Foldable double-suspension-arm type reliable load transfer device based on rope driving

Abstract

The invention relates to the technical field of object carrying and transferring equipment manufacturing, in particular to a foldable double-suspension-arm type reliable load transferring device based on rope driving, which is provided with a base, a rotating platform assembly and a foldable double-suspension-arm mechanism, and the foldable double-suspension-arm mechanism is mounted on the base mechanism through the rotating platform assembly; the foldable double-suspension-arm mechanism comprises a vertical supporting column, the top of the vertical supporting column is connected with a left horizontal cross arm and a right horizontal cross arm through connecting joints respectively, and double-arm locking pieces are further arranged on the connecting joints so that the unfolded horizontal cross arms can be locked in the horizontal state and the folded horizontal cross arms can be locked in the state of abutting against the vertical supporting column. A pulley module group is arranged on the horizontal cross arm; the rotating platform assembly comprises a rotating chassis, the rotating chassis is installed on the base through a bottom crossed roller bearing and a bearing fixing plate, and compared with the prior art, good system balance stability and working efficiency are achieved, and overturning during single-arm operation can be effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of manufacturing technology for object handling and transfer equipment, specifically a rope-driven, deployable double-arm load transfer device that can adapt to complex terrain, operate flexibly, and meet the load transfer needs of multiple scenarios. Background Technology

[0002] In the field of object handling and transfer, rope-driven equipment, with its advantages of lightweight design, low inertia, and flexible operating range, has become a core piece of equipment for load transfer in scenarios such as industrial assembly, warehousing and logistics, port loading and unloading, and special operations in confined spaces. As handling tasks upgrade towards "narrow space adaptation, large load coordination, and high-precision control," it is not only necessary to achieve collision-free and low-sway load transfer, but also to adapt to the operational needs of confined spaces such as factory passageways, container interiors, and bridge construction. Simultaneously, it must meet the balance and stability requirements of complex tasks such as segmented hoisting of large equipment and simultaneous transfer of multiple loads. This places higher standards on the spatial compactness and operational coordination of the equipment. However, in actual operations, factors such as spatial scale limitations, load weight fluctuations, and differences in ground flatness make it difficult to directly optimize the equipment structure and debug the control algorithm. Therefore, specialized devices are urgently needed to reproduce various working conditions and provide support for the iteration of rope-driven load transfer technology.

[0003] Currently, there are many limitations to devices for rope-driven load transfer: some devices adopt a single-arm fixed configuration, which is structurally rigid and occupies a large space, making it difficult to move flexibly in narrow spaces, and the load swaying is easily aggravated due to torque imbalance during single-arm operation; some foldable devices rely on hydraulic or mechanical rigid drive, which is bulky and has a complex drive system, failing to take advantage of the lightweight nature of rope drive, and the coordination control precision of folding and unfolding actions and handling operations is low, making it difficult to achieve a smooth "expansion-retraction-operation-reset" operation; a few double-arm devices lack foldable design, and the synchronization and dynamic balance adjustment capabilities of the double arm movements are insufficient, which easily leads to the risk of overturning during heavy load transfer, and they are not equipped with monitoring modules for rope length compensation and structural stiffness changes during the folding and unfolding process, resulting in poor operation accuracy and simulation data reliability. Summary of the Invention

[0004] To address the shortcomings and deficiencies of existing technologies, this invention proposes a foldable, deployable double-arm load transfer device based on rope drive, which features good system balance stability and working efficiency, effectively preventing tipping during single-arm operation.

[0005] This invention achieves its purpose through the following measures: A rope-driven, deployable double-arm load transfer device includes a base, a rotating platform assembly, and a deployable double-arm mechanism. The deployable double-arm mechanism is mounted on the base assembly via the rotating platform assembly. The deployable double-arm mechanism includes a vertical support column, the top of which is connected to two horizontal arms on the left and right sides via connecting joints. The connecting joints are also equipped with double-arm locking components to lock the deployed horizontal arms in a horizontal state and to lock the folded horizontal arms in a state close to the vertical support column. A trolley module is provided on the horizontal arms. The rotating platform assembly includes a slewing chassis, which is mounted on a base via a bottom cross roller bearing and a bearing fixing plate. The slewing chassis is equipped with an integrated drive mechanism of worm gear and bevel gear. A servo motor and a worm gear reducer are mounted on the slewing chassis. The worm gear is rigidly connected to a wire rope winch symmetrically arranged inside the vertical support column via a drive shaft. The end of the wire rope is fixed to the end of the double boom. The servo motor drives the worm gear to rotate forward, releasing the wire rope and unfolding the double boom. The servo motor drives the worm gear to rotate in reverse, the winch retracts the wire rope, and pulls the double boom to fold and retract.

[0006] The vertical support column of this invention uses a carbon fiber tube with a square cross-section to meet the support strength requirements and facilitate the installation of a steel wire rope and a steel wire rope drive component. The connecting joint includes a sleeve that fits onto the top of the vertical support column. The sleeve has symmetrical hinge pins on both sides that are respectively hinged to the horizontal arms on both sides. The double-arm locking component includes a left locking component and a right locking component that cooperate with each other. The left locking component and the right locking component have matching grooves and matching pins, as well as a fixing buckle for locking the matching pin in the groove. Furthermore, the matching pin includes a pin body that is horizontally inserted into the groove, and a support part connected to both ends of the pin body. U-shaped grooves are opened on both sides of the groove corresponding to the pin body. The fixing buckle is locked into the groove and behind the pin along the top of the groove to complete the locking.

[0007] The rotating platform assembly of this invention also includes a trolley module located on the vertical support column, which is connected to a bevel gear drive assembly located on the vertical support column via a wire rope to form a rope-driven trolley drive mechanism for automatically compensating for changes in the length of the wire rope during the folding and unfolding of the double booms. The rotating platform mechanism is equipped with a worm gear drive assembly, in which the worm gear is connected to wire rope winches symmetrically arranged on the vertical support column via a shaft. The ends of the wire ropes are respectively fixed to the ends of the double booms. The motor drives the worm gear to rotate, and the worm gear and wire rope drive the double booms to simultaneously achieve folding and unfolding from 0° to 180°.

