A single slide bar universal swing angle continuous feeding transfer device and transfer method

Abstract

The present invention provides a single-slide universal swing angle feed transfer device and method, belonging to the technical field of planetary rover transfer. The transfer device comprises a horizontal swing mechanism, a lateral deployment mechanism, and a slide feed mechanism. The horizontal swing mechanism includes a sway motor and a swivel seat, the sway motor being connected to the swivel seat. The lateral deployment mechanism includes a sway motor, a first ratchet, a second ratchet, and a one-way shaft. The sway motor is connected to the first and second ratchet wheels, the first ratchet is connected to the one-way shaft, and the one-way shaft is connected to the swivel seat. The slide feed mechanism includes a slide, a release pulley, a release rope, and a lead screw. The slide is connected to the one-way shaft. The lead screw is disposed within the slide. One end of the release pulley is connected to the second ratchet and the other end is connected to the lead screw. A nut is threaded onto the lead screw, which is connected to the planetary rover via a disengagement mechanism. The release rope is wound around the release pulley and connected to the nut. The device is primarily used for transferring planetary rover.

Description

Technical Field

[0001] The present invention belongs to the technical field of planetary rover transfer, and in particular relates to a single-slide universal swing angle continuous transfer device and a transfer method. 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 needs of planetary rover transfers. Summary of the Invention

[0005] In view of this, the present invention aims to propose a single-slide universal swing angle transfer device and transfer method to meet the needs of existing patrol vehicle transfer.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a single-slide universal swing angle feed transfer device, which includes a horizontal swing mechanism, a lateral deployment mechanism and a slide feed mechanism, the horizontal swing mechanism is connected to the lander, the lateral deployment mechanism is connected to the horizontal swing mechanism, the slide feed mechanism is connected to the lateral deployment mechanism, the slide feed mechanism is connected to the planet rover, the horizontal swing mechanism includes a horizontal swing motor and a swivel seat, the horizontal swing motor is connected to the swivel seat, drives the swivel seat to swing in the horizontal direction, the lateral deployment mechanism includes a lateral swing motor, a first ratchet , a second ratchet and a one-way rotating shaft, the two output ends of the side swing motor are respectively connected to the first ratchet and the second ratchet, the first ratchet is connected to the one-way rotating shaft, the one-way rotating shaft is connected to the swivel seat, the slide bar feeding mechanism includes a slide bar, a slow-release pulley, a slow-release rope and a screw, the slide bar is connected to the one-way rotating shaft, the screw is arranged inside the slide bar, one end of the slow-release pulley is connected to the second ratchet, and the other end is connected to the screw, a nut is screwed on the screw, the nut is connected to the planetary rover through a disengagement mechanism, the slow-release rope is wound around the slow-release pulley, and the slow-release rope is connected to the nut.

[0007] Furthermore, the disengagement mechanism includes a pressure hook, a wedge block and a cam, the nut is connected to the connecting seat, the connecting seat is arranged above the planetary rover through the constraint of the pressure hook, a tension spring is provided between the pressure hook and the planetary rover, the bottom of the pressure hook is connected to the inclined surface of the wedge block, the bottom of the wedge block is connected to the cam, the cam is connected to the wheel, and the side of the wedge block is limited by the limit block.

[0008] Furthermore, there are two separation mechanisms, which are respectively arranged on both sides of the planetary rover.

[0009] Furthermore, when the transfer device is in the folded state, the planetary rover is connected to the lander through the planetary rover locking mechanism, and the slide rod is connected to the lander through the slide rod locking mechanism.

[0010] Furthermore, the planetary rover locking mechanism and the slide rod locking mechanism adopt a pyrotechnic unlocking mechanism and / or an electric unlocking mechanism.

[0011] Furthermore, the electric unlocking mechanism includes a limit rod, a load-bearing cone ring and a lock cover, the load-bearing cone ring is connected to the lander, the lock cover is connected to the planetary rover, the limit rod is slidably connected to the inside of the separation rod, one end of the separation rod is connected to the load-bearing cone ring, and the other end is inserted into the lock cover, a boss is provided in the middle of the limit rod, a limit spring is provided between the bottom surface of the boss and the load-bearing cone ring, an auxiliary separation spring is provided between the load-bearing cone ring and the lock cover, a plurality of through holes are provided around the separation rod, balls are provided in the through holes, a ball groove is provided on the lock cover, the ball is engaged with the ball groove, and the limit rod is connected to the unlocking mechanism.

