A patrol vehicle inclined single pendulum transfer device and transfer method thereof

Abstract

The present invention proposes a planetary rover inclined single pendulum transfer device and a transfer method thereof, belonging to the field of planetary rover transfer technology. The device solves the problem that the existing planetary rover transfer mechanism cannot reliably transfer the planetary rover to the lunar surface under various working conditions, cannot perform selective transfer, and cannot effectively separate the planetary rover and the lander. The device includes a planetary rover release mechanism, a pendulum, a release rope, a first motor, and a second motor. In the initial state, the planetary rover and the middle part of the pendulum are both connected to the lander, the planetary rover is connected to one end of the pendulum, and the other end of the pendulum is installed at the lower end of the lander. One end of the release rope is connected to the motor M2, and the other end of the release rope passes through the pendulum and is connected to the planetary rover through the planetary rover release mechanism. The upper end of the lander is installed with a motor M1. The device is mainly used for planetary rover transfer.

Description

Technical Field

[0001] The invention belongs to the technical field of patrol vehicle transfer, and in particular relates to a patrol vehicle oblique single-swing rod transfer device and a transfer method thereof. Background Art

[0002] The transfer mechanism is the component that transfers and releases the rover from a lander to a planetary surface. It has important applications in extraterrestrial exploration. The transfer and release technology represented by the transfer mechanism is a key component of the entire technical system required for extraterrestrial exploration missions and is crucial to the success of such missions.

[0003] The transfer mechanism takes various forms, depending on the landing method and the rover's mass. For example, the transfer of a lunar rover requires that the rover and its transfer mechanism be securely pressed against the lander's sidewalls during the Earth-Moon transfer phase, the lunar orbit phase, and the powered descent phase, and be able to withstand lateral and longitudinal acceleration loads. After the lander safely touches down on the lunar surface, the rover is reliably transferred to the lunar surface and then reliably detached, thanks to the transfer mechanism. This also puts higher requirements on the transfer mechanism. During the flight phase and before the lunar transfer, the lunar rover and the transfer mechanism must be safely and reliably pressed and installed on the lander. After the lander lands on the moon, the transfer mechanism and the lunar rover are separated and unlocked from the lander, and the transfer mechanism reliably transfers the lunar rover to the lunar surface. At the same time, the lander has various working conditions such as roll and pitch. Therefore, the transfer mechanism should be able to reliably transfer the lunar rover to the lunar surface under various landing conditions. The landing location of the lunar rover should have a certain optional range to avoid pits and protrusions on the lunar surface. After the lunar rover lands smoothly on the moon, the lunar rover separates from the transfer mechanism, allowing the lunar rover to move freely on the lunar surface.

[0004] The requirements for other rovers are basically the same as those for the lunar rover, so it is necessary to provide a solution that can meet the current requirements for rover transfer. Summary of the Invention

[0005] In view of this, the present invention aims to propose a rover inclined single pendulum transfer device and a transfer method thereof, so as to solve the problems that the existing rover transfer mechanism cannot reliably transfer the rover to the planetary surface under various working conditions, cannot perform selective transfer, and cannot effectively separate the rover and the lander.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A rover inclined single pendulum transfer device is installed on a lander and includes a rover release mechanism, a pendulum, a release rope, a first motor, and a second motor. In an initial state, the rover and the middle portion of the pendulum are both connected to the lander, the rover is connected to one end of the pendulum, and the other end of the pendulum is installed at the lower end of the lander. One end of the release rope is connected to the second motor, and the other end of the release rope passes through the pendulum and is connected to the rover through the rover release mechanism. The upper end of the lander is installed with a first motor, the output end of the first motor is connected to an attitude control rope, and the other end of the attitude control rope is connected to the pendulum.

[0008] Furthermore, the patrol device is connected to the rocker arm via a slew rod.

[0009] Furthermore, a damping ball joint is provided at the connection between the slewing rod and the patrol device, and a damping bearing is provided at the connection between the slewing rod and the rocker arm.

[0010] Furthermore, the rover and the middle part of the rocker are connected to the lander through a locking mechanism.

[0011] Furthermore, the locking mechanism includes a pulley, a cam, a pull pin, a limit pin and a slide rod. The pulley is installed on the first motor, the cam is connected to the pulley, a slide rod is provided below the cam, the bottom end of the slide rod is connected to the pull pin, and a limit pin is provided on the side end of the slide rod. The pull pin is provided in the pin hole of the lander, and the limit pin is provided in the lander through a spring.

