Vertical passive lunar surface grabbing tower crane and working mode thereof

Abstract

The invention provides a vertical passive type lunar surface grabbing tower crane. The vertical passive type lunar surface grabbing tower crane is composed of a base, a driving mechanism, a rotating arm, a rotating arm lifting mechanism, a sliding mechanism, a lifting mechanism, a grabbing mechanism, a camera A, a camera B and an on-tower antenna. The lower end of the base is connected with a spacecraft body, and the upper end is connected with the driving mechanism; the upper end of the driving mechanism is connected with the rotating arm lifting mechanism; the rotating arm lifting mechanism is fixedly connected with the rotating arm; the sliding mechanism is connected with the rotating arm and the lifting mechanism, the grabbing mechanism is connected with the lifting mechanism, the camera A is fixedly connected to the driving mechanism, and the camera B and the on-tower antenna are fixedly connected to the top end of the rotating arm. The universal target grabbing multi-position release is achieved, the motion range is wide, the grabbing tolerance is large, the occupied space of a spacecraft is small, the weight is light, a universal cooperation module can be deployed to the lunar surface, and a camera A, a camera B and a tower antenna are erected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lunar tower crane, and particularly relates to a vertical passive type lunar tower crane. BACKGROUND

[0002] With the development of space technology in China, the research and development of lunar base, lunar scientific research station, deep space exploration and the like have urgent needs for general target transfer from a spacecraft body to a lunar surface, imaging in the vicinity of a spacecraft landing site and a long-distance, erecting a tower antenna for super-long distance communication and the like, and the number of devices deployed for general cooperation targets and capable of assisting imaging and erecting a tower antenna is increasing, and general target grabbing and multi-position release, erecting a camera for assisting imaging and erecting a tower antenna for long-distance communication are required.

[0003] Therefore, there is an urgent need to provide a lunar tower crane with general target grabbing and multi-position release, wide motion range, large grabbing tolerance, small space occupation of a spacecraft, light weight, capable of realizing deployment of a general cooperation module to a lunar surface, and erecting a camera and a tower antenna. SUMMARY

[0004] The present application aims to provide a vertical passive type lunar tower crane and its working mode, which is simple in principle, capable of realizing transfer and release of a general module, erecting a camera A, a camera B and a tower antenna, wide motion range, large tolerance capture, small space occupation of a spacecraft and light weight.

[0005] The technical solution of the present application is to provide a vertical passive type lunar tower crane, which is composed of a base, a driving mechanism, an arm, an arm lifting mechanism, a sliding mechanism, a lifting mechanism, a grabbing mechanism, a camera A, a camera B and a tower antenna. The lower end of the base is connected with a spacecraft body, and the upper end is connected with the driving mechanism; the upper end of the driving mechanism is connected with the arm lifting mechanism; the arm lifting mechanism is fixedly connected with the arm; the sliding mechanism is connected with the arm and the lifting mechanism; the grabbing mechanism is connected with the lifting mechanism; the camera A is fixedly connected with the driving mechanism; and the camera B and the tower antenna are fixedly connected with the top end of the arm.

[0006] Further, the base is a triangular stable space structure, which is formed by using lightweight carbon fiber material.

[0007] Further, the driving mechanism comprises a driving assembly, a shell and a driving shaft. The shell is fixedly connected with the base, the lower end of the driving assembly is connected with the shell, and the upper end is fixedly connected with the driving shaft; the driving assembly is used for providing torque to make the driving shaft rotate; and the driving mechanism is used for realizing rotation of the driving shaft and its connected parts and has a power-off locking capability.

[0008] Further, the rotating arm is a thin-walled structure, and is formed by selecting a light carbon fiber material.

[0009] Further, the rotating arm lifting mechanism comprises a lifting assembly, an inner frame and a locking pin assembly. The lifting assembly is fixedly connected with the driving shaft of the driving mechanism, the inner frame is connected with the lifting assembly, the lifting assembly is used for providing torque to make the inner frame rotate and expand, the locking pin assembly is connected with the driving shaft of the driving mechanism to realize one-way locking of the horizontal state of the inner frame, and the rotating arm lifting mechanism is used for rotating the inner frame and the connected parts and has the power-off locking capability.

[0010] Further, the sliding mechanism comprises a transmission assembly, a rack and a trolley body. The rack is fixedly connected with the rotating arm, the transmission assembly is fixedly connected with the trolley body, torque is provided to make the trolley body and the transmission assembly combination reciprocate along the rack, and the sliding mechanism is used for realizing the reciprocating sliding of the trolley body on the rotating arm and has the power-off locking capability.

[0011] Further, the lifting mechanism comprises a lifting assembly and a rope. The lifting assembly is fixedly connected with the trolley body of the sliding mechanism to provide torque and realize the reciprocating winding and unwinding of the rope, and the lifting mechanism is used for realizing the reciprocating winding and unwinding of the rope and has the power-off locking capability.