[0012] Furthermore, the unlocking mechanism is connected to the first ratchet.

[0013] Furthermore, the unlocking mechanism is an eccentric wheel unlocking mechanism, which includes an eccentric wheel and an unlocking rope. The eccentric wheel is arranged on the end face of the first ratchet. One end of the unlocking rope is connected to the eccentric wheel, and the other end is connected to the limit rod.

[0014] Furthermore, the unlocking mechanism is a cam slide unlocking mechanism, which includes an unlocking cam, an unlocking slide and an unlocking rope. The unlocking cam is arranged on the end face of the first ratchet, and the side of the unlocking cam is in contact with one end of the unlocking slide, and the other end of the unlocking slide is connected to the unlocking rope, and the unlocking rope is connected to the limit rod.

[0015] Furthermore, a limiting groove is provided on the side of the unlocking slide bar, and the limiting groove is locked with the limiting pin.

[0016] Furthermore, a steering pulley is provided on the unlocking rope.

[0017] Furthermore, there are two planetary rover locking mechanisms, which are arranged side by side between the bottom of the planetary rover and the side wall of the lander.

[0018] Furthermore, the slide rod has a C-shaped cross section, the nut is sleeved on the outside of the slide rod, and the nut is connected to the lead screw through an opening of the C-shaped cross section of the slide rod.

[0019] Furthermore, the lead screw is a trapezoidal lead screw with a diameter of 10 mm and a lead of 12 mm.

[0020] Furthermore, the horizontal swing mechanism also includes a gear set and a support, the support is connected to the lander, the first rotating shaft on the gear set is connected to the horizontal swing motor, and the second rotating shaft on the gear set is connected to the slewing seat.

[0021] Furthermore, the first ratchet wheel is connected to the one-way rotating shaft after the axial direction is changed by the bevel gear set.

[0022] Furthermore, a ratchet is provided in the one-way rotating shaft, and the ratchet is locked by a pawl.

[0023] The present invention also provides a transfer method of a single-slide universal swing angle continuous transfer device, which comprises the following steps:

[0024] Step 1: The planetary rover locking mechanism and the slide bar locking mechanism are unlocked to achieve unlocking between the planetary rover and the lander;

[0025] Step 2: The sway motor rotates forward, and the first ratchet wheel causes the slide bar to unfold around the one-way rotation axis. At the same time, the sway motor rotates, driving the slide bar to swing and select a suitable landing point within a certain sector area.

[0026] Step 3: When the slide bar is deployed to the appropriate position, the side swing motor rotates in the opposite direction, driving the slow-release rope wheel to rotate through the second ratchet, and the slow-release rope wheel drives the lead screw to rotate, while releasing the slow-release rope. The lead screw and nut work together to push the planet rover to the end of the slide bar until it detaches.

[0027] Step 4: After the rover leaves the slide bar, the side swing motor continues to rotate in the opposite direction, releasing the release rope. The release rope then passes through the inside of the slide bar to suspend the rover and continue to send it to the surface of the planet.

[0028] Step 5: The planetary rover moves and is separated from the release rope by the detachment mechanism.

[0029] Compared with the existing technology, the present invention has the following advantages: the present invention can control the rotation of the slide bar around the X-axis through the horizontal swing mechanism, so that after the slide bar is deployed, a suitable landing point can be selected in the YZ plane, and the lateral deployment mechanism forms a fan-shaped landing point selection range. The lateral deployment mechanism can control the rotation of the slide bar around the Y-axis to achieve the deployment of the slide bar relative to the lander, so as to facilitate the delivery of the lunar rover to a specified distance. The slide bar continuous delivery mechanism can drive the lunar rover along the slide bar to the end. After releasing the slide bar constraint, the lunar rover is slowly lowered to the lunar surface using a release rope.