[0008] In this invention, the base mechanism is equipped with a rope-driven horizontal arm folding mechanism. The horizontal arm folding mechanism includes a rope drive motor, a transmission component, and a rope. Driven by the rope drive motor and the transmission component, the end of the rope pulls the connecting joint to fold the horizontal arm downward. The rotating platform mechanism forms a stable quadrilateral structure through a rotating pair, a rotating base, and two motor-driven lead screws. When the motor drives the lead screws to extend or retract, the tilt angle of the base can be adjusted in real time to ensure that the device remains stable on complex terrain with an angle of ±15°. At the same time, the vertical support column is connected to the base through a cross roller bearing, which not only ensures the flexibility of the rotating platform to rotate 360°, but also improves the overall rigidity of the structure.

[0009] In this invention, the foldable double boom section is precisely connected to the main beam via shafts, flange bearings, and keys. The two booms have identical structures and move independently, each equipped with its own independent pulley gripper system. The folding and unfolding of the double booms relies on a worm gear drive system built into the rotating platform. In this system, the worm gear is connected to symmetrically arranged wire rope winches inside the main beam via shafts. The ends of the wire ropes are fixed to the ends of the double booms. When the motor drives the worm gear to rotate, it drives the wire ropes to retract and extend, realizing the folding and unfolding action of the double booms within a range of 0-180°. After the double booms are unfolded, they are locked and positioned by a horizontal fixing system to ensure that they remain horizontal. Static verification shows that a single boom can stably bear a load of 40kg.

[0010] The rotating platform of this invention also includes two independent bevel gear drive systems, which are respectively arranged on the outside of both sides of the main beam. In each system, the motor output end is connected to the wire rope winch on the corresponding side through bevel gear meshing transmission. The wire rope passes through the bottom of the trolley and is pressed and fixed by the cover plate to form a rope-driven trolley drive structure. A movable pulley module is added to the side of the main beam to compensate for the change in the length of the wire rope during the folding and unfolding of the double boom, ensuring that the trolley operates stably within a movement range of more than 700mm, and the trolley movement speed is controlled at 0.05m / s.

[0011] The base of this invention integrates an adaptive tilting balance system. This system consists of a rotary joint, a rotating base, and two motor-driven lead screws forming a stable quadrilateral structure. When the motor drives the lead screws to extend or retract, the tilt angle of the base can be adjusted in real time, allowing the device to adapt to complex terrains of ±15°. The main beam and the base are connected by crossed roller bearings, which not only achieves the flexibility of 360° rotation of the rotating platform but also improves the overall rigidity of the main structure. The base and the bottom of the rotating platform centrally house the motor, coupling, and gearbox of the transmission system, as well as the power management system and data acquisition and transmission system. The power management system supplies power to the upper structure through a bottom slip ring, avoiding cable entanglement and reducing the load on the double booms, keeping the overall weight of the device below 20kg.

[0012] The foldable double boom section of this invention is equipped with a double-boom balancing mechanism, and counterweight devices are installed on the trolleys of both booms. When one boom is performing load transfer operations, the trolley of the opposite boom can be moved in real time via rope drive to adjust the position of the counterweight to compensate for the torque on the working side, avoid the risk of overturning, and improve the system stability during load transfer. The main structure of this invention uses materials that balance lightweight and high strength. The foldable double boom is made of Al-6063 aluminum alloy with a hollow rectangular cross-section, which improves the resistance to deformation while reducing its own weight. Key load-bearing components such as lead screws and bearings are made of high-strength alloy materials. Non-load-bearing components such as trolley shells are made of high-strength 3D printing materials, and the weight is further reduced through a mesh filling design, ensuring a balance between the overall structural strength and lightweight requirements.

[0013] The present invention also includes a sensor detection assembly, in which sensors are integrated at key locations of the main structure. The IMU attitude sensor is located in the middle of the double boom to collect boom pitch and roll angle data; the tension sensor is connected in series in the drive wire rope to collect rope tension data; and the tilt sensor is installed at the pulley gripper to collect load swing angle data. Each sensor is connected to the electrical control system via wiring to achieve real-time coordination between structural movement and sensor data acquisition, ensuring load transfer accuracy.

[0014] The core components of the transmission system of this invention, such as the motor, coupling, and gearbox, along with the power management system and data acquisition and transmission system, are all centrally located at the bottom of the base and rotating platform. The power management system provides power to the upper structure through a bottom slip ring, avoiding cable tangling and significantly reducing the load weight of the double booms, keeping the overall weight of the device below 20 kg. Key load-bearing components, such as the lead screw and bearings, are made of high-strength alloy materials to ensure structural reliability under long-term loads. Non-load-bearing components, such as the trolley shell, use high-strength 3D printing filaments, and the mesh filling design further reduces weight. When the device is in operation, it can acquire real-time data on the attitude of the dual booms, rope tension, and load position through the data acquisition system. In conjunction with the electronic control system, it can realize the coordinated action of each mechanism to complete the entire process of load transfer and release, from boom extension in the retracted state and terrain adaptive adjustment, to rotation positioning, trolley movement and grabbing, and finally to smooth transfer and release. It can not only reproduce complex working conditions in ground test environments and provide a test platform for load transfer technology research and development, but also directly adapt to exploration missions. It solves the problems of low space utilization, poor adaptability to complex terrain, and insufficient load stability of traditional transfer mechanisms. It is suitable for reliable transfer scenarios of loads such as scientific instruments and test vehicles in the field of exploration.

[0015] The beneficial effects of this invention are as follows: (1) Improved adaptability to complex terrain and support stability: The quadrilateral stable structure of the base adaptive balance unit and the dual-motor screw adjustment design can accurately compensate for ±15° terrain tilt, solve the problem of unstable support on tilted terrain of traditional devices, and provide a stable foundation for load transfer. (2) Optimized space utilization and operational flexibility: The foldable double boom design realizes flexible switching between unfolded operation and retracted storage. The retracted state greatly reduces space occupation and is suitable for narrow scenarios; the independent collaborative operation mode of the two booms, combined with the counterweight balance on the opposite side, not only improves operational efficiency but also avoids the risk of overturning under heavy load, solving the limitations of traditional single-arm or non-foldable devices. (3) Enhanced operational accuracy and coordination: The integrated drive system of the rotating platform realizes precise coordination between boom folding and trolley movement. The moving pulley module compensates for rope length changes. The hollow cross section and lightweight design of the double booms reduce motion inertia, so that the trolley movement accuracy and load positioning accuracy reach the advanced level in the industry, meeting the requirements of high-precision load transfer. (4) Adaptable to load transfer requirements in multiple scenarios: The device combines lightweight and high strength. Its 40kg load capacity on one side can cover the load transfer requirements of scenarios such as industrial assembly, warehousing and logistics, and port loading and unloading. The modular structure design facilitates later maintenance and functional expansion. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the unfolded state of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the present invention in its folded state.