[0012] Further, the grabbing mechanism comprises a pulley and a lifting ring. The pulley is connected with the rope of the lifting mechanism, and the lifting ring is matched with the lifting hook of the general target to realize the grabbing and releasing of the general target.

[0013] Another technical scheme of the application provides a working mode of the vertical passive type lunar surface tower crane, which comprises a rotating arm expansion mode, an auxiliary camera A and camera B imaging mode, a multi-target lifting and transferring mode, a tower antenna lifting mode and the like, and is applied to the vertical passive type lunar surface tower crane. Further, the rotating arm expansion mode comprises the following steps: The rotating arm lifting mechanism is actuated to lift and expand the rotating arm, the sliding mechanism, the lifting mechanism, the grabbing mechanism, the tower antenna and the camera B, and move to the horizontal state. Further, the auxiliary camera A and camera B imaging mode comprises the following steps: After the rotating arm is expanded horizontally, the driving mechanism is actuated to reciprocate and rotate the camera A and the camera B, and the auxiliary camera A and the camera B are imaged. Further, the multi-target lifting and transferring mode comprises the following steps: After the horizontal expansion of the rotating arm, the driving mechanism, the sliding mechanism are sequentially moved to the specified position A, the lifting mechanism is released to the specified position A, the sliding mechanism is moved to the specified position C, the lifting mechanism is collected to the specified position D, the sliding mechanism, the driving mechanism are sequentially moved to the specified position D, the sliding mechanism is moved to the release point position A, the lifting mechanism is released to the release point position B, the sliding mechanism is moved to the release point position C, and the hoisting and transfer of the operation target are realized.

[0014] Further, the tower antenna mode includes the following steps: After the horizontal expansion of the rotating arm, the rotating arm lifting mechanism is actuated to continue lifting and expanding the rotating arm, the tower antenna and the camera B, and is moved to a vertical state.

[0015] The vertical passive type lunar surface tower crane provided by the application and the working mode thereof have the following beneficial effects: (1) The vertical passive type lunar surface tower crane only needs to realize auxiliary camera imaging, multi-target hoisting and transfer and tower antenna through the driving mechanism, the rotating arm lifting mechanism, the sliding mechanism, the lifting mechanism and the grabbing mechanism, and the principle is simple; (2) The lunar surface tower crane provided by the application has the power-off locking capability of the driving mechanism, the rotating arm lifting mechanism, the sliding mechanism and the lifting mechanism, and ensures the safety and reliability of the operation process; (3) The lunar surface tower crane provided by the application can reciprocate or repeat according to the needs of the driving mechanism, the sliding mechanism and the lifting mechanism; (4) The lunar surface tower crane provided by the application is made of lightweight carbon fiber material, and the base and the rotating arm are lightweight; (5) The lunar surface tower crane provided by the application can erect different types of cameras and different types of tower antennas according to the needs, and realize the imaging and communication of the specified requirements; (6) The lunar surface tower crane provided by the application has the advantages of large carrying capacity, wide motion range and large grabbing tolerance, and is lightweight. BRIEF DESCRIPTION OF DRAWINGS

[0016] The application will be further described below with reference to the drawings: Fig. 1 is a folding state schematic diagram of the vertical passive type lunar surface tower crane of an embodiment of the application; Fig. 2 is a horizontal expansion state, auxiliary camera A and camera B imaging state, multi-target hoisting and transfer state schematic diagram of the vertical passive type lunar surface tower crane of an embodiment of the application; Fig. 3 is a tower antenna state schematic diagram of the vertical passive type lunar surface tower crane of an embodiment of the application; DETAILED DESCRIPTION

[0017] The vertical passive type lunar surface grabbing tower crane and its working mode are further described in detail below in combination with the drawings and specific embodiments. The advantages and features of the present application will be more apparent according to the following description and claims. It should be noted that the drawings are very simplified and non-precise ratios are used, only for the purpose of facilitating and clarifying the description of the embodiments of the present application. Embodiment