[0030] In its initial state, the rover is retracted and pressed against the sidewall of the lander. A locking mechanism holds the rover and lander together. By controlling the locking and unlocking of the unlocking mechanism, the rover and the slide bar are simultaneously locked and released. The rover's locking, unlocking, and transfer mechanisms are integrated into a single unit, resulting in a simple structure and high reliability. Landing sites can be selected in a sector-shaped pattern, offering a wide range of options and minimal impact on operating conditions. The entire transfer mechanism utilizes a slide bar structure, resulting in a short overhang and excellent structural rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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:

[0032] Figure 1 This is a structural schematic diagram of a single-sliding-bar universal swing angle continuous transfer device according to the present invention;

[0033] Figure 2 This is a schematic diagram of the working mode of the horizontal swing mechanism of the present invention;

[0034] Figure 3This is a schematic structural diagram of the horizontal swing mechanism of the present invention;

[0035] Figure 4 This is a schematic diagram of the working mode of the lateral deployment mechanism of the present invention;

[0036] Figure 5 This is a schematic structural diagram of the lateral deployment mechanism of the present invention;

[0037] Figure 6 This is a schematic diagram of the internal structure of the one-way rotating shaft of the present invention;

[0038] Figure 7 This is a structural diagram of the slide bar feeding mechanism of the present invention;

[0039] Figure 8 This is a schematic diagram of the nut connection structure of the present invention;

[0040] Figure 9 The present invention Figure 8 Schematic diagram of the enlarged position;

[0041] Figure 10 The present invention Figure 9 AA cross-sectional structural diagram;

[0042] Figure 11 This is a schematic diagram of the connection structure between the planet rover locking mechanism and the slide rod locking mechanism of the present invention;

[0043] Figure 12 This is a schematic structural diagram of the disengagement mechanism of the present invention;

[0044] Figure 13 This is a schematic structural diagram of the electric unlocking mechanism of the present invention;

[0045] Figure 14 A schematic diagram of the unlocking process of the electric unlocking mechanism according to the present invention;

[0046] Figure 15 This is a schematic diagram of the planetary rover and lander separated from each other according to the present invention;

[0047] Figure 16 This is a structural diagram of the eccentric wheel unlocking mechanism of the present invention;

[0048] Figure 17 This is a schematic structural diagram of the cam slide unlocking mechanism of the present invention;

[0049] Figure 18 This is a schematic diagram of the planetary rover in the unlocked state according to the present invention;

[0050] Figure 19 This is a schematic diagram of the slide bar according to the present invention in a swinging and unfolding state;

[0051] Figure 20 This is a schematic diagram of the descent process of the planetary rover according to the present invention;

[0052] Figure 21 This is a schematic diagram of the planetary rover according to the present invention being delivered to the planetary surface;

[0053] Figure 22 This is a schematic diagram of the main structure of the transfer process under the nominal working conditions of the present invention;

[0054] Figure 23 This is a schematic diagram of the transfer range under the nominal working conditions of the present invention;

[0055] Figure 24 This is a schematic diagram of the main structure of the transfer process under the backward 14° transfer working condition of the present invention;

[0056] Figure 25 This is a schematic diagram of the downward movement range of the 14° backward transfer working condition of the present invention;

[0057] Figure 26 This is a schematic diagram of the main structure of the transfer process under the forward pitch-14° transfer working condition of the present invention;

[0058] Figure 27 This is a schematic diagram of the downward movement range of the forward pitch-14° transfer working condition according to the present invention;

[0059] Figure 28 This is a schematic diagram of the main structure of the transfer process under extreme working conditions described in the present invention;

[0060] Figure 29 This is a schematic diagram of the transfer range under extreme working conditions described in the present invention.

[0061] 1-planet rover, 2-lander, 3-horizontal swing mechanism, 4-lateral deployment mechanism, 5-slide rod feeding mechanism, 6-horizontal swing motor, 7-lateral swing motor, 8-gear set, 9-support, 10-swivel seat, 11-first rotating shaft, 12-second rotating shaft, 13-first ratchet, 14-second ratchet, 15-bevel gear set, 16-slow-release rope pulley, 17-one-way rotating shaft, 18-slide rod, 19-slow-release rope, 20-nut, 21-screw, 22-planet Ball patrol locking mechanism, 23-slide rod locking mechanism, 24-connecting seat, 25-locating pin, 26-pressure hook, 27-tension spring, 28-wedge block, 29-limit block, 30-cam, 31-wheel, 32-unlocking pull rope, 33-load-bearing cone ring, 34-ball, 35-locking cover, 36-limiting rod, 37-separation rod, 38-limiting spring, 39-auxiliary spring, 40-eccentric wheel, 41-unlocking cam, 42-limiting pin, 43-unlocking slide rod. DETAILED DESCRIPTION

[0062] 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.

