CN115783306A - Single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and transfer method - Google Patents
Single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and transfer method Download PDFInfo
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Abstract
The invention discloses a single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and a transfer method thereof, relates to the technical field of planet patrol instrument landing equipment, and solves the problem that the planet patrol instrument is difficult to land due to complex land surface conditions of a landing site. The single-motor rope-driven sliding rail straight swinging lifting transfer mechanism comprises a finder releasing mechanism and a sliding rail straight swinging mechanism, and the sliding rail straight swinging mechanism is arranged on the lander and connected with the finder releasing mechanism; the sliding rail straight swinging mechanism comprises a hoisting motor and a slow release rope, and the hoisting motor is arranged on the lander and connected with the slow release rope; the tourniquet release mechanism comprises a three-level extension sliding rail, one end of the three-level extension sliding rail is connected with the road-following device, and the other end of the three-level extension sliding rail is a movable end and provides a track for releasing the planet tourniquet. The invention can select a proper position to enable the planet patrol instrument to land on the surface of the planet stably and safely according to the actual landing condition of the lander.
Description
Technical Field
The invention relates to the technical field of transfer of celestial bodies patrolling devices, in particular to a single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and a single-motor rope-driven sliding rail straight-swinging lifting transfer method.
Background
The deep space exploration refers to exploration activities of human beings on the moon and farther celestial bodies or space environments, is an important direction of human spaceflight activities and an important way of space science and technical innovation, and is one of the development focuses in the current and future spaceflight fields. Deep space exploration is not only the embodiment of the national science and technology level, but also the embodiment of comprehensive national force. The transfer mechanism is a component for transferring and releasing the patrol device carried by the lander to the surface of the planet, and has important application in the field of deep space exploration. The transfer release technology represented by the transfer mechanism is one of key technologies in a technical system required by the whole deep space exploration task, and is a key ring for determining the success or failure of the exploration task.
The transfer mechanism has various forms according to different landing modes and different quality of the inspection device. Taking the transfer work of the lunar vehicle as an example, the lunar vehicle and the transfer mechanism are required to be reliably pressed on the side wall of the lander and can bear transverse and longitudinal acceleration loads in the flight processes of a lunar transfer section, a lunar ring section, a power descending section and the like; after the lander safely lands on the moon surface, the lunar vehicle is reliably transferred to the moon surface and reliably separated under the action of the transfer mechanism. Therefore, higher requirements are provided for the transfer mechanism, and the lunar rover and the transfer mechanism are required to be safely and reliably pressed and installed on the lander in the flight stage and before lunar transfer; after the lander lands on the moon, the transfer mechanism and the lunar vehicle realize separation and unlocking with the lander, the transfer mechanism reliably transfers the lunar vehicle to the moon surface, and meanwhile, the lander has various working conditions such as side inclination, pitching and the like, so that the transfer mechanism can reliably transfer the lunar vehicle to the moon surface under various landing working conditions, and the moon landing place of the lunar vehicle has a certain selectable range so as to avoid pits and bulges on the moon surface; after the lunar vehicle falls on the moon stably, the lunar vehicle is separated from the transfer mechanism, the lunar surface of the lunar vehicle can freely walk, and the requirements of other patrolling devices are basically the same as those of the lunar vehicle.
At present, china has realized lunar vehicle landing and Mars vehicle landing, but the outer planet ground surface condition is complex and difficult to predict, which leads to the planet patrol instrument being difficult to land, and in order to better deal with the ground surface condition with complex landing place, it is necessary to improve the existing planet patrol instrument landing mechanism, so that the planet patrol instrument can land safely and stably, therefore, a scheme capable of meeting the transfer of the planet patrol instrument at the present stage needs to be provided.
Disclosure of Invention
The invention provides a single-motor rope-driven sliding rail straight swinging lifting transfer mechanism and a single-motor rope-driven sliding rail straight swinging lifting transfer method, which aim to better cope with the complex ground surface situation of a landing place and enable a planet patrol device to land on the ground surface safely and stably. The mechanism can select a proper position in the radial direction according to the actual landing condition of the lander to allow the celestial body patrol device to land on the surface of the celestial body stably and safely, has a simple and exquisite structure as a whole, and solves the problem of difficult landing of the celestial body patrol device with complex land surface condition at a landing site.
