Vertical rack transmission lunar surface tower crane and working method thereof

Abstract

The invention discloses a vertical rack transmission lunar surface tower crane. The vertical rack transmission lunar surface tower crane comprises a base, a slewing mechanism, a suspension arm, a suspension arm unfolding mechanism, a pulley, a hoisting mechanism, a grabbing mechanism, a first camera, a second camera and an antenna, the lower end of the base is connected with the spacecraft body, and the upper end is connected with the slewing mechanism; the upper end of the slewing mechanism is connected with the suspension arm unfolding mechanism; the suspension arm unfolding mechanism is fixedly connected with the suspension arm; the pulley is connected with the suspension arm and the hoisting mechanism; the grabbing mechanism is connected with the hoisting mechanism; the first camera is fixedly connected to the slewing mechanism; and the second camera and the antenna are fixedly connected to the top end of the suspension arm. The vertical rack transmission lunar surface tower crane is used for achieving multi-target capturing and multi-point releasing, assisting camera imaging, multi-target hoisting and transferring and antenna erecting, has the capacity of large-mass bearing, large-range movement and large-tolerance capturing, and has the advantages of being small in occupied space of a spacecraft and light in weight.

Description

Technical Field

[0001] This invention relates to the field of lunar tower crane technology, and specifically to a lunar tower crane with vertical rack and pinion drive. Background Technology

[0002] With the advancement of my country's aerospace technology and the rapid development of projects such as lunar bases, lunar research stations, Mars bases, and Mars research stations, the need for transferring multiple targets from spacecraft to the lunar or Martian surface has created an urgent demand for imaging near the landing site, long-distance imaging, and long-distance communication via elevated antennas. This has led to a growing need for equipment capable of general-purpose multi-target capture, lifting, transfer, and release, as well as assisting in imaging and antenna erection. Therefore, there is an urgent need for a lunar surface crane that occupies minimal space on the spacecraft, is lightweight, possesses high mass load capacity, a wide range of motion, and high-tolerance capture capabilities, and can perform multi-target capture and multi-point release, assist in camera imaging, multi-target lifting and transfer, and antenna erection. Summary of the Invention

[0003] The technical problem solved by this invention is: with the development of aerospace technology, the application of general multi-target capture and lifting... With the increasing demand for equipment to release, assist imaging, and elevate antennas, this invention provides a lunar crane that occupies little space on spacecraft, is lightweight, has a large mass load capacity, a wide range of motion, and a large tolerance for capture, and can realize multi-target capture and multi-point release, assist camera imaging, multi-target lifting and transfer, and elevate antenna functions.

[0004] The specific solution of this invention is as follows:

[0005] A vertical rack and pinion driven lunar crane includes a base, a slewing mechanism, a boom, a boom deployment mechanism, a trolley, a hoisting mechanism, a gripping mechanism, a first camera, a second camera, and an antenna. The lower end of the base is connected to the spacecraft body, and the upper end is connected to the slewing mechanism. The upper end of the slewing mechanism is connected to the boom deployment mechanism. The boom deployment mechanism is fixedly connected to the boom. The trolley is connected to the boom and the hoisting mechanism. The gripping mechanism is connected to the hoisting mechanism. The first camera is fixedly connected to the slewing mechanism. The second camera and the antenna are fixedly connected to the top of the boom.

[0006] Furthermore, the base is a three-dimensional spatial structure made of high-modulus lightweight composite material; the boom is a thin-walled tubular structure made of high-modulus lightweight composite material.

[0007] Furthermore, the rotary mechanism includes a drive assembly, a housing, and a rotary shaft; the housing is fixedly connected to the base; the lower end of the drive assembly is connected to the housing, and the upper end is fixedly connected to the rotary shaft; the drive assembly is used to provide torque to rotate the rotary shaft and its connecting parts; the rotary mechanism is self-locking when power is off.

[0008] Furthermore, the boom deployment mechanism includes a second drive assembly, a frame, and a locking assembly; the second drive assembly is fixedly connected to the rotation shaft of the slewing mechanism, and the frame is connected to the second drive assembly; the second drive assembly provides torque to rotate the frame and its connecting parts; the locking assembly is connected to the rotation shaft of the slewing mechanism to achieve unidirectional locking of the frame in a horizontal state and large mass load bearing; the boom deployment mechanism is self-locking when power is off.

[0009] Furthermore, the trolley includes a third drive assembly, a rack, and a housing; the rack is fixedly connected to the boom; the third drive assembly is fixedly connected to the housing, providing torque to allow the housing to slide back and forth on the boom; the trolley is self-locking when power is off.

[0010] Furthermore, the lifting mechanism includes a drive assembly four and a rope; the drive assembly four is fixedly connected to the housing of the trolley, providing torque to reciprocate the rope; the lifting mechanism is self-locking when power is off.