[0063] This embodiment takes the moon landing transfer process as an example, and the planetary rover 1 is a lunar rover.

[0064] See also Figure 1-29 Describe this embodiment, a single slide bar universal swing angle feed transfer device, which includes a horizontal swing mechanism 3, a lateral deployment mechanism 4 and a slide bar feed mechanism 5, the horizontal swing mechanism 3 is connected to the lander 2, the lateral deployment mechanism 4 is connected to the horizontal swing mechanism 3, the slide bar feed mechanism 5 is connected to the lateral deployment mechanism 4, the slide bar feed mechanism 5 is connected to the lunar rover, the horizontal swing mechanism 3 includes a horizontal swing motor 6 and a swivel seat 10, the horizontal swing motor 6 is connected to the swivel seat 10, driving the swivel seat 10 to swing horizontally, the lateral deployment mechanism 4 includes a side swing motor 7, a first ratchet 13, a second ratchet 14 and a one-way rotating shaft 17, the side swing motor The two output ends of 7 are respectively connected to the first ratchet 13 and the second ratchet 14, the first ratchet 13 is connected to the one-way rotating shaft 17, the one-way rotating shaft 17 is connected to the rotating seat 10, the slide rod feeding mechanism 5 includes a slide rod 18, a slow-release pulley 16, a slow-release rope 19 and a screw 21, the slide rod 18 is connected to the one-way rotating shaft 17, the screw 21 is arranged inside the slide rod 18, one end of the slow-release pulley 16 is connected to the second ratchet 14, and the other end is connected to the screw 21, a nut 20 is screwed on the screw 21, the nut 20 is connected to the lunar rover through a disengagement mechanism, the slow-release rope 19 is wound around the slow-release pulley 16, and the slow-release rope 19 is connected to the nut 20.

[0065] This embodiment comprises three components: a horizontal swing mechanism 3, a lateral deployment mechanism 4, and a slide-rod delivery mechanism 5. The horizontal swing mechanism 3 rotates about the X-axis, controlling the slide 18 to rotate about the X-axis. This allows the slide 18 and the rover to swing horizontally, allowing the slide 18 to select a suitable landing point within the YZ plane after deployment. This, in conjunction with the lateral deployment mechanism 4, creates a sector-shaped landing point selection range. The lateral deployment mechanism 4 rotates about the Y-axis, controlling the slide 18 to rotate about the Y-axis, enabling the slide 18 and the rover to swing laterally, deploying the slide 18 relative to the lander 2 and facilitating the rover's deployment to a desired distance. The slide-rod delivery mechanism 5 controls the rover's slow descent along the slide 18 to its end. After disengaging from the slide 18, the rover can be delivered to the lunar surface using a slow-release rope 19.

[0066] When the transfer device described in this embodiment is in the folded state, the lunar rover is connected to the lander 2 through the lunar rover locking mechanism 22, and the slide bar 18 is connected to the lander 2 through the slide bar locking mechanism 23. There are two lunar rover locking mechanisms 22, and the two lunar rover locking mechanisms 22 are arranged side by side between the bottom of the lunar rover and the side wall of the lander 2 to lock the lunar rover. The slide bar locking mechanism 23 is arranged between the end of the slide bar 18 and the lander 2 to serve as an auxiliary locking and limiting mechanism for the slide bar 18. The lunar rover locking mechanism 22 and the slide bar locking mechanism 23 use a pyrotechnic unlocking mechanism and / or an electric unlocking mechanism. The three unlocking mechanisms can all use pyrotechnic unlocking mechanisms or all use electric unlocking mechanisms, or two pyrotechnic unlocking mechanisms and one electric unlocking mechanism can also be used.