[0018] Figure 3 This is a structural schematic diagram of the compressed state of the present invention.

[0019] Figure 4 This is a schematic diagram of the rope pulley structure of the present invention.

[0020] Figure 5 This is a schematic diagram of the rope-driven structure of the present invention.

[0021] Figure 6 This is a structural schematic diagram of the base portion of the present invention.

[0022] Figure 7 This is a schematic diagram of the trolley portion of the present invention.

[0023] Figure 8 This is a schematic diagram of the auxiliary support structure of the present invention.

[0024] Reference numerals: 1. Horizontal arm; 2. Trolley; 3. Double arm locking; 4. Connecting joint; 5. Rope drive motor assembly; 6. Rotary joint; 7. Auxiliary support joint; 8. Vertical carbon tube; 9. Trolley drive joint assembly; 10. Bottom drive joint assembly; 11. Lead screw; 12. Base fixing; 13. Connecting joint assembly; 14. Right rope sliding wheel assembly; 15. Trolley guide rail; 16. Rotating chassis; 17. Rotating fixing plate; 18. Double arm joint connecting aluminum parts; 19. Joint bearing; 20. Fixing buckle; 21. Locking drive; 22. Trolley aluminum parts; 23. Left rope sliding wheel assembly; 24. Middle rope guide pulley; 25. Left rope winding gear; 26. Left rope winding bevel gear; 27. Left rope winding drive fixing; 28. Left rope winding bevel gear (small); 29. ​​Left rope winding drive motor; 30. Deployment drive fixing; 31. Deployment turbine. 2. 33. Unfolding worm gear; 34. Right rope winding gear; 35. Left rope winding bevel gear; 36. Small right rope winding bevel gear; 37. Right rope winding drive motor; 38. Unfolding turbine main shaft; 39. Fixed plate inclined support; 40. Unfolding drive fixed plate; 41. Rotating cross roller bearing; 42. Bottom cross roller bearing; 43. Bearing fixed plate; 44. Overturning bearing; 45. Overturning large gear; 46. Overturning bearing fixed plate; 47. Bottom support fixed plate; 48. Synchronous belt; 49. Synchronous belt small gear; 50. Overturning motor; 51. Motor fixed plate; 52. Right rotating fixed plate; 53. Right rotating cross roller bearing; 54. Right cross roller fixed plate; 55. Bottom fixed profile; 56. Pulley rail fixed aluminum part; 57. Gripper; 58. Rotating fixed plate; 59. Screw moving aluminum part; 60. Screw rotating motor. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] This invention proposes a rope-driven, deployable double-arm load transfer device, comprising a base, a rotating platform assembly, and a deployable double-arm mechanism. The deployable double-arm mechanism is mounted on the base assembly via the rotating platform assembly. The deployable double-arm mechanism includes a vertical support column 8, the top of which is connected to two horizontal arms 1 via connecting joints 4. The connecting joints 4 are also equipped with double-arm locking components 3 to lock the deployed horizontal arms 1 in a horizontal state and to lock the folded horizontal arms 1 in a state close to the vertical support column 8. A trolley module is provided on each horizontal arm 1. The rotating platform assembly includes a rotating chassis 16, which is mounted on a base via a bottom cross roller bearing 42 and a bearing fixing plate 43. The rotating chassis 16 is equipped with an integrated drive mechanism of worm gear and bevel gear. A servo motor and a worm gear reducer are mounted on the rotating chassis 16. The worm gear is rigidly connected to a wire rope winch symmetrically arranged inside the vertical support column 18 via a drive shaft. The end of the wire rope is fixed to the end of the double boom. The servo motor drives the worm gear to rotate forward, releasing the wire rope and unfolding the double boom. The servo motor drives the worm gear to rotate in reverse, and the winch retrieves the wire rope, pulling the double boom to fold and retract.

[0027] The vertical support column 18 of this invention adopts a carbon fiber tube with a square cross section to meet the support strength and facilitate the internal installation of steel wire rope and steel wire rope drive components. The connecting joint 4 includes a sleeve that is fitted onto the top of the vertical support column 18. The sleeve has symmetrical hinge pins on both sides that are respectively hinged to the horizontal cross arms 1 on both sides. The double-arm locking member 3 includes a left locking member and a right locking member that cooperate with each other. The left locking member and the right locking member have fitting grooves and fitting pins that fit together, as well as a fixing buckle for locking the fitting pin in the fitting groove. Furthermore, the fitting pin includes a pin body that is horizontally inserted into the fitting groove, and a support part connected to both ends of the pin body. U-shaped grooves are opened on both sides of the fitting groove corresponding to the pin body. The fixing buckle is locked into the fitting groove and the back of the fitting pin along the upper part of the fitting groove to complete the locking.

[0028] The rotating platform assembly of this invention also includes a trolley module located on the vertical support column connected to a bevel gear drive assembly located on the vertical support column 8 via a wire rope to form a rope-driven trolley drive mechanism, which is used to automatically compensate for the change in wire rope length during the folding and unfolding of the double booms; the rotating platform mechanism is provided with a worm gear drive assembly, the worm gear is connected to the wire rope winches symmetrically arranged on the vertical support column 8 via a shaft, the ends of the wire ropes are respectively fixed to the ends of the double booms, the motor drives the worm gear to rotate, and the worm gear and wire rope drive the double booms to achieve folding and unfolding synchronously from 0° to 180°.

[0029] In this invention, the base mechanism is equipped with a rope-driven horizontal arm folding mechanism. The horizontal arm folding mechanism includes a rope drive motor, a transmission component, and a rope. Driven by the rope drive motor and the transmission component, the end of the rope pulls the connecting joint 4 to pull the horizontal arm 1 downward. The rotating platform mechanism forms a stable quadrilateral structure through a rotating pair, a rotating base, and two motor-driven lead screws. When the motor drives the lead screws to extend or retract, the tilt angle of the base can be adjusted in real time to ensure that the device remains stable on complex terrain with an angle of ±15°. At the same time, the vertical support column is connected to the base through a cross roller bearing, which not only ensures the flexibility of the rotating platform to rotate 360°, but also improves the overall rigidity of the structure.