[0011] Furthermore, the gripping mechanism includes a pulley, a drive assembly five, and a locking claw; the pulley is connected to the rope of the lifting mechanism; the drive assembly five is fixedly connected to the pulley, providing torque to repeatedly open and lock the locking claw; the gripping mechanism self-locks when power is off.

[0012] A method for operating a lunar tower crane with vertical rack and pinion drive includes:

[0013] When the lunar tower crane is in its initial state, the slewing mechanism, boom unfolding mechanism, trolley, hoisting mechanism, and grabbing mechanism are in their initial set positions, and the grabbing mechanism's locking claws are in a locked state.

[0014] When the lunar tower crane enters the boom deployment mode, the boom deployment mechanism is activated, lifting and deploying the boom, trolley, hoisting mechanism, grabbing mechanism, antenna, and second camera to a horizontal position.

[0015] When the lunar crane enters the imaging mode that assists the first and second cameras, the boom extends horizontally, and then the slewing mechanism moves to rotate the first and second cameras 360° back and forth to assist the first and second cameras in imaging.

[0016] When the lunar tower crane enters the multi-target lifting and transfer mode, the hoisting mechanism lowers the rope to the designated position, the gripping mechanism locks the claws, the hoisting mechanism lowers the rope to the release point, and the gripping mechanism unlocks the claws, thus completing the lifting and transfer of the work target.

[0017] When the lunar crane enters the antenna erection mode, the boom extends horizontally. Then, the boom extension mechanism operates to continue lifting and extending the boom, antenna, and second camera until they reach a vertical position.

[0018] Furthermore, the multi-target lifting and transfer mode includes: after the boom is horizontally extended, the slewing mechanism and the pulley move sequentially to the designated position, the gripping mechanism's locking claws open, the lifting mechanism releases the rope to the designated position, the gripping mechanism's locking claws lock, the lifting mechanism retracts the rope to the designated position, the pulley and the slewing mechanism move sequentially to the designated position, the pulley moves to the release point position, the lifting mechanism releases the rope to the release point position, and the gripping mechanism's locking claws open, thus completing the lifting and transfer of the work target.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0020] (1) The lunar tower crane with vertical rack and pinion drive provided by the present invention completes auxiliary camera imaging, multi-target lifting and transfer and antenna erection only through the slewing mechanism, boom unfolding mechanism, pulley, lifting mechanism and grabbing mechanism. The principle is simple.

[0021] (2) The lunar tower crane provided by the present invention has a slewing mechanism, a boom unfolding mechanism, a trolley, a hoisting mechanism and a grabbing mechanism that are all self-locking when the power is off, which solves the safety problem during operation; and the slewing mechanism, the trolley, the hoisting mechanism and the grabbing mechanism can all perform reciprocating or repeating actions.

[0022] (3) The lunar tower crane provided by the present invention has the ability to carry large mass, move a wide range, and capture with large tolerance. The base and boom are made of high modulus and lightweight composite materials, which are lightweight. At the same time, different types of cameras and different types of antennas can be installed as needed to complete the imaging and communication required by the specified requirements. Attached Figure Description

[0023] The invention will be further described below with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the retracted state of the lunar tower crane with vertical rack and pinion drive described in this invention;

[0025] Figure 2 This is a schematic diagram of the horizontal deployment state, the imaging state of the first and second auxiliary cameras, and the multi-target lifting and transfer state of the lunar tower crane with vertical rack and pinion drive described in this invention.

[0026] Figure 3 This is a schematic diagram of the elevated antenna state of the lunar surface tower crane with vertical rack and pinion drive described in this invention;

[0027] The attached figures are labeled as follows: 1. Base; 2. Rotary mechanism; 3. Boom; 4. Boom deployment mechanism; 5. Trolley; 6. Lifting mechanism; 7. Grabbing mechanism; 8. First camera; 9. Antenna; 10. Second camera; 21. Drive assembly one; 22. Housing; 23. Rotary shaft; 41. Drive assembly two; 42. Frame; 43. Locking assembly; 51. Drive assembly three; 52. Rack; 53. Housing; 61. Drive assembly four; 62. Rope; 71. Pulley; 72. Drive assembly five; 73. Locking claw. Detailed Implementation

[0028] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0030] The following is in conjunction with the appendix Figures 1-3 The present invention will be further described in detail below:

[0031] like Figure 1 A schematic diagram of the retracted state of a lunar tower crane with vertical rack and pinion drive. Figure 2 The diagram shows the horizontal deployment state, the imaging state of the first and second auxiliary cameras, and the multi-target lifting and transfer state of the lunar tower crane with vertical rack and pinion drive. A lunar tower crane with vertical rack and pinion drive includes a base 1, a slewing mechanism 2, a boom 3, a boom deployment mechanism 4, a trolley 5, a hoisting mechanism 6, a gripping mechanism 7, a first camera 8, a second camera 10, and an antenna 9. The base 1 is connected to the spacecraft body and the slewing mechanism 2; the slewing mechanism 2 is connected to the boom deployment mechanism 4; the boom deployment mechanism 4 is fixedly connected to the boom 3; the trolley 5 is connected to the boom 3 and the hoisting mechanism 6; the gripping mechanism 7 is connected to the hoisting mechanism 6; the first camera 8 is fixedly connected to the slewing mechanism 2; and the antenna 9 and the second camera 10 are fixedly connected to the top of the boom 3.

[0032] The base 1 is a three-dimensional spatial structure made of high-modulus lightweight composite material; the boom 3 is a thin-walled tubular structure made of high-modulus lightweight composite material.

[0033] The rotary mechanism 2 includes a drive assembly 21, a housing 22, and a rotary shaft 23; the housing 22 is fixedly connected to the base 1, and the drive assembly 21 is fixedly connected to the housing 22 and the rotary shaft 23; the drive assembly 21 is used to provide torque to rotate the rotary shaft 23 and its connecting parts; the rotary mechanism 2 is self-locking when the power is off.

[0034] The boom deployment mechanism 4 includes a second drive assembly 41, a frame 42, and a locking assembly 43. The second drive assembly 41 is fixedly connected to the rotation shaft 23 of the slewing mechanism 2, and the frame 42 is connected to the second drive assembly 41. The second drive assembly 41 is used to provide torque to rotate the frame 42 and its connecting parts. The locking assembly 43 is connected to the rotation shaft 23 of the slewing mechanism 2 to complete the one-way locking of the frame 42 in the horizontal state and the large mass load-bearing capacity. The boom deployment mechanism 4 is self-locking when the power is off.

[0035] The trolley 5 includes a drive assembly 51, a rack 52, and a housing 53; the rack 52 is fixedly connected to the boom 3; the drive assembly 51 is fixedly connected to the housing 53, providing torque so that the housing 53 slides back and forth on the boom 3; the trolley 5 is self-locking when the power is off.

[0036] The lifting mechanism 6 includes a drive assembly 61 and a rope 62; the drive assembly 61 is fixedly connected to the housing 53 of the trolley 5, providing torque to reciprocate the rope 62; the lifting mechanism 6 is self-locking when power is off.

[0037] The gripping mechanism 7 includes a pulley 71, a drive assembly 72, and a locking claw 73; the pulley 71 is connected to the rope 62 of the lifting mechanism 6; the drive assembly 72 is fixedly connected to the pulley 71, providing torque to repeatedly open and close the locking claw 73; the gripping mechanism 7 is self-locking when power is off.

[0038] like Figure 2 A schematic diagram showing the horizontal deployment state of a lunar crane with vertical rack and pinion drive, the imaging states of the first and second auxiliary cameras, and the lifting and transfer state of multiple targets. Figure 3 The schematic diagram of the elevated antenna state of a lunar surface tower crane with vertical rack and pinion drive shows that one working mode of a lunar surface tower crane with vertical rack and pinion drive includes:

[0039] When the lunar tower crane is in its initial state, the slewing mechanism 2, the boom unfolding mechanism 4, the trolley 5, the hoisting mechanism 6, and the grabbing mechanism 7 are in their initial set positions, and the locking claw 73 of the grabbing mechanism 7 is in a locked state.

[0040] When the lunar tower crane enters the boom 3 deployment mode, the boom deployment mechanism 4 is activated, lifting and deploying the boom 3, trolley 5, hoisting mechanism 6, grabbing mechanism 7, antenna 9, and second camera 10, moving them to a horizontal state.

[0041] When the lunar tower crane enters the imaging mode of the first camera 8 and the second camera 10, the boom 3 is horizontally extended and the slewing mechanism 2 is activated, so that the first camera 8 and the second camera 10 complete a 360° reciprocating rotation to assist the first camera 8 and the second camera 10 in imaging.

[0042] When the lunar tower crane enters the multi-target lifting and transfer mode, the boom 3 is horizontally extended, and then the slewing mechanism 2 and the pulley 5 move to the designated positions in sequence. The locking claw 73 of the grabbing mechanism 7 opens, the hoisting mechanism 6 releases the rope to the designated position, the locking claw 73 of the grabbing mechanism 7 locks, the hoisting mechanism 6 retracts the rope to the designated position, the pulley 5 and the slewing mechanism 2 move to the designated positions in sequence, the pulley 5 moves to the release point position, the hoisting mechanism 6 releases the rope to the release point position, and the locking claw 73 of the grabbing mechanism 7 opens, thus completing the lifting and transfer of the work target.

