the second step of unfolding according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the state of the three-fold arm device after the third step of unfolding, according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the state of the three-fold arm device after the fourth step of unfolding, according to an embodiment of the present invention; Figure 7This is a schematic diagram of a load transfer state of a three-fold arm device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a load transfer state of a three-fold arm device according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a load transfer state of a three-fold arm device according to an embodiment of the present invention. Detailed Implementation
[0012] The three-folding arm device proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, and are only used to facilitate and clarify the illustration of the embodiments of this invention. In the diagram, 1-rotating base; 2-support arm; 3-upper arm; 4-lower arm; 5-gripping mechanism; 6-upper arm swing arm a; 7-upper arm swing arm b; 8-upper arm swing arm c; 9-upper arm connecting rod a; 10-upper arm connecting rod b; 11-upper arm connecting rod c; 12-upper arm connecting rod d; 13-upper arm connecting rod e; 14-winner bracket; 15-upper arm winch; 16-upper arm rope; 17-rotation joint a; 18-lower arm winch; 19-lower arm rope; 20-lower arm swing arm a; 21-lower arm connecting rod a; 22-lower arm connecting rod b; 23-rotation joint b.
[0013] In this example, as Figure 1 As shown, a three-folding boom device includes a rotating base 1, a support arm 2, a main boom 3, a forearm 4, a main boom folding mechanism, a forearm folding mechanism, and a gripping mechanism 5. The main boom folding mechanism includes a main boom swing arm a6, a main boom swing arm b7, a main boom swing arm c8, a main boom connecting rod a9, a main boom connecting rod b10, a main boom connecting rod c11, a main boom connecting rod d12, a main boom connecting rod e13, a main boom winch 15, and a main boom rope 16. The forearm folding mechanism includes a forearm swing arm a20, a forearm connecting rod a21, a forearm connecting rod b22, a forearm winch 18, and a forearm rope 19. In this example, as Figure 1 As shown, one end of the rotating base 1 is mounted on the lunar platform, and the other end is hinged to the support arm 2; one end of the large arm 3 is hinged to the support arm 2, and the other end is hinged to the small arm 4; the large arm folding mechanism connects the support arm 2 and the large arm 3, and is used to control the large arm 3 to fold and unfold; the small arm folding mechanism connects the large arm 3 and the small arm 4, and is used to control the small arm 4 to fold and unfold; the gripping mechanism 5 is mounted at the end of the small arm 4, and is used to grip the lunar payload.
[0014] Please refer to all factors. Figures 1 to 2 The three-fold arm device has a folded state and an unfolded working state. Figure 2The device is described as a folded three-arm type device. In the folded state, the support arm 2, upper arm 3, and lower arm 4 are horizontally stacked and fixed, with the support arm 2 at the bottom, the upper arm 3 in the middle, and the lower arm 4 at the top. Figure 1 The above describes the unfolded working state of the three-fold arm device. At this time, the support arm 2 is upright and can rotate around the Z-axis of the device. The upper arm 3 and the lower arm 4 can achieve folding and extension movements under the drive of the upper arm folding mechanism and the lower arm folding mechanism, thereby realizing the movement of the gripping mechanism 5.
[0015] Please refer to all factors. Figures 3 to 6 The three-fold arm device needs to be deployed from the transport folded state to the working unfolded state in four steps: unfolding the support arm, unfolding the upper arm folding mechanism, unfolding the lower arm folding mechanism, and unfolding the upper arm and lower arm.
[0016] The first step involves rotating support arm 2 to a vertical position via the rotating base 1. See the diagram below for an illustration of support arm 2 after it is fully extended. Figure 3 ; The second step involves the boom folding mechanism using the boom winch 15 to wind up the boom rope 16, causing the boom swing arms a6, b7, c8, a9, b10, c11, d12, and e13 to unfold into their final positions. A schematic diagram of the unfolded boom folding mechanism is shown below. Figure 4 ; The third step involves the forearm folding mechanism releasing the forearm rope 19 via the forearm winch 18, causing the forearm 4 to unfold. During the unfolding process, the forearm swing arm a20, forearm connecting rod a21, and forearm connecting rod b22 are extended into position. A schematic diagram of the unfolded forearm folding mechanism is shown below. Figure 5 ; In the fourth step, boom 3 is extended by retracting boom rope 16 using a boom winch, while forearm 4 is extended by releasing forearm rope 19 using a forearm winch. See the diagram illustrating the extension process of boom 3 and forearm 4. Figure 6 ; Please refer to all factors. Figures 7 to 9 The three-arm folding boom device, with its upper arm 3 and lower arm 4 rotating to different angles, can transport loads at different positions. When both the upper arm 3 and lower arm 4 are extended to a horizontal position, loads at the farthest position can be transported; when the lower arm 4 rotates downwards, loads closer to the ground can be transported; and when the upper arm rotates upwards, loads higher than the ground can be transported.