[0012] Furthermore, the patroller release mechanism includes a camera support rod, a support ear, a limiting ball and a pulley, the camera support rod is installed in the support ear, the limiting ball is located on the side of the support ear away from one end of the pulley, the slow-release rope passes through the pulley and through the support ear and is connected to the limiting ball, the part where the slow-release rope is connected to the support ear is located below the camera support rod, and the support ear is installed on the upper surface of the patroller.

[0013] Furthermore, the patroller release mechanism includes a camera support rod, a support ear, a limiting ball, a pulley and a limiting hole. The camera support rod is installed in the support ear, and the support ear is installed on the upper surface of the patroller. A limiting hole is provided on the upper surface of the patroller, and the limiting hole is located below the camera support rod. The limiting ball is located in the limiting hole, and the slow-release rope is connected to the limiting ball through a pulley.

[0014] Furthermore, the patroller release mechanism includes a camera support rod, a pull rod, a limit rod, a sliding sleeve, a limit groove, a torsion spring and a thrust spring. The sliding sleeve is installed on the upper surface of the patroller, the pull rod is slidably installed in the sliding sleeve, the side end of the pull rod is installed with a torsion spring, the arc-shaped protrusion at the bottom of the pull rod moves along the outer contour of the camera support rod, the limit rod is connected to the torsion spring, the head of the limit rod is clamped in the limit groove in the sliding sleeve, the bottom of the sliding sleeve is installed with a thrust spring, and the pull rod is connected to the release rope.

[0015] Furthermore, the rocker arm is mounted on the lander via a hinge.

[0016] Furthermore, a spiral spring is provided at the connection between the rocker arm and the lander.

[0017] A transfer method for a patrol vehicle oblique single-swing rod transfer device, comprising the following steps:

[0018] Step 1: The first motor operates to unlock the rover and the pendulum, separating the rover and pendulum from the lander.

[0019] Step 2: The rocker arm drives the rover to open under the combined action of the scroll spring force and the rope release speed. At the same time, the rover's attitude slowly rotates under the action of the damping ball joint, changing from a parallel lander to a vertical lander.

[0020] Step 3: Under the action of gravity, as the first motor releases the rope, the swing arm drives the patrol vehicle to gradually unfold, and then finds a suitable driving position for the patrol vehicle;

[0021] Step 4: After selecting a suitable position, the first motor stops releasing the rope, the pendulum stops rotating, and the second motor starts to release the slow-release rope and thus release the rover until the rover is placed on the surface of the planet;

[0022] Step 5: Then unlock the patrol release mechanism to separate the patrol from the transfer device.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. After the lander lands on the planetary surface, the present invention can avoid bumps and pits on the planetary surface. The rover is connected to the lander through a rocker arm, and can then be selectively transferred to place the rover on a flat planetary surface. The transfer device can be used to transfer the rover in various working conditions.

[0025] 2. The present invention is provided with a rover release mechanism, which releases the rover onto the surface of the planet. Then the linkage assembly can be retracted in the reverse direction, and the rover can move freely, thereby effectively separating the rover from the transfer device.

[0026] 3. The present invention is provided with a damping ball chain, which can prevent the rover from colliding with the lander and other objects on the lander during rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 This is a schematic diagram of the connection between the rover oblique single pendulum transfer device and the lander according to the present invention;

[0029] Figure 2 This is a schematic structural diagram of a patrol vehicle oblique single-rocker transfer device according to the present invention;

[0030] Figure 3 This is the main view of the space layout of the pendulum rod;

[0031] Figure 4 This is a top view of the spatial arrangement of the pendulum rod;

[0032] Figure 5 This is a schematic diagram of the rover connecting to the lander before transfer;

[0033] Figure 6 This is a schematic diagram of the rover's attitude adjustment;

[0034] Figure 7 A schematic diagram of finding a suitable location for the rover during the transfer process;

[0035] Figure 8 It is the main view of the patroller's maximum transfer range during the transfer process;

[0036] Figure 9 This is a top view of the maximum transfer range of the patroller during the transfer process;

[0037] Figure 10 This is a schematic diagram of the patrol release process;