[0030] The purpose of this invention is to provide a reliable rope-driven load transfer device that is adaptable to different spaces with expandable and foldable configurations, capable of collaborative operation with dual booms, and able to achieve dynamic balance adjustment under heavy loads. This addresses the problems of current rope-driven load transfer equipment, such as large space occupation by single-boom or non-expandable configurations, difficulty in adapting to narrow environments, lack of expandable / foldable functionality and insufficient collaborative stability in dual-boom devices, swaying and overturning due to torque imbalance during heavy load transfers, and poor coordination between expandable / foldable actions and handling operations, resulting in low operational accuracy and efficiency. To achieve the above objectives, the technical solution of this invention is as follows: The core function of the reliable load transfer device relies on the coordinated operation of the base adaptive balancing unit, the rotating platform drive unit, and the foldable double boom operating unit. The three units achieve rigid connection and synchronized operation through modular design. The specific structure and function are as follows: 1. Base adaptive balancing unit: Enables stable support for equipment in complex terrain. The adaptive balancing unit uses a high-strength alloy as the main body of the rotating base and adopts an adaptive adjustment scheme of "dual-motor driven ball screws + quadrilateral stabilizing structure" to solve the problems of traditional bases being unable to adapt to inclined terrain and having insufficient support stability. The rotating base is rigidly connected to the main beam through crossed roller bearings. The bearings are selected with high load-bearing precision to ensure smooth 360° rotation of the rotating platform while improving the overall structural rigidity. Two high-precision ball screws are symmetrically arranged inside the base, each driven independently by two servo motors. The screw lead is 8mm, and the efficiency reaches 0.85. Together with the rotary joint and the screw base, they form a closed quadrilateral structure. When an inclination is detected on the working surface, the electrical control system drives the corresponding side screw to extend or retract based on sensor data. By adjusting the side length ratio of the quadrilateral structure, the terrain inclination angle is compensated in real time, so that the device always remains horizontal within a tilt range of ±15°. This structure utilizes the geometric stability of a quadrilateral, combined with the precise closed-loop control of the motor, to avoid the support wobbling caused by the loose structure of traditional adjustable bases. At the same time, it controls the adjustment accuracy of the base within ±0.1°, providing a stable support foundation for the upper working unit.

[0031] The core components of the transmission system, power management system, and data acquisition and transmission system are centrally located at the bottom of the base and rotating platform. The power management system supplies power to the upper rotating structure through a bottom slip ring, completely solving the problem of traditional cable entanglement. All components adopt a modular layout and are rigidly fixed to the inside of the base with bolts. This reduces the load weight of the upper boom, keeping the overall weight of the device below 20kg, while also improving the load-to-weight ratio and providing structural support for the 40kg load capacity of a single boom.

[0032] 2. Rotary platform drive unit: Enables coordinated control of the double boom folding and unfolding and the trolley movement. The rotating platform drive unit adopts an integrated drive design of "worm gear + bevel gear," integrating the double boom folding and unfolding drive and the trolley movement drive onto the same platform, solving the problems of dispersed and poor coordination in traditional device drive systems. An NMRV063 worm gear reducer with a reduction ratio of 1:50 is installed in the middle of the platform. Its worm gear is rigidly connected to symmetrically arranged wire rope winches inside the main beam via a drive shaft, and the ends of the wire ropes are fixed to the ends of the double booms. When the booms need to be unfolded, the servo motor drives the worm gear to rotate forward, causing the worm gear and winch to rotate synchronously, releasing the wire rope, and the double booms slowly unfold around the connecting shaft. During retraction, the motor rotates in the reverse direction, the winch retracts the wire rope, and pulls the booms to fold and retract. The entire folding and unfolding process can achieve precise positioning from 0-180°. After unfolding, it is locked by a horizontal fixing system to ensure that the booms remain horizontal.

[0033] Two sets of bevel gear drive systems are independently arranged on both sides of the main beam of the rotating platform. Each system consists of a servo motor, a bevel gear set, and a wire rope winch. The bevel gear set adopts a high-precision meshing design, achieving a transmission efficiency of 0.9. The motor output torque is transmitted to the winch via bevel gear reversal. The wire rope passes through the bottom of the trolley and is secured by a cover plate, forming a rope-driven trolley drive structure. A moving pulley module is installed on the side of the main beam. The pulleys are made of highly wear-resistant polyurethane material. Through a multi-pulley linkage design, it automatically compensates for changes in the length of the wire rope during the folding and unfolding of the double booms, avoiding trolley movement deviation caused by rope length errors. The two sets of bevel gear drive systems independently control the trolleys on the double booms, enabling stable operation of the trolleys within a movement range greater than 700mm, with the movement speed precisely controlled at 0.05m / s, meeting the requirements for smooth load transfer.

[0034] 3. Descendable double boom work unit: Enables efficient coordinated load transfer and dynamic balancing. The foldable double boom work unit is made of Al-6063 aluminum alloy with a hollow rectangular cross-section structure, manufactured using a one-piece molding process. This improves the boom's resistance to deformation while reducing its weight, with each boom weighing less than 3 kg. The double booms are precisely connected to the main beam via shafts, flange bearings, and keys. Low-friction bearings are selected to ensure smooth boom folding and unfolding. The two booms have identical structures and independent movements, allowing for simultaneous or individual operation as needed, significantly improving operational flexibility.

[0035] Each boom is equipped with an independent trolley gripper system. The trolley body adopts a high-strength and lightweight design. The grippers achieve load grabbing and release via electromagnetic control, with a gripping accuracy of ±0.3mm. The dual booms also integrate a dual-boom dynamic balancing mechanism. Each trolley is equipped with a movable counterweight, which is linked to the trolley drive system. When one boom is performing load transfer operations, the electronic control system calculates the required compensation torque in real time based on the load weight and drives the counterweight of the opposite boom to move along the boom rail. By adjusting the counterweight position, the torque on the working side is balanced, avoiding the risk of overturning due to unilateral force and reducing load sway. When the boom is extended, it has a T-shaped layout, and the working range covers both sides and the front area of ​​the boom. In the retracted state, the boom extension on one side is less than 1100mm, and the main frame height is less than 1300mm, significantly reducing space occupation and adapting to the access requirements of narrow working environments.