[0067] The electric unlocking mechanism includes a limit rod 36, a load-bearing cone ring 33 and a lock cover 35. The load-bearing cone ring 33 is connected to the lander 2, and the lock cover 35 is connected to the lunar rover. The limit rod 36 is slidably connected to the inside of the separation rod 37. One end of the separation rod 37 is connected to the load-bearing cone ring 33, and the other end is inserted into the lock cover 35. A boss is provided in the middle of the limit rod 36, and a limit spring 38 is provided between the bottom surface of the boss and the load-bearing cone ring 33. An auxiliary separation spring 39 is provided between the load-bearing cone ring 33 and the lock cover 35. A plurality of through holes are provided around the separation rod 37, and balls 34 are provided in the through holes. A ball groove is provided on the lock cover 35, and the ball 34 is engaged with the ball groove. The limit rod 36 is connected to the unlocking mechanism.

[0068] The ball-type clamping mechanism is a typical electric clamping mechanism, notably characterized by its low unlocking force. For applications with limited load capacity, limited dimensions and weight, and demanding mechanical design, a ball-type limiter is used to achieve multi-point connection while simultaneously providing load capacity. The limiter rod 36 then releases the ball 34, achieving unlocking and separation.

[0069] When the electric unlocking mechanism is in the compressed state, the interaction between the ball 34, the release rod 37, and the stop rod 36 tightly connects the lander 2 and the lunar rover. To unlock the lander 2 after landing on the moon, the unlocking mechanism pulls the stop rod 36, overcoming the preload and friction of the stop spring 38 and moving the stop rod 36 to the left. At this point, the ball 34 is freed from radial restraint, the release rod 37 disengages from the lock cover 35, and the release is complete. The auxiliary release spring 39 provides thrust to facilitate the separation of the lunar rover.

[0070] The unlocking mechanism is connected to the first ratchet 13 and unlocks the vehicle by rotating the limit lever 36 through the sway motor 7. The sway motor 7 serves as the driving source, and its output is connected to the first ratchet 13. The forward rotation of the control slide 18 deploys, completing the transfer action. The unlocking mechanism and the slow-release sheave 16 utilize the same power source, achieving a co-designed system for the lunar rover's compression, unlocking, and transfer, reducing device complexity and improving reliability. Two unlocking mechanisms are proposed: an eccentric unlocking mechanism and a cam slide unlocking mechanism.

[0071] like Figure 16 As shown, the unlocking mechanism is an eccentric unlocking mechanism, comprising an eccentric 40 and an unlocking rope 32. The eccentric 40 is mounted on the end face of the first ratchet 13. One end of the unlocking rope 32 is connected to the eccentric 40, and the other end is connected to the limit rod 36. Unlocking the lunar rover and lander 2 is achieved via the eccentric 40 mounted on the end face of the first ratchet 13. The eccentric 40 is mounted on the left end of the first ratchet 13. Rotating the eccentric 40 pulls the limit rod 36 via the unlocking rope 32, achieving unlocking. This unlocking mechanism has a simple structure, but it does have the problem of the eccentric 40 continuously rotating, causing the limit rod 36 to reciprocate under tension. However, this does not affect normal unlocking.

[0072] In order to solve the problem of the reciprocating action of the limit rod 36 in the eccentric wheel unlocking mechanism and prolong the unlocking triggering time, a cam slide unlocking mechanism is proposed. Figure 17 As shown, the cam slide unlocking mechanism includes an unlocking cam 41, an unlocking slide 43, and an unlocking pull rope 32. The unlocking cam 41 is disposed on the end face of the first ratchet 13. The side of the unlocking cam 41 contacts and engages with one end of the unlocking slide 43. The other end of the unlocking slide 43 is connected to the unlocking pull rope 32, which is in turn connected to the limit rod 36. An unlocking cam 41 is mounted on the left side of the first ratchet 13. The unlocking cam 41 engages with the unlocking slide 43, the other end of which is connected to the limit rod 36 via the unlocking pull rope 32. When the first ratchet 13 begins to rotate, the unlocking cam 41 drives the unlocking slide 43 downward, pulling the unlocking pull rope 32 to pull out the limit rod 36, thereby unlocking the lock. Furthermore, a limit slot is disposed on the side of the unlocking slide 43, which is locked with a limit pin 42. The limit pin 42 pops out and locks the unlocking slide 43. This unlocking mechanism structure is slightly complicated, but it solves the problem in the eccentric wheel unlocking solution better. At the same time, the unlocking holding time can be controlled by utilizing the profile of the unlocking cam 41 to ensure reliable unlocking and separation.