[0038] Figure 11 This is the main view of the effect of pitch +14° on the rover release;

[0039] Figure 12 This is a top view of the effect of pitch +14° on the rover release;

[0040] Figure 13 This is the main view of the effect of pitch -14° on the rover release;

[0041] Figure 14 This is a top view of the effect of -14° pitch on the rover release;

[0042] Figure 15 Schematic diagram a1 of the impact of the roll state on the release of the patrol vehicle;

[0043] Figure 16 Schematic diagram a2 of the impact of the roll state on the release of the patrol vehicle;

[0044] Figure 17 Schematic diagram b1 of the impact of the roll state on the release of the patrol vehicle;

[0045] Figure 18 Schematic diagram b2 of the impact of the roll state on the release of the patrol vehicle;

[0046] Figure 19 Schematic diagram of the inclined single pendulum transfer device Figure 1 ;

[0047] Figure 20 Schematic diagram of the inclined single pendulum transfer device Figure 2 ;

[0048] Figure 21 is a schematic diagram of the locking mechanism;

[0049] Figure 22 Schematic diagram of the connection between the pendulum rod and the patrol vehicle;

[0050] Figure 23 Unlocking diagram a1 for patroller and transfer device;

[0051] Figure 24 Unlocking diagram a2 for the patrol device and transfer device;

[0052] Figure 25 Unlock diagram b1 for the patrol device and transfer device;

[0053] Figure 26 Unlock diagram b2 for the patrol device and transfer device;

[0054] Figure 27 Unlock schematic diagram c1 for patrol and transfer device;

[0055] Figure 28 Unlock schematic diagram c2 for the patrol device and transfer device;

[0056] Figure 29 Unlock schematic diagram c3 for patrol and transfer device;

[0057] Figure 30 Unlock schematic c4 for the patroller and transfer device.

[0058] 1-Rover; 2-Rover release mechanism; 3-Damping ball joint; 4-Slewing rod; 5-Pole arm; 6-Release rope; 7-Hinge; 8-Attitude control rope; 9-First motor; 10-Second motor; 11-Lander; 12-Scroll spring; 13-Locking mechanism; 14-Pulley; 15-Cam; 16-Pull pin; 17-Limiting pin; 18-Slide rod; 19-Damping bearing; 20-Camera support rod; 21-Support ear; 22-Limiting ball; 23-Pulley; 24-Limiting hole; 25-Pull rod; 26-Limiting rod; 27-Sleeve; 28-Limiting slot; 29-Torsion spring; 30-Thrust spring. DETAILED DESCRIPTION

[0059] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0060] See also Figure 1-30 To illustrate this embodiment, this embodiment takes the lunar landing transfer work as an example. The rover 1 is a lunar rover, and a rover inclined single pendulum transfer device is installed on a lander 11. It includes a rover release mechanism 2, a pendulum 5, a release rope 6, a first motor 9 and a second motor 10. In the initial state, the middle parts of the lunar rover and the pendulum 5 are both connected to the lander 11. The lunar rover is connected to one end of the pendulum 5, and the other end of the pendulum 5 is installed at the lower end of the lander 11. One end of the release rope 6 is connected to the second motor 10, and the other end of the release rope 6 passes through the pendulum 5 and is connected to the lunar rover through the rover release mechanism 2. The upper end of the lander 11 is installed with a first motor 9, and the output end of the first motor 9 is connected to an attitude control rope 8. The other end of the attitude control rope 8 is connected to the pendulum 5. The pendulum 5 is installed on the lander 11 through a hinge 7. A volute spring 12 is provided at the connection between the pendulum 5 and the lander 11.