The invention provides a single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism which specifically comprises a patrol instrument release mechanism and a sliding rail straight-swinging mechanism, wherein the sliding rail straight-swinging mechanism is arranged on a lander and is connected with the patrol instrument release mechanism; the sliding rail straight swinging mechanism comprises a hoisting motor and a slow release rope, and the hoisting motor is arranged on the lander and connected with the slow release rope; the tourniquet release mechanism comprises a three-stage extension sliding rail, one end of the three-stage extension sliding rail is connected with the road-contacting device, and the other end of the three-stage extension sliding rail is a movable end and provides a track for releasing the planet tourniquet.
Furthermore, the slide rail straight swinging mechanism further comprises a trailer sliding frame, and the other end of the slow release rope is connected with the trailer sliding frame.
Furthermore, the trailer sliding frame comprises a sliding frame, a bracket and a disengaging pin, wherein the bracket is fixed on the planet patrol device and is connected with the sliding frame through the disengaging pin; the sliding frame is nested in the three-stage extension sliding rail and is connected with the slow release rope.
Still further, the carriage includes a bracket runner in which the bracket is embedded and a carriage pin slot in which the breakaway pin is embedded.
Furthermore, the three-level extension slide rail comprises a first-level slide rail, a second-level slide rail and a third-level slide rail, and the first-level slide rail is connected with the second-level slide rail and the second-level slide rail is connected with the third-level slide rail in a nested manner through T-shaped grooves.
Furthermore, the patrol instrument release mechanism further comprises a positioning ratchet wheel, and the positioning ratchet wheel is arranged on the lander and connected with the first-stage slide rail.
Further, the rover release mechanism and the planet rover are pressed on the lander through the pressing mechanism.
Furthermore, the pressing mechanism comprises a pressing unlocking device which is arranged on the lander and is an initiating explosive bolt or an electric control locking device.
Furthermore, the three-level extension slide rail is a double-slide rail, and a dust exhaust groove is formed in the slide rail.
A transfer method adopting the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism specifically comprises the following steps:
a. after the lander lands, the pressing unlocking device starts unlocking;
b. after unlocking, the winch motor winds the slow release rope, and the trailer sliding frame drives the three-stage extension sliding rail to swing upwards;
c. after the third-stage extension sliding rail reaches a target swing angle, the winch motor releases the slow release rope, the third-stage extension sliding rail is locked by the positioning ratchet wheel to keep the posture, and the slow release rope controls the carriage of the trailer and the planet patrol device to slide downwards and sequentially drives the second-stage sliding rail and the third-stage sliding rail to slide downwards;
d. the slow release rope is continuously released, and the planet patrol device slides down until the front wheel contacts the surface of the planet;
e. after the front wheel of the planet patrol device touches the ground, the front wheel rotates to drive the bracket to rotate along the disengaging pin until the four wheels fall to the ground, and finally the planet patrol device is disengaged and unlocked.