[0018] Please refer to Figs. 1-3 , in the drawings, 1 - base; 2 - drive mechanism; 3 - swing arm; 4 - swing arm lifting mechanism; 5 - sliding mechanism; 6 - lifting mechanism; 7 - grabbing mechanism; 8 - camera A; 9 - camera B; 10 - tower antenna; 21 - drive assembly; 22 - housing; 23 - drive shaft; 41 - lifting assembly; 42 - inner frame; 43 - locking pin assembly; 51 - transmission assembly; 52 - rack; 53 - trolley body; 61 - lifting assembly; 62 - rope; 71 - pulley; 72 - lifting ring. The embodiment provides a vertical passive type lunar surface grabbing tower crane, comprising a base 1, a drive mechanism 2, a swing arm 3, a swing arm lifting mechanism 4, a sliding mechanism 5, a lifting mechanism 6, a grabbing mechanism 7, a camera A 8, a camera B 9, and a tower antenna 10; the base 1 is connected with a spacecraft body and the drive mechanism 2; the drive mechanism 2 is connected with the swing arm lifting mechanism 4; the swing arm lifting mechanism 4 is fixedly connected with the swing arm 3; the sliding mechanism 5 is connected with the swing arm 3 and the lifting mechanism 6; the grabbing mechanism 7 is connected with the lifting mechanism 6; the camera A 8 is fixedly connected with the drive mechanism 2; and the camera B 9 and the tower antenna 10 are fixedly connected with the top end of the swing arm 3.

[0019] In the embodiment, as shown in Figs. 1-3 , the base 1 is a triangular stable space structure, which is formed by using lightweight carbon fiber material.

[0020] In the embodiment, as shown in Figs. 1-3 , the drive mechanism 2 comprises a drive assembly 21, a housing 22, and a drive shaft 23. The housing 22 is fixedly connected with the base 1, and the drive assembly 21 is fixedly connected with the housing 22 and the drive shaft 23; the drive assembly 21 is used to provide torque to make the drive shaft 23 rotate; and the drive mechanism 2 is used to realize the rotation of the drive shaft 23 and its connected parts, and has the ability of power-off locking.

[0021] In the embodiment, as shown in Figs. 1-3 , the swing arm 3 is a thin-walled structure, which is formed by using lightweight carbon fiber material.

[0022] In the embodiment, as shown in Figs. 1-3 , the swing arm lifting mechanism 4 comprises a lifting assembly 41, an inner frame 42, and a locking pin assembly 43. The lifting assembly 41 is fixedly connected with the driving shaft 23 of the driving mechanism 2, and the inner frame 42 is connected with the lifting assembly 41; the lifting assembly 41 is used to provide a torque to make the inner frame 42 rotate and expand; the locking pin assembly 43 is connected with the driving shaft 23 of the driving mechanism 2 to realize one-way locking and large bearing of the horizontal state of the inner frame 42; the rotating arm lifting mechanism 4 is used to realize rotation of the inner frame 42 and its connecting part, and has a power-off locking function.

[0023] In the embodiment, as shown in the figure, Figs. 1-3 The sliding mechanism 5 includes a transmission assembly 51, a rack 52 and a trolley body 53. The rack 52 is fixedly connected with the rotating arm 3, and the transmission assembly 51 is fixedly connected with the trolley body 53 to provide a torque to make the combination of the trolley body 53 and the transmission assembly 51 reciprocate along the rack 52; the sliding mechanism 5 is used to realize reciprocating sliding of the trolley body 53 on the rotating arm 3, and has a power-off locking function.

[0024] In the embodiment, as shown in the figure, Figs. 1-3 The lifting mechanism 6 includes a lifting assembly 61 and a rope 62. The lifting assembly 61 is fixedly connected with the trolley body 53 of the sliding mechanism 5 to provide a torque to realize reciprocating winding and unwinding of the rope 62; the lifting mechanism 6 is used to realize reciprocating winding and unwinding of the rope 62, and has a power-off locking function.

[0025] In the embodiment, as shown in the figure, Figs. 1-3 The grabbing mechanism 7 includes a pulley 71 and a lifting ring 72. The pulley 71 is connected with the rope 62 of the lifting mechanism 6; the lifting ring 72 is matched with a hook of a general target to realize grabbing and releasing of the general target.

[0026] In the embodiment, as shown in the figure, Figs. 1-3 The working mode of the vertical passive type grabbing lunar tower crane includes a rotating arm 3 expansion mode, an auxiliary camera A8 and a camera B9 imaging mode, a multi-target lifting and transferring mode, and a tower antenna 10 mode.

[0027] In the initial state, the driving mechanism 2, the rotating arm lifting mechanism 4, the sliding mechanism 5, the lifting mechanism 6 and the grabbing mechanism 7 are in the initial set positions. In the embodiment, as shown in the figure, Figs. 1-3 The rotating arm 3 expansion mode includes the following steps: The rotating arm lifting mechanism 4 is actuated to lift and expand the rotating arm 3, the sliding mechanism 5, the lifting mechanism 6, the grabbing mechanism 7, the tower antenna 10 and the camera B9 to a horizontal state. In the embodiment, as shown in the figure, Figs. 1-3 The auxiliary camera A8 and the camera B9 imaging mode includes the following steps: After the horizontal unfolding of the rotating arm 3, the driving mechanism 2 is actuated to reciprocally rotate the camera A 8 and the camera B 9, thereby assisting the imaging of the camera A 8 and the camera B 9. In this embodiment, as shown in Figs. 1-3 The multi-target lifting and transferring mode includes the following steps: After the horizontal unfolding of the rotating arm 3, the driving mechanism 2 and the sliding mechanism 5 are sequentially moved to the specified position A, the hoisting mechanism 6 is used to release the rope to the specified position A, the sliding mechanism 5 is moved to the specified position C, the hoisting mechanism 6 is used to wind the rope to the specified position D, the sliding mechanism 5 and the driving mechanism 2 are sequentially moved to the specified position D, the sliding mechanism 5 is moved to the release point position A, the hoisting mechanism 6 is used to release the rope to the release point position B, the sliding mechanism 5 is moved to the release point position C, thereby achieving the lifting and transferring of the working target.