[0043] When the lunar crane enters the mode of raising the antenna 9, the boom 3 is horizontally extended. Then the boom extension mechanism 4 is activated to continue to raise and extend the boom 3, the antenna 9, and the second camera 10 until they are in a vertical position.

[0044] 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 lunar tower crane with vertical rack and pinion drive, characterized in that, Includes a base, slewing mechanism, boom, boom deployment mechanism, pulley, hoisting mechanism, grabbing mechanism, first camera, second camera, and antenna, among which: The lower end of the base is connected to the spacecraft body, and the upper end is connected to the rotation mechanism; The upper end of the slewing mechanism is connected to the boom deployment mechanism; The boom deployment mechanism is fixedly connected to the boom; The trolley is connected to the boom and lifting mechanism; The gripping mechanism is connected to the lifting mechanism; The first camera is fixedly connected to the rotary mechanism; The second camera and antenna are fixed to the top of the boom.

2. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The base is a three-dimensional spatial structure made of high-modulus and lightweight composite material; the boom is a thin-walled tubular structure made of high-modulus and lightweight composite material.

3. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The rotary mechanism includes a drive assembly, a housing, and a rotary shaft; the housing is fixedly connected to the base; the lower end of the drive assembly is connected to the housing, and the upper end is fixedly connected to the rotary shaft; the drive assembly provides torque to rotate the rotary shaft and its connecting parts; the rotary mechanism is self-locking when power is off.

4. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The boom deployment mechanism includes a second drive assembly, a frame, and a locking assembly. The second drive assembly is fixedly connected to the rotation shaft of the slewing mechanism, and the frame is connected to the second drive assembly. The second drive assembly provides torque to rotate the frame and its connecting parts. The locking assembly is connected to the rotation shaft of the slewing mechanism to achieve unidirectional locking of the frame in a horizontal state and to support large masses. The boom deployment mechanism is self-locking when power is off.

5. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The trolley includes a drive assembly three, a rack, and a housing; the rack is fixedly connected to the boom; the drive assembly three is fixedly connected to the housing, providing torque to make the housing slide back and forth on the boom; the trolley is self-locking when power is off.

6. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The lifting mechanism includes a drive assembly four and a rope; the drive assembly four is fixedly connected to the housing of the trolley and provides torque to reciprocate the rope; the lifting mechanism is self-locking when power is off.

7. A lunar tower crane with vertical rack and pinion drive as described in claim 1, characterized in that: The gripping mechanism includes a pulley, a drive assembly five, and a locking claw; the pulley is connected to a rope of the lifting mechanism; the drive assembly five is fixedly connected to the pulley, providing torque to repeatedly open and close the locking claw; the gripping mechanism is self-locking when power is off.

8. A method for operating a lunar tower crane with a vertical rack and pinion drive, applicable to a lunar tower crane with a vertical rack and pinion drive as described in any one of claims 1 to 7, characterized in that, The working method includes: When the lunar tower crane is in its initial state, the slewing mechanism, boom deployment mechanism, trolley, hoisting mechanism, and grabbing mechanism are in their initial set positions, and the grabbing mechanism's locking claws are in a locked state. When the lunar tower crane enters the boom deployment mode, the boom deployment mechanism is activated, lifting and deploying the boom, trolley, hoisting mechanism, grabbing mechanism, antenna, and second camera to a horizontal position. When the lunar crane enters the imaging mode that assists the first and second cameras, the boom extends horizontally, and then the slewing mechanism moves to rotate the first and second cameras 360° back and forth to assist the first and second cameras in imaging. When the lunar tower crane enters the multi-target lifting and transfer mode, the hoisting mechanism lowers the rope to the designated position, the gripping mechanism locks the claws, the hoisting mechanism lowers the rope to the release point, and the gripping mechanism unlocks the claws, thus completing the lifting and transfer of the work target. When the lunar crane enters the antenna erection mode, the boom extends horizontally. Then, the boom extension mechanism operates to continue lifting and extending the boom, antenna, and second camera until they reach a vertical position.

9. The method for operating a lunar tower crane with vertical rack and pinion drive as described in claim 8, characterized in that, The multi-target lifting and transfer mode includes: after the boom is horizontally extended, the slewing mechanism and the pulley move sequentially to the designated position, the gripping mechanism's locking claws open, the hoisting mechanism lowers the rope to the designated position, the gripping mechanism's locking claws lock, the hoisting mechanism retracts the rope to the designated position, the pulley and the slewing mechanism move sequentially to the designated position, the pulley moves to the release point, the hoisting mechanism lowers the rope to the release point, and the gripping mechanism's locking claws open, thus completing the lifting and transfer of the work target.

Images