[0061] First, the first motor 9 works, unlocking the lunar rover and unlocking the pendulum 5 at the same time, separating the lunar rover from the lander 11. At the same time, the pendulum 5 is about to leave the pendulum support seat. At this time, the entire transfer device is in the initial state of deployment. The pendulum 5 drives the lunar rover to open under the combined action of the volute spring 12 force and the rope-releasing speed. At the same time, the lunar rover adjusts its posture from being parallel to the lander 11 to being perpendicular to the lander 11. Then, under the action of gravity, as the first motor 9 releases the rope, the pendulum 5 drives the lunar rover to gradually unfold, as shown in FIG. Figure 5As shown, the lunar rover rotates at point O on the pendulum 5 to find a suitable driving position for the lunar rover. At this time, the swing angle between the pendulum 5 and the lander 11 gradually increases. After selecting a suitable position, the first motor 9 stops releasing the rope and the pendulum 5 stops swinging. At this time, the second motor 10 works to release the lunar rover by releasing the slow-release rope 6 until the lunar rover is placed on the lunar surface. After the lunar rover reaches the lunar surface, the rover release mechanism 2 is unlocked to separate the lunar rover from the transfer device, thereby completing the transfer process. The lunar rover is released to the lunar surface through the rover release mechanism 2, and then the transfer device can be retracted in the reverse direction. The lunar rover then moves freely, thereby effectively separating the lunar rover from the transfer device.

[0062] During the retracted and compacted flight phase of the lander 11, the transfer device is in a retracted and compacted state, and the transfer device must be installed within the envelope of the lander 11, because the transfer device needs to be connected to the lunar rover. For this reason, a co-design of the lunar rover and the transfer device is adopted. The anti-mechanical environment function is in the retracted state. The transfer device and the lunar rover can withstand the launch load conditions, and the fundamental frequency should not be coupled with the whole device to meet the minimum fundamental frequency requirements in all directions. In the unfolded state, the fundamental frequency requirements are also met. After the lander 11 lands, the separation of the lunar rover and the lander 11 is achieved by unlocking the locking mechanism 13. This function can also be used. The separation is achieved by actuating the pyrotechnic nut. Due to the small size of the lunar rover and its limited obstacle-crossing ability, it is necessary to transfer the lunar rover to a relatively flat lunar surface. The transfer device can have a certain range of selection for the lunar rover's lunar touchdown point to avoid the convexities and pits on the lunar surface. Due to the uncertainty of the landing terrain, the lander 11 has various working conditions such as roll and pitch. The transfer device can still reliably transfer the lunar rover to the lunar surface under various landing conditions, and can achieve the purpose of selective transfer and effective separation of the lunar rover and the transfer device after transfer. Therefore, the transfer device can be applied to transfer the lunar rover under various working conditions.

[0063] like Figure 11-14 , which shows the effect of the transfer device on the release of the lunar rover in the pitch state. Under the extreme working condition, that is, when the pitch is 14°, the lunar slope is 8°, and the lander 11 is tilted 6° relative to the lunar surface, the lunar rover transfer range and interference inspection are carried out, such as Figure 11-12 As shown in FIG, during the descent, the lunar rover maintains a safety distance of 52 mm from the lander 11. At this time, the initial release angle is 26°. When the lunar rover is about to touch the lunar surface at the maximum release angle of 129°, and the lunar rover does not slip during landing, the release trajectory length of the lunar rover is 3841 mm. Figure 13-14 The figure shows a pitch-14° working condition. During the descent, the lunar rover has a sufficient safety distance from the lander 11. At this time, the initial release angle is 14°. When the lunar rover has a maximum release angle of 138° and is about to touch the lunar surface, without considering the slippage during the landing of the lunar rover, the release trajectory length of the lunar rover is 4115 mm.

[0064] like Figure 15-18 , explaining the effect of the transfer device on the release of the lunar rover in the tilt state. Under the extreme working condition, that is, when the tilt is 14° and the lunar slope is 8°, the lander 11 tilts 6° relative to the lunar surface, and the release trajectory of the lunar rover is analyzed. Figure 15-16 The figure shows a working condition with a right tilt of 14°. When the vertical angle between the pendulum 5 and the lander 11 is 125°, the lunar rover contacts the lunar surface without undergoing the rope-releasing action. Without considering the slippage during the landing of the lunar rover, the length of the lunar rover release trajectory is 4109 mm. Figure 17-18 The figure shows a working condition of 14° left tilt. When the vertical angle between the pendulum 5 and the lander 11 is 137°, the lunar rover contacts the lunar surface without undergoing the rope-releasing action. Without considering the slippage of the lunar rover during landing, the length of the lunar rover release trajectory is 4232 mm.