[0073] In the above-mentioned two eccentric wheel unlocking mechanisms and cam slide unlocking mechanism schemes, the unlocking rope 32 is provided with a steering pulley, which changes the pulling direction of the unlocking rope 32 through the steering pulley so that the unlocking rope 32 can pull out the limit rod 36.

[0074] like Figure 2 and 3 As shown, the horizontal swing mechanism 3 controls the rotation of the slide bar 18 about the X-axis, allowing the slide bar 18 to select a suitable landing point within the YZ plane after deployment. This, in conjunction with the lateral deployment mechanism 4, creates a sector-shaped landing point selection range. The horizontal swing mechanism 3 also includes a gear set 8 and a support 9. The support 9 is connected to the lander 2. The first rotating shaft 11 of the gear set 8 is connected to the yaw motor 6, and the second rotating shaft 12 of the gear set 8 is connected to the swivel base 10. The rotation of the yaw motor 6, after being decelerated and torque-increased by the gear set 8, drives the swivel base 10 to rotate about the second rotating shaft 12. The lateral deployment mechanism 4 is mounted on the swivel base 10, thus achieving horizontal swing of the entire lateral deployment mechanism 4.

[0075] like Figure 4-6 As shown, the lateral deployment mechanism 4 controls the rotation of the slide bar 18 about the Y axis, enabling the slide bar 18 to be deployed relative to the lander 2, thereby enabling the lunar rover to be delivered to a specified distance. The first ratchet 13 is connected to the one-way shaft 17 after the bevel gear set 15 changes its axial direction. When the sway motor 7 rotates forward, the first ratchet 13 outputs power to the bevel gear set 15. After the bevel gear set 15 changes its axial direction, the power is transmitted to the one-way shaft 17. The one-way shaft 17 rotates counterclockwise, driving the slide bar 18 to complete the deployment action. The one-way shaft 17 is provided with ratchets, which are locked by pawls. When the sway motor 7 rotates to the specified angle, the ratchets and pawls in the one-way shaft 17 lock, and the sway motor 7 reverses to drive the lunar rover to slide and slowly release the landing.

[0076] like Figure 7-10 As shown, the function of the slide rod feed mechanism 5 is to drive the lunar rover along the slide rod 18 to the end. After being freed from the constraints of the slide rod 18, the lunar rover is slowly lowered to the lunar surface using the release rope 19. The sway motor 7 is the power source for both the descent feed mechanism and the lateral deployment mechanism. It is driven by the reverse and forward rotation of the sway motor 7, respectively, and is locked to each other by ratchets. In the slide rod feed mechanism 5, the sway motor 7 reverses, transmitting power to the release rope pulley 16 through the second ratchet 14. The release rope pulley 16 rotates to release the release rope 19. At the same time, the release rope pulley 16 transmits power to the lead screw 21 in the slide rod 18. The lead screw 21 rotates, and through the action of the lead screw 21 and the nut 20, it drives the lunar rover to move. The release rope 19 is released by the release rope pulley 16, and the lunar rover moves downward along the slide rod 18. When the lunar rover moves to the end of the slide rod 18, the nut 20 disengages from the screw 21, and the lunar rover disengages from the slide rod 18. The lunar rover is controlled by the release rope 19, the side swing motor 7 continues to rotate, and the release rope 19 is continuously released, so that the lunar rover is landed on the lunar surface in a continuous manner.

[0077] Taking into account the guiding function and transmission requirements of the sliding rod 18, the sliding rod 18 is designed to have a C-shaped cross-section. The nut 20 is sleeved on the outside of the sliding rod 18. The nut 20 is connected to the screw 21 through the opening of the C-shaped cross-section of the sliding rod 18. The screw 21 is a T10×12 trapezoidal screw with a diameter of 10mm and a lead of 12mm. A rope tie point is set on the nut 20 for fixing the slow-release rope 19.