[0036] System Coordinated Control: Achieving Precise Linkage of Multi-Unit Actions: This invention achieves full-process coordination of base adjustment, boom extension / retraction, trolley movement, and load transfer through closed-loop linkage of the "electronic control system - sensor detection system - actuator". The electronic control system receives boom posture, rope tension, load position, and terrain tilt data collected by the sensor detection system and sends control commands to each drive motor in real time. The base adaptive balancing unit prioritizes horizontal adjustment, the rotating platform drive unit synchronously coordinates boom extension / retraction and trolley movement, and the extendable double boom working unit adjusts the gripping method and counterweight according to load characteristics. The response delay of each unit is less than 0.1s, ensuring seamless operation of "extension / retraction - positioning - gripping - transfer - release".

[0037] This example focuses on the unfolded working state of the present invention: When fully deployed, it is a sophisticated and fully functional rope-driven double-arm load transfer system. The vertical carbon fiber tube 8 serves as the core support column, with its bottom rigidly connected to the base fixing 12 via a bottom drive joint assembly 10 (integrating components such as a bottom cross roller bearing 42 and a bearing fixing plate 43), providing stable foundation support for the entire device. This effectively distributes the load on the upper structure, preventing instability caused by center of gravity shift. A rope drive motor assembly 5 is located in the upper middle part of the vertical carbon fiber tube 8, a crucial link in the device's power transmission, providing power for the deployment of the double arms and the movement of the trolleys. The top of the carbon fiber tube is connected to the horizontal crossarm 1 via a connecting joint 4. The horizontal crossarm features a symmetrical double-arm layout, creating a wide working range after deployment. The trolley 2 on the crossarm (its body is composed of trolley aluminum parts 23) is the actuator for load grabbing and movement, achieving precise displacement along the trolley guide rail 15 (rigidly fixed via trolley rail fixing aluminum parts 56). The double-arm locking mechanism 3 is located at the connecting joint 4. After the double booms are fully extended, the horizontal boom 1 is fixed in a horizontal position through a mechanical locking mechanism, ensuring that the boom will not shift in angle due to load or external force during operation, thus guaranteeing operational accuracy. The slewing joint 6 integrates components such as the rotating crossed roller bearing 41 and the slewing chassis 16, enabling the upper structure of the device to achieve 360° continuous rotation, greatly improving the operational flexibility of load transfer and adapting to load handling needs in different directions.

[0038] The auxiliary support joint 7, together with the tilting motor 50 at the bottom and other components, constitutes the terrain adaptive system of the device. It can adjust the device's posture in ground environments with a tilt angle of ±15° to maintain overall level, thus expanding the device's adaptability to different operating scenarios. The trolley drive joint assembly 9 is the core of the trolley 2's power transmission. It integrates transmission components such as the left rope bevel gear 27, right rope bevel gear 35, left rope gear 26, right rope gear 34, left rope sliding wheel assembly 24, and right rope sliding wheel assembly 14. It converts the rotational motion of the motor into the linear motion of the rope, thereby driving the trolley 2 to move smoothly along the trolley guide rail 15, achieving precise load transportation.

[0039] The device in this example, when fully retracted, exhibits a compact structure and high space utilization, specifically designed for rapid deployment in transportation, storage, and confined working spaces. The core supporting component, the vertical carbon fiber tube 8, provides a rigid framework for the entire device. Its material combines lightweight and high strength, ensuring structural stability in the retracted state. The two horizontal arms 1, after folding, fit tightly against the vertical carbon fiber tube 8, and are precisely locked by a mechanical locking mechanism via the top double-arm locking 3, preventing loosening or displacement of the double arms due to vibration during transportation or storage, thus ensuring structural integrity. The rope drive motor unit 5, serving as the power source for the retraction action, is integrated into the drive compartment in the middle of the vertical carbon fiber tube 8. Through an internal precision gear transmission system (including the left rope bevel gear 27 and the right rope bevel gear 35), the motor torque is converted into linear tension in the left rope sliding pulley group 24 and the right rope sliding pulley group 14. The two ends of the rope are connected to the connecting joints 4 of the double boom. When the motor starts, the rope is wound up synchronously, pulling the double boom to fold around the connecting joints 4 towards the vertical carbon tube 8, so that the horizontal arm 1 and the vertical carbon tube 8 are parallel. The lateral space occupied is reduced by more than 70% compared with the unfolded state, which perfectly adapts to the envelope space constraints of the vehicle.

[0040] During the retraction process, the trolley 2 folds synchronously with the horizontal arm 1 and is stored within the folding area of ​​the arm. Its drive components (such as the trolley drive joint assembly 9) also fold and store through mechanical linkage, avoiding motion interference with other components and ensuring the compactness of the retracted configuration. The rotary joint 6 maintains its functional integrity in the retracted state and can adjust the orientation of the upper part of the device according to the needs of the scene, providing convenience for subsequent orientation adjustments during deployment. The terrain adaptive system composed of the auxiliary support joint 7 and the tilting motor 50 still has attitude adjustment capabilities in the retracted state. Through the linkage of the extension and rotation joint of the bottom lead screw 11, the attitude of the device can be adjusted in ground environments with a ±15° inclination to maintain overall levelness, ensuring the structural stability of the device even during transportation and relocation in complex terrain. The bottom drive joint assembly 10 is rigidly connected to the base fixing 12 through components such as the bottom cross roller bearing 42 and the bearing fixing plate 43, evenly distributing the upper load to the base and avoiding local stress overload caused by the concentration of the center of gravity in the retracted state, further improving structural reliability.

[0041] In this example, when the device is compressed, it exhibits an extremely compact configuration, specifically designed for scenarios such as storage in extreme spaces and adaptation to ultra-small transport vehicles. The horizontal arm 18 is the core operating component, which, when folded, fits tightly against the vertical support structure 11. Multi-dimensional mechanical locking is achieved through the double-arm locking 3 and the top connecting joint 13, ensuring that no components loosen or shift in the compressed state. The rope drive system is integrated inside the vertical support structure. Through the synchronous winding of the left rope 15, the horizontal arm is pulled to fold around the joint bearing 19, ultimately resulting in a superimposed state between the horizontal arm and the vertical support structure. The longitudinal space occupied is further reduced by approximately 40% compared to the folded state, perfectly adapting to the transportation and storage needs of ultra-narrow enveloping spaces. The attitude adjustment system, consisting of the auxiliary support joint 7 and the tilting motor 12, can still adjust the overall attitude of the device in the compressed state through the linkage of the bottom lead screw extension and rotation joint, maintaining structural stability even on inclined transport vehicles. The bottom drive joint assembly 17 (including the slewing chassis, crossed roller bearings, and other components) is rigidly connected to the base fixing structure, evenly distributing the upper compressive load and avoiding structural damage caused by local stress concentration. The trolley assembly is completely housed within the folding cavity of the horizontal arm, and its drive components (such as bevel gears and rope winding motors) are modularly stored along with the folding of the horizontal arm, eliminating movement interference. The vertical support structure 11 adopts a high-strength and lightweight design, and with the reinforcement of the fixed plate diagonal support 1, it still has sufficient structural rigidity under compression, and can withstand vibration and impact loads during transportation.