[0065] Furthermore, in the initial state, the lunar rover is connected to the rocker 5 via the slewing rod 4. A damping ball joint 3 is provided at the connection between the slewing rod 4 and the lunar rover, and a damping bearing 19 is provided at the connection between the slewing rod 4 and the rocker 5. Figure 22 As shown, if the various rotating joints are too flexible during the release process, the lunar rover could easily swing excessively, potentially colliding with the lander 11 and objects on it. Therefore, damping bearings 19 are added around the swing rod 5, and damping ball joints 3 are added between the swing joint and the lunar rover to reduce the rover's swing flexibility.

[0066] Furthermore, in the initial state, the middle part of the lunar rover and the rocker 5 are connected to the lander 11 through a locking mechanism 13. The locking mechanism 13 includes a pulley 14, a cam 15, a pull pin 16, a limit pin 17 and a slide rod 18. The pulley 14 is installed on the first motor 9. The cam 15 is connected to the pulley 14. A slide rod 18 is provided below the cam 15. The bottom end of the slide rod 18 is connected to the pull pin 16. The side end of the slide rod 18 is provided with a limit pin 17. The pull pin 16 is provided in the pin hole of the lander 11. The limit pin 17 is provided in the lander 11 through a spring.

[0067] like Figure 21 As shown, the locking mechanism 13 is first provided to prevent the lunar rover and the transfer device from colliding with the lander 11 and objects on the lander 11 during the ascent / descent process of the lander 11. When the lunar rover linkage assembly needs to work, it needs to be unlocked first. The second motor 10 drives the cam 15 to rotate while releasing the release rope 6. When the cam 15 rotates to Figure 21 As shown, the slide rod 18 pulls the pull pin 16 to pull it out from the connecting pin hole of the lander 11, completing the unlocking action, and then the cam 15 continues to rotate, and the slide rod 18 is locked by the limit pin 17. Similarly, the unlocking actions of the lunar rover and the lander 11 are the same.

[0068] Furthermore, the rover release mechanism 2 includes a camera support rod 20, a support ear 21, a limiting ball 22 and a pulley 23. The camera support rod 20 is installed in the support ear 21, and the limiting ball 22 is located on the side of the support ear 21 away from the end of the pulley 23. The slow-release rope 6 passes through the pulley 23 and the support ear 21 and is connected to the limiting ball 22. The part where the slow-release rope 6 is connected to the support ear 21 is located below the camera support rod 20, and the support ear 21 is installed on the upper surface of the lunar rover.

[0069] After the lunar rover is released to the lunar surface, it needs to be unlocked and disengaged from the release rope 6. The limit ball 22 is connected to one end of the release rope 6, and the release rope 6 passes around the camera support rod. Since the diameter of the limit ball 22 is larger than the gap between the camera support rod 20 and the lunar rover, the release rope 6 hangs the lunar rover during the descent. At this time, the lunar rover is released by the release rope 6 under the action of gravity. When the lunar rover is released to the lunar surface, the camera support rod 20 rotates around point O and opens. When the distance between the camera support rod 20 and the lunar rover is greater than the diameter of the limit ball 22, the second motor 10 reverses and retracts the rope, and the limit ball 22 slides out, completing the unlocking process.

[0070] Furthermore, the rover release mechanism 2 includes a camera support rod 20, a support ear 21, a limiting ball 22, a pulley 23 and a limiting hole 24. The camera support rod 20 is installed in the support ear 21, and the support ear 21 is installed on the upper surface of the lunar rover. The upper surface of the lunar rover is provided with a limiting hole 24, and the limiting hole 24 is located below the camera support rod 20. The limiting ball 22 is located in the limiting hole 24, and the slow-release rope 6 is connected to the limiting ball 22 through the pulley 23.

[0071] The limiting ball 22 is connected to one end of the release rope 6, and the limiting ball 22 is pressed down in the limiting hole 24 by the camera support rod 20. Since the diameter of the limiting ball 22 is larger than the gap between the camera support rod 20 and the lunar rover, the release rope 6 hangs the lunar rover during the falling process of the lunar rover. At this time, the lunar rover is released by the release rope 6 under the action of gravity. When the lunar rover is released to the lunar surface, the camera support rod 20 rotates around point O and opens. When the distance between the camera support rod 20 and the lunar rover is greater than the diameter of the limiting ball 22, the second motor 10 reverses to retract the rope, and the limiting ball 22 slides out, completing the unlocking process.