The single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the transfer method have the beneficial effects that:
(1) According to the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the transfer method, the star finder and the finder release mechanism can be fixed on the lander without shaking before the lander lands through the arranged pressing and unlocking device;
(2) According to the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the transfer method, the landing position of a planet patrol instrument can be reasonably selected in the radial direction through the matching of the sliding rail straight-swinging mechanism and a patrol instrument release mechanism according to the surface condition of the actual landing position of the lander, and the planet patrol instrument is extended to a proper length according to the actual condition through a three-stage extension sliding rail so as to ensure that the planet patrol instrument smoothly arrives at the ground;
(3) According to the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the single-motor rope-driven sliding rail straight-swinging lifting transfer method, the slow release rope is arranged to ensure that the landing process of the planet inspection device is safer and more stable;
(4) According to the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the single-motor rope-driven sliding rail straight-swinging lifting transfer method, smooth extension of a three-stage extension sliding rail is effectively guaranteed through the arranged dust exhaust groove, and a double-sliding-rail mode is adopted for supporting and guiding together to guarantee stability of a transfer process of a planet patrol instrument under a heeling posture of a lander.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
In the drawings:
FIG. 1 is an overall structure diagram of a single motor rope-driven sliding rail straight pendulum lifting transfer mechanism according to the present invention;
fig. 2 is a schematic view of a three-stage extending slide rail transfer process of a single-motor rope-driven slide rail straight-swinging lifting transfer mechanism according to the present invention;
FIG. 3 is a structural diagram of the sleeving manner of the sliding rails of each stage of the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism of the present invention;
FIG. 4 is a schematic structural view of a sliding rail dust exhaust groove of the single motor rope-driven sliding rail straight-swinging lifting transfer mechanism of the present invention;
FIG. 5 is a schematic view of the structural assembly of the pulley bracket of the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism of the present invention;
FIG. 6 is a schematic view of a state of locking between a star finder and a three-stage extension sliding rail of a single motor rope-driven sliding rail straight-swing lifting transfer mechanism according to the present invention;
FIG. 7 is a schematic diagram of a three-stage extended slide rail straight swing state of a single motor rope driven slide rail straight swing lift transfer mechanism according to the present invention;
FIG. 8 is a schematic view of a state of sliding of a star finder of a single motor rope-driven sliding rail straight pendulum lifting transfer mechanism according to the present invention;
FIG. 9 is a schematic diagram of the touchdown state of the star finder of the single motor rope driven slide rail straight pendulum lifting transfer mechanism of the present invention;
FIG. 10 is a schematic diagram of a state of disengagement of a star finder of a single motor rope driven slide rail straight pendulum lift transfer mechanism according to the present invention;
fig. 11 is a schematic view of a process of separating the landing of the star finder of the single motor rope-driven sliding rail straight pendulum lifting transfer mechanism according to the present invention;
FIG. 12 is a schematic diagram of the star finder transfer under an extreme condition of the single motor rope-driven sliding rail straight pendulum lifting transfer mechanism of the present invention;
wherein: 1-a compression unlocking device, 2-a three-level extension slide rail, 21-a first-level slide rail, 22-a second-level slide rail, 23-a three-level slide rail, 24-a dust exhaust groove, 3-a winch motor, 4-a positioning ratchet wheel, 5-a slow release rope, 6-a carriage, 61-a bracket sliding groove, 62-a carriage pin groove, 7-a bracket and 8-a separation pin.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first specific implementation way is as follows: the present embodiment is described with reference to fig. 1 to 12. The single-motor rope-driven sliding rail straight-swinging lifting and transferring mechanism comprises a rover release mechanism and a sliding rail straight-swinging mechanism, wherein the sliding rail straight-swinging mechanism is arranged on a lander, is connected with the rover release mechanism and is responsible for controlling the rover release mechanism to swing so as to select a planet rover landing point in the radial direction according to the surface condition of an actual landing place; the sliding rail straight swinging mechanism comprises a hoisting motor 3 and a slow release rope 5, wherein the hoisting motor 3 is arranged on the lander and is connected with the slow release rope 5; the patrolling device releasing mechanism comprises a three-level extending slide rail 2, one end of the three-level extending slide rail 2 is connected with the road going device, the other end of the three-level extending slide rail 2 is a movable end, upward swinging is achieved through a slide rail straight swinging mechanism, and support and a track are provided for releasing the planet patrolling device.
The sliding rail straight swinging mechanism further comprises a trailer sliding frame, the other end of the slow release rope 5 is connected with the trailer sliding frame, and the trailer sliding frame, the winch motor 3 and the slow release rope 5 are matched to control the three-stage extending sliding rail 2 to swing straight and the planet inspection device to slide downwards.
The trailer carriage comprises a carriage 6, a bracket 7 and a disengaging pin 8, wherein the bracket 7 is fixed on the planet patrol device and is connected with the carriage 6 through the disengaging pin 8; the sliding frame 6 is nested in the three-stage extending sliding rail 2 to form a sliding pair for the sliding of the planet patrolling device, the sliding pair is provided with a limiting constraint to control the three-stage extending sliding rail 2 to extend step by step along with the sliding of the planet patrolling device; the sliding frame 6 is also connected with a slow release rope 5 and is used for controlling the straight swinging and the stretching of the three-stage stretching sliding rail 2 and the gliding of the planet patrol device.