[0042] In this example, the rope pulley structure of the invention is the core component for realizing rope drive and force transmission, with an ingenious layout and high transmission efficiency. The left rope sliding pulley group 24, the right rope sliding pulley group 14, and the middle rope guide pulley 25 form a multi-pulley linkage rope guiding system. The pulleys are made of highly wear-resistant materials, and the multi-pulley cooperation achieves precise rope guidance and uniform tension distribution, effectively reducing rope wear and improving transmission efficiency. The top connecting joint 13 cooperates with the double-arm locking assembly (fixed lock 20, locking 21, locking drive 22) to provide a rigid connection and locking function for the pulley structure, ensuring that the structure does not loosen during rope transmission. The vertical carbon tube 8 and the trolley track fixing aluminum part 56 (indirectly supporting the pulley system) form a stable support frame, which evenly distributes the force of the pulley group to the main body of the device and avoids local stress concentration.

[0043] This example describes the rope drive section of the present invention: This rope drive structure is the core module for precise power transmission of the device, specifically designed for multi-dimensional motion coordination and precise control. The left winding gear 26 and right winding gear 34 serve as the rope power output actuators, both employing a multi-groove design to simultaneously wind multiple high-strength drive ropes. The movement of the pulley or the folding / unfolding action of the boom is achieved through rope winding and unwinding, making them key carriers for power output. The left winding bevel gear 27 meshes with the left winding bevel gear 29, and the left winding bevel gear 35 meshes with the right winding bevel gear 36, respectively achieving a 90° reversal of power on the left and right sides. This converts the axial output of the motor into radial rotation of the winding wheel, significantly optimizing the spatial layout and adapting to the device's folding / unfolding characteristics. The left winding drive fixing 28 and the unfolding drive fixing 31 are precision-machined from 6061 aluminum alloy, providing a millimeter-level coaxiality mounting reference for the left and right bevel gears and winding wheel, ensuring a gear meshing clearance ≤0.02mm, guaranteeing smooth transmission and high precision. The left rope drive motor 30 and the right rope drive motor 37 provide independent power to the left and right transmission units. By controlling the motor speed and direction, the precise winding and unwinding of the ropes on both sides can be achieved. This supports synchronous operation of the two pulleys or independent operation on one side, and can adapt to diverse load transfer needs.

[0044] In the bottom slewing system, the deploying worm 33 meshes with the deploying turbine 32, forming a worm gear transmission pair. The deploying worm 33 is driven by a dedicated servo motor, and its multi-head design provides a large transmission ratio and strong self-locking, ensuring smooth and shock-free slewing and maintaining the device's orientation during power outages. The rotation of the deploying turbine 32 is linked to the slewing chassis 16 via the deploying turbine main shaft 38, achieving a precise 360° rotation of the upper part of the device and providing a reliable reference for load transfer orientation adjustment. The fixed plate inclined support 39 is rigidly connected to the rotating crossed roller bearing 41, evenly distributing the upper load and providing a stable installation platform for the entire rope drive structure, avoiding structural damage caused by local stress concentration. This structure, through the coordinated design of independent dual-motor drive, bevel gear reversal, and multi-groove rope winding pulley and worm gear rotation, achieves multi-dimensional power transmission for trolley movement, boom folding and unfolding, and device rotation within a compact space. It features high transmission efficiency, precise control, and strong reliability, serving as the core technical support for the device to achieve complex load transfer tasks.

[0045] This example focuses on explaining the structure and working principle of the base portion of the present invention: the base portion is the core support and power adjustment unit of the device, with a stable structure and multiple functions. Based on the bottom fixed profile 55 as the basic load-bearing platform, the upper structure is connected via a bearing fixing plate 43 and a rotating crossed roller bearing 42, ensuring the flexibility and stability of the upper part of the device's 360° rotation. The drive and transmission components are compactly arranged: the tilting motor 48 drives the tilting gear 45 to rotate via a synchronous belt 49 and a synchronous belt pinion 50, enabling the device to adaptively adjust its posture on inclined terrain. Combined with the tilting bearing 44 and the tilting bearing fixing plate 46, the device can be adjusted horizontally within a range of ±15°, adapting to complex working environments. The structural support and connection design is rigorous: the fixed plate diagonal support 39 enhances the overall rigidity of the base, and the bottom support fixed plate 47 provides a rigid mounting foundation for the drive components; the base fixing 51 (corresponding to the bottom fixing structure in the figure) is rigidly connected to the working surface, distributing the upper load and preventing structural deformation. The modular layout of the electrical control and transmission components, including the motor fixing plate 54, the right rotation fixing plate 52, and the right rotation crossed roller bearing 53, is integrated inside the base, which not only protects the core components from external interference but also optimizes space utilization. This allows the base to provide stable support while also having terrain-adaptive adjustment and power transmission functions, laying a solid foundation for the load transfer operation of the device.

[0046] This example focuses on explaining the structure and working principle of the pulley part of the present invention: The trolley section is the core execution unit of the device, enabling precise load grasping and movement. The trolley 2 is the main body, integrally formed from the aluminum trolley component 23, resulting in a lightweight yet rigid structure. It slides smoothly along the trolley guide rail 15 (rigidly fixed by the aluminum component 56). The trolley guide rail is made of high-strength aluminum alloy with a wear-resistant surface treatment, ensuring both the guiding accuracy of the trolley's movement and improving wear resistance, preventing trolley misalignment due to guide rail wear over long-term use. Power transmission relies on the coordinated operation of the right rope sliding pulley group 14, the left rope sliding pulley group 24, and the middle rope guide pulley 25. The high-strength galvanized steel wire rope wound around the pulley groups possesses sufficient breaking strength, driving the trolley 2 to precisely move along the trolley guide rail 15 through rope winding and unwinding actions. Power originates from the torque output of the trolley drive system, ensuring reliable transmission and rapid response, enabling precise control of the trolley's speed and position. The bottom of the trolley 2 is equipped with grippers 57, which adopt a modular design. Adaptive gripping components can be replaced according to the shape and weight characteristics of different loads, enabling stable gripping and release of various loads and ensuring no slippage or shaking during load transfer. Simultaneously, the trolley 2 integrates high-precision position and attitude sensors to collect the trolley's position coordinates and motion attitude data in real time and upload them to the electronic control system, providing data support for trolley motion control and load transfer accuracy.