[0017] The contents not described in detail in this specification are prior art known to those skilled in the art. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.
Claims
1. A three-folding arm device for lunar payload transfer, characterized in that, It includes a rotating base, support arm, upper arm, lower arm, upper arm folding mechanism, lower arm folding mechanism, and gripping mechanism; One end of the rotating base is mounted on the lunar platform, and the other end is hinged to the support arm; One end of the upper arm is hinged to the support arm, and the other end is hinged to the forearm; The upper arm folding mechanism connects the support arm and the upper arm and is used to control the folding and unfolding of the upper arm; The forearm folding mechanism connects the upper arm and the forearm and is used to control the folding and unfolding of the forearm; The gripping mechanism is installed at the end of the forearm and is used to grip lunar payloads.
2. The three-folding arm device for lunar payload transfer as described in claim 1, characterized in that, It has a transport folded state and a working unfolded state; The device was in a folded state during transportation. In the folded state during transport, the support arm, upper arm, and lower arm are horizontally stacked and fixed, with the support arm at the bottom, the upper arm in the middle, and the lower arm at the top. When the device is in operation, it is in the working unfolded state. In the working unfolded state, the support arm is upright and can rotate around the Z-axis of the device. Driven by the upper arm folding mechanism and the lower arm folding mechanism, the upper arm and the lower arm can realize folding and extension movements, thereby realizing the movement of the gripping mechanism.
3. A three-arm folding arm device for lunar payload transfer as described in claim 2, characterized in that, The three-fold boom arm device transforms from a transport folded state to a working unfolded state through four steps: unfolding the support arm, unfolding the main boom folding mechanism, unfolding the forearm folding mechanism, and unfolding both the main boom and forearm.
4. A three-arm folding arm device for lunar payload transfer as described in claim 3, characterized in that, The rotating base enables the support arm to rotate around the Z-axis and to lift the support arm from a horizontal position to a vertical position.
5. A three-arm folding arm device for lunar payload transfer as described in claim 1, characterized in that, The upper arm and the support arm are connected by a rotating joint a, and the upper arm rotates through a folding mechanism.
6. A three-arm folding arm device for lunar payload transfer as described in claim 5, characterized in that, The boom folding mechanism includes boom swing arm a, boom swing arm b, boom swing arm c, boom connecting rod a, boom connecting rod b, boom connecting rod c, boom connecting rod d, boom connecting rod e, boom winch, and boom rope. One end of the upper arm swing arm a is hinged to the support arm, and the other end is hinged to the upper arm connecting rod a. One end of the boom swing arm b is hinged to the boom, and the other end is hinged to the boom connecting rod a and the boom connecting rod b. One end of the boom swing arm c is hinged to the boom, and the other end is hinged to the boom connecting rod c and the boom connecting rod d. The boom link b is hinged to the boom link c, and the boom link d is hinged to the boom link e; The boom winch is mounted on a bracket on the boom support arm, and the boom rope is connected to one end of the boom link a.
7. A three-arm folding arm device for lunar payload transfer as described in claim 6, characterized in that, The forearm and upper arm are connected by a rotating joint b, and the forearm rotates through a forearm folding mechanism.
8. A three-arm folding arm device for lunar payload transfer as described in claim 7, characterized in that, The forearm folding mechanism includes a forearm swing arm a, a forearm connecting rod a, a forearm connecting rod b, a forearm winch, and a forearm rope; One end of the forearm swing rod a is hinged to the forearm, and the other end is hinged to the forearm connecting rod a; One end of the forearm link a is hinged to the forearm link b, and the other end is connected to the forearm rope; One end of the forearm connecting rod b is hinged to the forearm, and the forearm winch is installed on the boom.