The sliding frame 6 comprises a bracket sliding groove 61 and a sliding frame pin groove 62, the bracket 7 is embedded in the bracket sliding groove 61, the separation pin 8 is embedded in the sliding frame pin groove 62, the sliding frame pin groove 62 is a long groove, and the fact that the star finder can stably slide and can be separated from the sliding rail after contacting the ground is guaranteed.
The three-level extension slide rail 2 comprises a first-level slide rail 21, a second-level slide rail 22 and a third-level slide rail 23, the first-level slide rail 21 and the second-level slide rail 22 are nested and form sliding pair connection through T-shaped grooves, and a track is provided for the planet inspection tour device to land.
The tourniquet release mechanism further comprises a positioning ratchet wheel 4, wherein the positioning ratchet wheel 4 is arranged on the lander and connected with the first-level slide rail 21 to serve as a straight swing rotating shaft of the third-level extension slide rail 2 and lock a straight swing angle of the third-level extension slide rail 2.
The rover release mechanism and the planet rover are pressed on the lander through the pressing mechanism before the lander lands.
Hold-down mechanism is including compressing tightly unlocking device 1, it sets up on the lander to compress tightly unlocking device 1, for firer bolt or automatically controlled locking device, patrols the ware and patrols ware release mechanism to the planet and locks, guarantees that planet patrols ware and patrols ware release mechanism reliably compress tightly on the lateral wall of lander at the flight processes such as earth star transfer section, ring star section and power decline section to can bear horizontal and longitudinal acceleration load, guarantee safety and stability.
The three-level extension slide rail 2 is provided with two slide rails for ensuring the stability of the transfer process of the planet inspection device under the side-tipping posture of the lander, and the three-level extension slide rail 2 is provided with dust discharge grooves 24 at certain intervals for preventing the dust from entering the three-level extension slide rail 2 to cause the clamping stagnation condition when the three-level extension slide rail 2 extends.
A transfer method adopting the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism specifically comprises the following steps: :
a. after the lander lands, the pressing unlocking device 1 starts to unlock;
b. after unlocking is finished, the winch motor 3 winds the slow release rope 5, and the trailer sliding frame drives the three-level extension sliding rail 2 to swing upwards;
c. after the three-stage extension sliding rail 2 reaches a target swing angle, the winch motor 3 releases the slow release rope 5, the three-stage extension sliding rail 2 is locked by the positioning ratchet wheel 4 to keep a posture, and the slow release rope 5 controls the sliding frame of the trailer and the planet patrol device to slide downwards and sequentially drives the two-stage sliding rail 22 and the three-stage sliding rail 23 to slide downwards;
d. the slow release rope 5 is continuously released, and the planet patrol device slides down until the front wheel contacts the surface of the planet;
e. after the front wheel of the planet patrol device touches the ground, the front wheel rotates to drive the bracket 7 to rotate along the disengaging pin 8 until the four wheels fall to the ground, and finally the planet patrol device is disengaged and unlocked.
The specific working principle of the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism is explained as follows:
before the lander reaches a preset landing place, the pressing unlocking device 1 fixes the planet patrol device and the patrol device release mechanism on the surface of the lander, so that the safety problem caused by the shaking of the planet patrol device and the patrol device release mechanism before the lander lands is avoided, as shown in fig. 6.
After the lander arrives at a landing place, the pressing unlocking device 1 starts unlocking, the hoisting motor 3 works to collect the slow release rope 5, and the slow release rope 5 drives the three-stage extension slide rail 2 to vertically swing upwards by taking the positioning ratchet wheel 4 as the axis of the rotating shaft through the sliding frame 6, as shown in fig. 7.