[0047] This trolley structure, through a collaborative design of "precise guide rails + multi-wheel rope drive + flexible gripper adaptation," ensures both accuracy and stability during load movement while possessing strong load adaptability. All components strictly adhere to a modular layout, seamlessly integrating with other units of the device. It is a key actuator for reliable load transfer, efficiently completing the entire process of load grabbing, transporting, and releasing, meeting the needs of diverse load transfer scenarios.

[0048] This example describes the auxiliary support structure of the present invention: This auxiliary support structure is a key module for the device to adapt to complex terrain and ensure operational stability. The rotating cross roller bearing 42 serves as the core upper connection, enabling flexible rotation of the upper structure while bearing the upper load, ensuring structural rigidity and accuracy during rotation. The auxiliary support joint 7 provides power for attitude adjustment, driven by the extension and retraction of the lead screw 11 or by linkage transmission. The rotating fixed plate 58 provides a rigid mounting base for the upper rotating structure and auxiliary support components, ensuring coaxiality of all components and preventing structural deformation from affecting adjustment accuracy. The right-hand rotating fixed plate 52 integrates internal transmission components, protecting core components such as gears and lead screws, while also creating a closed space for power transmission to prevent external interference. The auxiliary support mechanism is connected to the bottom fixed profile 55 via a linkage, and in conjunction with the movement of the auxiliary support joint 7, achieves fine-tuning of the device's attitude, allowing the device to adapt to terrain tilts of ±15°. The bottom fixed profile 55 contacts the working surface, and through the coordinated distribution of the load of the device by multiple parts, it enhances the support stability under complex terrain, prevents the device from tilting or sliding, and provides a solid foundation for load transfer operations.

[0049] All components work together, and through the design of "rotation adaptation + attitude adjustment + multi-claw support", the device can maintain horizontality and stability in inclined and uneven working environments, providing reliable terrain adaptation and support for the smooth implementation of rope-driven load transfer operations.

[0050] In summary, this invention discloses a rope-driven, foldable double-arm load reliably transferring device, relating to the field of load reliably transferring simulation and testing. The core of this dynamic device lies in its foldable structure, allowing both arms to operate simultaneously. The main body consists of a base, a rotating platform, and two arms. When fully extended, it forms a T-shape. In its retracted state, each arm can be extended to less than 1100mm, and the main frame height can be controlled within 1300mm, significantly reducing the space occupied and perfectly adapting to envelope space constraints, thus solving the problem of excessively large transport volume in traditional large-scale transfer mechanisms. The two arms are precisely connected via shafts, flange bearings, keys, and the main beam. Their structures are completely identical, yet their movements are independent. Each is equipped with an independent trolley gripper system and drive module, enabling simultaneous load grabbing, transferring, and releasing operations, or independent operation as needed. During operation, the counterweight device mounted on the opposite trolley moves in real-time to compensate for torque. Compared to the traditional single-arm design requiring an additional fixed counterweight, this significantly improves system balance stability and work efficiency, while avoiding the risk of tipping over during single-arm operation. The rotating platform incorporates a worm gear drive system. The worm gear is directly connected to symmetrically arranged wire rope winches inside the main beam via a shaft. The ends of the wire ropes are fixed to the ends of the double booms. When the motor drives the worm gear to rotate, it can simultaneously drive the double booms to achieve a folding and unfolding motion of 0-180° around the connecting shaft. After unfolding, the horizontal fixing system locks and positions the booms, ensuring that they always remain horizontal. Independent bevel gear drive systems are arranged on both sides of the main beam. The motor output is connected to the wire rope winches via bevel gear meshing. The wire rope passes through the bottom of the trolley and is pressed and fixed by a cover plate, forming a rope-driven trolley drive structure. Combined with the movable pulley module added to the side of the main beam, it can automatically compensate for changes in wire rope length during the folding and unfolding process of the double booms, ensuring precise operation of the trolley within its movement range and stable speed control, meeting the requirements for smooth load transfer.

[0051] The base integrates an adaptive tilt balancing system, forming a stable quadrilateral structure through a rotary joint, a rotating base, and two motor-driven lead screws. The tilt angle of the base can be adjusted in real time as the motors extend and retract, ensuring overall stability on complex terrains with a range of ±15°. The main beam is connected to the base via crossed roller bearings, ensuring both the flexibility of 360° rotation of the rotating platform and improving overall structural rigidity. The core components of the transmission system, such as the motor, coupling, and gearbox, along with the power management system and data acquisition and transmission system, are all centrally located at the bottom of the base and rotating platform. The power management system supplies power to the upper structure via a bottom slip ring, avoiding cable entanglement and significantly reducing the load weight of the double booms, keeping the overall weight of the device below 20kg. This significantly improves the load-to-weight ratio. Static verification shows that a single boom can stably bear a 40kg load within its maximum safe deflection range. The mechanical structure is designed with lightweight, high strength, and environmental adaptability in mind. The double booms are made of Al-6063 aluminum alloy with a hollow rectangular cross-section, which increases the structural moment of inertia and enhances resistance to deformation while reducing weight. Key load-bearing components such as lead screws and bearings are made of high-strength alloy materials to ensure structural reliability under long-term loads. Non-load-bearing components such as the trolley shell are made of high-strength 3D-printed filaments, with a mesh filling design for further weight reduction. During operation, the device can acquire real-time data on the double boom posture, rope tension, and load position through a data acquisition system. This data, combined with the electronic control system, enables coordinated action of various mechanisms to complete the entire process of load transfer, from boom deployment in a retracted state and terrain-adaptive adjustment, to rotation positioning, trolley movement and grabbing, and finally, smooth transfer and release. This system can reproduce complex working conditions in ground-based experimental environments, providing a testing platform for load transfer technology research and development. It can also be directly adapted to exploration missions, solving the problems of low space utilization, poor adaptability to complex terrain, and insufficient load stability of traditional transfer mechanisms. It is suitable for reliable load transfer scenarios for scientific instruments, test vehicles, and other payloads in the field of exploration.