[0072] Furthermore, the rover release mechanism 2 includes a camera support rod 20, a pull rod 25, a limit rod 26, a sleeve 27, a limit groove 28, a torsion spring 29 and a thrust spring 30. The sleeve 27 is installed on the upper surface of the lunar rover, and the pull rod 25 is slidably installed in the sleeve 27. The side end of the pull rod 25 is installed with a torsion spring 29. The arc-shaped protrusion at the bottom of the pull rod 25 moves along the outer contour of the camera support rod 20. The limit rod 26 is connected to the torsion spring 29. The head of the limit rod 26 is clamped in the limit groove 28 in the sleeve 27. The bottom of the sleeve 27 is installed with a thrust spring 30. The pull rod 25 is connected to the release rope 6.

[0073] The release rope 6 is connected to the pull rod 25. The pull rod 25 is clamped in the limit groove 28 through the limit rod 26 under the action of the torsion spring 29 and the thrust spring 30, so that the lunar rover, the pull rod 25 and the release rope 6 are connected as one. The arc-shaped protrusion at the bottom of the pull rod 25 moves along the outer contour of the bottom of the camera support rod 20, so that the pull rod 25 slides downward under the action of force F, and the pull rod 25 slides out of the bayonet. The limit rod 26 is deflected counterclockwise under the action of the torsion spring 29 and moves out of the limit groove 28. Then the pull rod 25 comes out from the sliding sleeve 27 under the thrust of the thrust spring 30 and the tension of the release rope 6, thereby completing the unlocking, and then the lunar rover is separated from the release rope 6.

[0074] Furthermore, the pendulum rod 5 is a straight rod or a tempered curved rod, which can swing and release over a large distance within the arc range of the lunar rover. In order to avoid interference between the installation position of the pendulum rod 5 and other objects on the device, the pendulum rod 5 can be constructed as a tempered curved rod to ensure the rational use of space.

[0075] Furthermore, a transfer method of a patrol vehicle oblique single-swing rod transfer device includes the following steps:

[0076] Step 1: The first motor 9 is activated to unlock the lunar rover and the pendulum 5 at the same time, so that the lunar rover and the pendulum 5 are separated from the lander 11;

[0077] Step 2: The rocker 5 drives the lunar rover to open under the combined action of the scroll spring 12 force and the rope release speed. At the same time, the attitude of the lunar rover slowly rotates under the action of the damping ball joint 3, changing from a parallel lander 11 to a vertical lander 11;

[0078] Step 3: Under the action of gravity, as the first motor 9 releases the rope, the pendulum 5 drives the lunar rover to gradually unfold, and then finds a suitable driving position for the lunar rover;

[0079] Step 4: After selecting a suitable position, the first motor 9 stops releasing the rope, the pendulum 5 stops rotating, and the second motor 10 starts to release the slow-release rope 6 to release the lunar rover until the lunar rover is placed on the lunar surface;

[0080] Step 5: Then unlock the rover release mechanism 2 to separate the lunar rover from the transfer device.

[0081] The transfer of rovers to other planets is the same as the lunar transfer. Simply replace Rover 1 with the rover of the corresponding planet.

[0082] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A rover oblique single pendulum transfer device, which is installed on a lander (11), characterized in that: It includes a rover release mechanism (2), a pendulum (5), a slow-release rope (6), a first motor (9) and a second motor (10). In an initial state, the rover (1) and the middle of the pendulum (5) are both connected to the lander (11). The rover (1) is connected to one end of the pendulum (5), and the other end of the pendulum (5) is installed at the lower end of the lander (11). One end of the slow-release rope (6) is connected to the second motor (10), and the other end of the slow-release rope (6) passes through the pendulum (5) and is connected to the rover (1) through the rover release mechanism (2). The upper end of the lander (11) is equipped with a first motor (9), and the output end of the first motor (9) is connected to an attitude control rope (8). The other end of the attitude control rope (8) is connected to the pendulum (5). The two ends of the pendulum (5) are respectively arranged on the lander (11). At a diagonal position on one side of the lander (11), in an initial state, the rover (1) and the middle part of the rocker (5) are connected to the lander (11) through a locking mechanism (13), and the locking mechanism (13) includes a pulley (14), a cam (15), a pull pin (16), a limit pin (17) and a slide bar (18), wherein the pulley (14) is installed on the first motor (9), the attitude control rope (8) is wound on the pulley (14), the cam (15) is connected to the pulley (14), a slide bar (18) is provided below the cam (15), the bottom end of the slide bar (18) is connected to the pull pin (16), and a limit pin (17) is provided on the side end of the slide bar (18), the pull pin (16) is provided in a pin hole of the lander (11), and the limit pin (17) is provided in the lander (11) through a spring.

2. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: In the initial state, the patrol device (1) is connected to the rocker (5) via the rotary rod (4).

3. The patrol vehicle oblique single-rocker transfer device according to claim 2, characterized in that: A damping ball joint (3) is provided at the connection between the rotating rod (4) and the patrol device (1), and a damping bearing (19) is provided at the connection between the rotating rod (4) and the rocker (5).

4. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: The patrol release mechanism (2) includes a camera support rod (20), a support ear (21), a limiting ball (22) and a pulley (23), wherein the camera support rod (20) is installed in the support ear (21), the limiting ball (22) is located on the side of the support ear (21) away from the pulley (23), the slow-release rope (6) passes through the pulley (23) and the support ear (21) and is connected to the limiting ball (22), the portion where the slow-release rope (6) is connected to the support ear (21) is located below the camera support rod (20), and the support ear (21) is installed on the upper surface of the patrol (1).

5. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: The patrol release mechanism (2) includes a camera support rod (20), a support ear (21), a limiting ball (22), a pulley (23) and a limiting hole (24), wherein the camera support rod (20) is installed in the support ear (21), the support ear (21) is installed on the upper surface of the patrol (1), and the upper surface of the patrol (1) is provided with a limiting hole (24), the limiting hole (24) is located below the camera support rod (20), the limiting ball (22) is located in the limiting hole (24), and the slow-release rope (6) is connected to the limiting ball (22) through the pulley (23).

6. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: The patrol release mechanism (2) includes a camera support rod (20), a pull rod (25), a limit rod (26), a sliding sleeve (27), a limit groove (28), a torsion spring (29) and a thrust spring (30), wherein the sliding sleeve (27) is installed on the upper surface of the patrol (1), the pull rod (25) is slidably installed in the sliding sleeve (27), the side end of the pull rod (25) is installed with a torsion spring (29), the arc-shaped protrusion at the bottom of the pull rod (25) moves along the outer contour of the camera support rod (20), the limit rod (26) is connected to the torsion spring (29), the head of the limit rod (26) is clamped in the limit groove (28) in the sliding sleeve (27), the bottom of the sliding sleeve (27) is installed with a thrust spring (30), and the pull rod (25) is connected to the release rope (6).

7. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: The rocker arm (5) is mounted on the lander (11) via a hinge (7).

8. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: A volute spring (12) is provided at the connection between the rocker arm (5) and the lander (11).

9. The patrol vehicle oblique single-rocker transfer device according to claim 1, characterized in that: The pendulum rod (5) is a straight rod or a tempered curved rod.

10. A transfer method for a patrol vehicle using an inclined single-rocker transfer device according to any one of claims 1 to 3 or 8, characterized in that: It includes the following steps: Step 1: The first motor (9) operates to unlock the rover (1) and the pendulum (5) at the same time, so that the rover (1) and the pendulum (5) are separated from the lander (11); Step 2: In the initial state, the rover (1) and the rocker (5) are connected via the slewing rod (4), a damping ball joint (3) is provided at the connection between the slewing rod (4) and the rover (1), and a vortex spring (12) is provided at the connection between the rocker (5) and the lander (11). The rocker (5) drives the rover (1) to open under the combined action of the vortex spring (12) force and the speed of the release rope (6). At the same time, the posture of the rover (1) slowly rotates under the action of the damping ball joint (3), changing from a parallel lander (11) to a vertical lander (11); Step 3: Under the action of gravity, as the first motor (9) releases the attitude control rope (8), the swing arm (5) drives the patrol vehicle (1) to gradually unfold, and then finds a driving position suitable for the patrol vehicle (1); Step 4: After selecting a suitable position, the first motor (9) stops releasing the attitude control rope (8), the swing arm (5) stops rotating, and the second motor (10) starts working to release the slow-release rope (6) and thus release the rover (1) until the rover (1) is placed on the surface of the planet; Step 5: The patrol release mechanism (2) is then unlocked to separate the patrol (1) from the transfer device.

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