After the three-level extension slide rail 2 reaches a target swing angle according to the actual situation of a landing place, the three-level extension slide rail 2 is locked by the positioning ratchet wheel 4 to keep a posture, at the moment, the winch motor 3 starts to release the slow release rope 5, the slow release rope 5 controls the carriage of the trailer to drive the planet inspection device to slide downwards, and meanwhile, due to the sliding pair connection formed between the three-level extension slide rail 2 and the carriage 6 and the limiting structure arranged on the sliding pair, the two-level slide rail and the three-level slide rail are sequentially driven by the carriage of the trailer to extend downwards and slide, as shown in fig. 8.
The release of the slow release rope 5 is continued until the planet patrol device slides to the front wheel to contact with the surface of the planet and the touchdown state is reached, as shown in fig. 9. At this moment, the front wheel of the celestial globe rotates, under the combined action of traction force and gravity of the front wheel of the celestial globe, the celestial globe drives the bracket 7 to rotate by taking the separation pin 8 as a rotating shaft, the bracket 7 leaves the bracket sliding groove 61, the separation pin 8 slips from the sliding frame pin groove 62 to the four-wheel landing, and the celestial globe finishes the separation unlocking process to reach a separation state, as shown in fig. 10 and fig. 11.
Fig. 7 shows a transfer condition of the celestial globe inspection device under an extreme working condition by the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism. When the lander leans backwards, the three-stage extension slide rail 2 can be extended and extended properly according to actual conditions to ensure the safe landing of the planet patrol device. When the landing gear has a backward inclination angle of 14 degrees and the three-stage extension slide rail 2 extends to the farthest end, the state is the minimum slide rail gradient state. At this time, the included angle between the slide rail and the horizontal plane is 22.33 degrees, and in order to enable the three-stage extension slide rail 2 to smoothly slide, the friction coefficient is required to be less than 0.411. At present, the friction coefficient is reduced to 0.04 by adopting a method of spraying special materials on the surface of a sliding pair. The method can ensure that the three-stage extension slide rail 2 can be smoothly unfolded and the carriage of the trailer can smoothly slide downwards.
Summarizing the above embodiment, the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and the single-motor rope-driven sliding rail straight-swinging lifting transfer method can lock the planet patroller and the patrolling device release mechanism through the arranged pressing unlocking device 1 before the lander lands, so that the safety and the stability of the planet patroller and the release mechanism before the lander lands are ensured. After the lander reaches a preset landing place, the position suitable for the planet patrol instrument to land can be reasonably selected in the radial direction through the matching of the sliding rail straight swinging mechanism and the patrol instrument releasing mechanism according to the ground surface condition of the actual landing position of the lander, and the planet patrol instrument can be ensured to smoothly reach the ground by extending the sliding rail 2 to a suitable length according to the actual condition. The slow release rope 5 is arranged to ensure that the gliding process of the planet inspection device is safer and more stable. The dust exhaust groove 24 effectively ensures that the three-level extension slide rail can extend smoothly, the clamping stagnation condition can not occur when the slide rail extends due to the fact that dust enters the slide rail, and meanwhile, the double-slide-rail mode is adopted to support and guide jointly so as to ensure the stability of the transfer process of the planet inspection device under the heeling posture of the lander.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only specific examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be adopted, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a single motor rope drives straight pendulum of slide rail and lifts transfer mechanism which characterized in that: the landing device comprises a patrolling device release mechanism and a slide rail straight swinging mechanism, wherein the slide rail straight swinging mechanism is arranged on the landing device and is connected with the patrolling device release mechanism; the sliding rail straight swinging mechanism comprises a hoisting motor (3) and a slow release rope (5), wherein the hoisting motor (3) is arranged on the lander and is connected with the slow release rope (5); the tourniquet release mechanism comprises a three-level extension sliding rail (2), one end of the three-level extension sliding rail (2) is connected with the road going device, and the other end of the three-level extension sliding rail is a movable end and provides a track for releasing the planet tourniquet.
2. The single motor rope drives straight pendulum lifting transfer mechanism of slide rail of claim 1, characterized in that: the sliding rail straight swinging mechanism further comprises a trailer sliding frame, and the other end of the slow release rope (5) is connected with the trailer sliding frame.