Claims

1. A rope-driven, deployable double-arm load transfer device, characterized in that, The system comprises a base, a rotating platform assembly, and a foldable double-arm mechanism. The foldable double-arm mechanism is mounted on the base assembly via the rotating platform assembly. The foldable double-arm mechanism includes a vertical support column, the top of which is connected to two horizontal arms via connecting joints. The connecting joints are equipped with double-arm locking devices to lock the unfolded horizontal arms in a horizontal position and to lock the folded horizontal arms against the vertical support column. A trolley module is mounted on each horizontal arm. The rotating platform assembly includes a rotating base. The rotating chassis is mounted on the base via a bottom cross roller bearing and a bearing fixing plate. The rotating chassis is equipped with an integrated drive mechanism of worm gear and bevel gear. A servo motor and a worm gear reducer are installed on the rotating chassis. The worm gear is rigidly connected to a wire rope winch symmetrically arranged inside the vertical support column via a drive shaft. The end of the wire rope is fixed to the end of the double boom. The servo motor drives the worm gear to rotate forward, releasing the wire rope and unfolding the double boom. The servo motor drives the worm gear to rotate in reverse, and the winch retrieves the wire rope, pulling the double boom to fold and retract.

2. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The vertical support column adopts a carbon fiber tube with a square cross section to meet the support strength and facilitate the internal installation of steel wire rope and steel wire rope drive components. The connecting joint includes a sleeve that is fitted onto the top of the vertical support column. The sleeve has symmetrical hinge pins on both sides that are respectively hinged to the horizontal cross arms on both sides. The double-arm locking component includes a left locking component and a right locking component that cooperate with each other. The left locking component and the right locking component have matching grooves and matching pins, as well as a fixing buckle for locking the matching pin in the matching groove.

3. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The rotating platform assembly also includes a trolley module located on the vertical support column, which is connected to a bevel gear drive assembly located on the vertical support column via a wire rope to form a rope-driven trolley drive mechanism for automatically compensating for changes in the length of the wire rope during the folding and unfolding of the double booms. The rotating platform mechanism is equipped with a worm gear drive assembly, in which the worm gear is connected to wire rope winches symmetrically arranged on the vertical support column via a shaft. The ends of the wire ropes are respectively fixed to the ends of the double booms. The motor drives the worm gear to rotate, and the worm gear and wire rope drive the double booms to simultaneously achieve folding and unfolding from 0° to 180°.

4. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The base mechanism is equipped with a rope-driven horizontal arm folding mechanism, which includes a rope drive motor, transmission components, and a rope. Driven by the rope drive motor and transmission components, the rope pulls the connecting joint at its end to fold the horizontal arm downward. The rotating platform mechanism forms a stable quadrilateral structure through a rotating joint, a rotating base, and two motor-driven lead screws. When the motor drives the lead screws to extend or retract, the tilt angle of the base can be adjusted in real time to ensure that the device remains stable on complex terrain with an angle of ±15°. At the same time, the vertical support column is connected to the base through cross roller bearings, which not only ensures the flexibility of the rotating platform to rotate 360°, but also improves the overall rigidity of the structure.

5. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The foldable double boom section is precisely connected to the main beam via shafts, flange bearings, and keys. The two booms have identical structures and move independently, each equipped with its own independent pulley gripper system. The folding and unfolding drive of the double booms relies on the worm gear drive system built into the rotating platform. In this system, the worm gear is connected to the wire rope winches symmetrically arranged inside the main beam via a shaft. The end of the wire rope is fixed to the end of the double booms. When the motor drives the worm to rotate, it drives the wire rope to retract and extend, realizing the folding and unfolding movement of the double booms within the range of 0-180°.

6. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The rotating platform also includes two independent bevel gear drive systems, which are respectively arranged on the outside of both sides of the main beam. In each system, the motor output end is connected to the wire rope winch on the corresponding side through bevel gear meshing transmission. The wire rope passes through the bottom of the trolley and is pressed and fixed by the cover plate to form a rope-driven trolley drive structure. A movable pulley module is installed on the side of the main beam to compensate for the change in the length of the wire rope during the folding and unfolding of the double boom, ensuring that the trolley operates stably within a range of movement greater than 700mm, and the trolley movement speed is controlled at 0.05m / s.

7. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The base integrates an adaptive tilt balancing system, which consists of a rotary joint, a rotating base, and two motor-driven lead screws forming a stable quadrilateral structure. The motors drive the lead screws to extend and retract, adjusting the base's tilt angle in real time to adapt to complex terrains of ±15°. The main beam is connected to the base via crossed roller bearings, achieving both 360° rotation flexibility and improved overall structural rigidity. The base and bottom of the rotating platform centrally house the transmission system's motors, couplings, gearboxes, power management system, and data acquisition and transmission system. The power management system supplies power to the upper structure via bottom slip rings, preventing cable entanglement and reducing the load on the double booms, keeping the overall weight of the device below 20kg.

8. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The foldable double boom section is equipped with a double boom balancing mechanism, and counterweight devices are installed on the pulleys of both booms. When a single boom is performing load transfer operations, the pulley of the opposite boom can be moved in real time via rope drive to adjust the position of the counterweight to compensate for the torque on the working side, avoid the risk of the device overturning, and improve the system stability during the load transfer process. The foldable double boom is made of Al-6063 aluminum alloy with a hollow rectangular cross section.

9. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The system also includes a sensor detection assembly, in which sensors are integrated into key locations of the main structure. The IMU attitude sensor is located in the middle of the double booms to collect boom pitch and roll angle data; the tension sensor is connected in series in the drive wire rope to collect rope tension data. The tilt sensor is installed at the pulley gripper to collect load swing angle data; Each sensor is connected to the electrical control system via wiring to achieve real-time coordination between structural movement and sensor data acquisition, ensuring load transfer accuracy.

10. The rope-driven, deployable double-arm load transfer device according to claim 1, characterized in that, The core components of the transmission system, such as the motor, coupling, and gearbox, along with the power management system and data acquisition and transmission system, are all centrally located at the bottom of the base and rotating platform. The power management system supplies power to the upper structure through the bottom slip ring, avoiding cable tangling problems and significantly reducing the load weight of the double booms, keeping the overall weight of the device below 20kg.

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