[0028] In this embodiment, as shown in Figs. 1-3 Figs. 1-3 The tower-mounted antenna 10 mode includes the following steps: After the horizontal unfolding of the rotating arm 3, the rotating arm lifting mechanism 4 is actuated to continue lifting and unfolding the rotating arm 3, the tower-mounted antenna 10 and the camera B 9, thereby moving to the vertical state.

[0029] The contents not described in detail in the present specification belong to the prior art known to those skilled in the art. It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

Claims

1. A vertical passive type lunar surface tower crane, characterized in that, The base, the driving mechanism, the rotating arm, the rotating arm lifting mechanism, the sliding mechanism, the lifting mechanism, the grabbing mechanism, camera A, camera B, and the tower antenna are connected. The lower end of the base is connected with the spacecraft body, and the upper end is connected with the driving mechanism.

2. The vertical passive type lunar surface tower crane of claim 1, wherein, The base is a triangular stable space structure.

3. The vertical passive type lunar surface tower crane of claim 2, wherein, The base is made of lightweight carbon fiber material.

4. The vertical passive type lunar surface tower crane of claim 1, wherein, The driving mechanism includes a driving assembly, a shell, and a driving shaft. The shell is fixedly connected with the base, the lower end of the driving assembly is connected with the shell, and the upper end is fixedly connected with the driving shaft.

5. The vertical passive type lunar surface tower crane of claim 1, wherein, The driving assembly is used to provide torque to rotate the driving shaft. The rotating arm lifting mechanism includes a lifting assembly, an inner frame, and a locking pin assembly.

6. The vertical passive type lunar surface tower crane of claim 1, wherein, The lifting assembly is fixedly connected with the driving shaft of the driving mechanism, and the inner frame is connected with the lifting assembly.

7. The vertical passive type lunar surface tower crane of claim 1, wherein, The lifting assembly is used to provide torque to rotate the inner frame. The locking pin assembly is connected with the driving shaft of the driving mechanism to realize one-way locking of the inner frame in the horizontal state.

8. The vertical passive type lunar surface tower crane of claim 1, wherein, The rotating arm is a thin-walled structure made of lightweight carbon fiber material. The sliding mechanism includes a transmission assembly, a rack, and a trolley body.

9. The vertical passive type lunar surface tower crane of claim 8, wherein, The rack is fixedly connected with the rotating arm, and the transmission assembly is fixedly connected with the trolley body to provide torque to make the trolley body and the transmission assembly combination reciprocate along the rack. The lifting mechanism includes a lifting assembly and a rope.

10. A working mode of the vertical passive type lunar tower crane based on claim 9, the initial state, the drive mechanism, the rotating arm lifting mechanism, the sliding mechanism, and the lifting mechanism are in the initial setting position, characterized in that, The lifting assembly is fixedly connected with the trolley body of the sliding mechanism to provide torque to realize the reciprocating winding and unwinding of the rope. The grabbing mechanism includes a pulley and a lifting ring. The pulley is connected with the rope of the lifting mechanism, and the lifting ring is matched with the lifting hook of the general target to realize the grabbing and releasing of the general target. The rotating arm unfolding mode includes the following steps: After the rotating arm is unfolded horizontally, the driving mechanism is actuated to rotate the camera A and the camera B reciprocally, and the auxiliary camera A and the camera B image. Multi-target lifting and transferring mode, the steps are as follows: after the rotating arm is horizontally unfolded, the driving mechanism and the sliding mechanism are sequentially moved to the specified position A, the lifting mechanism is used to release the rope to the specified position A, the sliding mechanism is moved to the specified position C, the lifting mechanism is used to collect the rope to the specified position D, the sliding mechanism and the driving mechanism are sequentially moved to the specified position D, the sliding mechanism is moved to the release point position A, the lifting mechanism is used to release the rope to the release point position B, the sliding mechanism is moved to the release point position C, and the lifting and transferring of the operation target is realized; The tower antenna mode is as follows: after the rotating arm is horizontally unfolded, the rotating arm lifting mechanism is actuated to continuously lift and unfold the rotating arm, the tower antenna and the camera B, and is moved to a vertical state.

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