3. The single-motor rope-driven sliding rail straight-swing lifting and transferring mechanism of claim 2, characterized in that: the trailer sliding frame comprises a sliding frame (6), a bracket (7) and a disengaging pin (8), wherein the bracket (7) is fixed on the planet patrol device and is connected with the sliding frame (6) through the disengaging pin (8); the sliding frame (6) is nested in the three-stage extension sliding rail (2) and is connected with the slow release rope (5).
4. The single motor rope drives straight pendulum lifting transfer mechanism of slide rail of claim 3, characterized in that: the sliding frame (6) comprises a bracket sliding groove (61) and a sliding frame pin groove (62), the bracket (7) is embedded in the bracket sliding groove (61), and the separation pin (8) is embedded in the sliding frame pin groove (62).
5. The single motor rope driven sliding rail straight pendulum lifting and transferring mechanism according to claim 1, 2, 3 or 4, characterized in that: the three-level extension slide rail (2) comprises a one-level slide rail (21), a two-level slide rail (22) and a three-level slide rail (23), and the one-level slide rail (21) is connected with the two-level slide rail (22) in a nested manner through a T-shaped groove, and the two-level slide rail (22) is connected with the three-level slide rail (23) in a nested manner through a T-shaped groove.
6. The single motor rope drives straight pendulum lifting transfer mechanism of slide rail of claim 5, characterized in that: the tourniquet release mechanism further comprises a positioning ratchet wheel (4), and the positioning ratchet wheel (4) is arranged on the lander and connected with the first-stage sliding rail (21).
7. The single motor rope driven sliding rail straight pendulum lifting and transferring mechanism according to claim 1, 2, 3, 4 or 6, characterized in that: the rover release mechanism and the planet rover are pressed on the lander through the pressing mechanism.
8. The single motor rope drives straight pendulum lifting transfer mechanism of slide rail of claim 7, characterized in that: the pressing mechanism comprises a pressing unlocking device (1), and the pressing unlocking device (1) is arranged on the lander and is an initiating explosive bolt or an electric control locking device.
9. The single motor rope driven sliding rail straight swinging, lifting and transferring mechanism according to claim 1, 2, 3, 4, 6 or 8, characterized in that: the three-level extension slide rail (2) is a double slide rail, and a dust exhaust groove (24) is arranged on the slide rail.
10. The transfer method of the single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism of claim 1, characterized in that: the method specifically comprises the following steps:
a. after the lander lands, the pressing unlocking device (1) is unlocked;
b. after unlocking is finished, the winch motor (3) winds the slow release rope (5), and the carriage support sliding frame drives the three-stage extension sliding rail (2) to swing upwards;
c. after the three-stage extension sliding rail (2) reaches a target swing angle, the winch motor (3) releases the slow release rope (5), the three-stage extension sliding rail (2) is locked by the positioning ratchet wheel (4) to keep a posture, and the slow release rope (5) controls the sliding frame of the trailer and the planet patrol device to slide downwards and sequentially drives the two-stage sliding rail (22) and the three-stage sliding rail (23) to slide downwards;
d. the slow release rope (5) is continuously released, and the planet patrol device slides down until the front wheel contacts the surface of the planet;
e. after the front wheel of the planet patrol device touches the ground, the front wheel rotates to drive the bracket (7) to rotate along the disengaging pin (8) until the four wheels fall to the ground, and finally the planet patrol device is disengaged and unlocked.
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| CN202211694835.2A CN115783306B (en) | 2022-12-28 | 2022-12-28 | Single-motor rope-driven sliding rail straight swing lifting transfer mechanism and transfer method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117699064A (en) * | 2023-12-05 | 2024-03-15 | 哈尔滨工业大学 | Rope drives multi-functional flexible arm device that shifts |
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| CN117699064A (en) * | 2023-12-05 | 2024-03-15 | 哈尔滨工业大学 | Rope drives multi-functional flexible arm device that shifts |
| CN117699064B (en) * | 2023-12-05 | 2024-11-05 | 哈尔滨工业大学 | Rope drives multi-functional flexible arm device that shifts |
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