[0078] The disengagement mechanism of this embodiment includes a pressure hook 26, a wedge 28, and a cam 30. The nut 20 is connected to the connecting seat 24, which is positioned above the lunar rover through the constraint of the pressure hook 26. A tension spring 27 is provided between the pressure hook 26 and the lunar rover. The lower portion of the pressure hook 26 is connected to the inclined surface of the wedge 28, which is connected to the cam 30 below. The cam 30 is connected to the wheel 31, and the side of the wedge 28 is limited by the stop block 29. The pressure hook 26 constrains the connecting seat 24 to the top surface of the lunar rover. The disengagement power comes from the lunar rover's running wheel axle. When the lunar rover lands normally, the running wheel axle rotates, and the wheel 31 drives the cam 30 to rotate. The cam 30 pushes the wedge 28 upward, and the wedge 28 uses the inclined surface to flip the pressure hook 26, releasing the connecting seat 24 to achieve disengagement. Preferably, there are two disengagement mechanisms, one on each side of the lunar rover.

[0079] The present invention also provides a transfer method for a single slide bar universal swing angle transfer device, such as Figure 18-29 As shown, it includes the following steps:

[0080] Step 1: Unlock the lunar rover locking mechanism 22 and the slide bar locking mechanism 23 to achieve unlocking between the lunar rover and the lander 2. The unlocking method can be pyrotechnic unlocking and / or electric unlocking;

[0081] Step 2: The sway motor 7 rotates forward, and the first ratchet 13 acts to cause the slide bar 18 to unfold around the one-way rotating shaft 17. At the same time, the sway motor 6 rotates, driving the slide bar 18 to swing and select a suitable landing point within a certain sector area;

[0082] Step 3: When the slide bar 18 is deployed to the appropriate position, the side swing motor 7 rotates in the opposite direction, and the motor output switches to the descent slow-release state. The second ratchet 14 drives the slow-release rope wheel 16 to rotate, and the slow-release rope wheel 16 drives the screw 21 to rotate, while releasing the slow-release rope 19. The screw 21 and the nut 20 push the lunar rover to the end of the slide bar 18 until it detaches.

[0083] Step 4: After the lunar rover detaches from the slide bar 18, the side swing motor 7 continues to rotate in the opposite direction, releasing the slow-release rope 19. The slow-release rope 19 passes through the interior of the slide bar 18 to suspend the lunar rover and continue to send it to the lunar surface.

[0084] Step 5: The lunar rover moves and is separated from the release rope 19 by the release mechanism.

[0085] Analysis of various extreme operating conditions revealed that roll conditions had a significant impact on the selected area, so a focus was placed on the transfer range analysis for pitch conditions. Under the extreme condition of 14° pitch (8° lunar slope, 6° roll of Lander 2 relative to the lunar surface), the rover's transfer range and interference checks were performed.

[0086] like Figure 22 and 23 The figure shows the horizontal working condition. Without considering the slippage of the lunar rover during landing, the lunar rover can be sent to a maximum distance of 1679 mm from the lander. As can be seen from the figure, the lunar rover has two fan-shaped areas to choose from on the -Z side, namely the 93° range and the 47° range.

[0087] like Figure 24 and 25 The figure shows a 14° tilt-back condition, where the rover can be delivered up to 1626 mm from the lander. Two fan-shaped areas are available on the -Z side: an 87° range and a 41° range. It can be seen that the fan-shaped area angles and radii are reduced compared to the horizontal condition, meaning the transfer range is smaller.

[0088] like Figure 26 and 27 The figure shows a 14° forward pitch condition. The rover can be sent as far as 1705mm from the lander. The rover has a through-sector area on the -Z side that can be selected, representing a 180° range. This shows that the transfer range is larger than in the horizontal condition.

[0089] Taking into account various extreme working conditions, the center of the upper surface of lander 2 is used as the reference point, and the transfer ranges of various working conditions are combined together. The intersection of the transfer ranges is as follows: Figure 28 and 29 As shown, it can be seen that the first quadrant is the main transfer area and is less affected by the working conditions. The fourth quadrant is more affected, but still retains a part of the transfer range.

[0090] In summary, the transfer device and transfer method described in this embodiment can select a lunar rover landing area in the first and fourth quadrants, which has a wide selection range and can comprehensively consider the lighting requirements and the lunar surface flatness requirements.

[0091] The transfer plan for planetary rovers to other planets is the same as the lunar landing transfer process, and planetary rover 1 can be the rover of the corresponding planet.

[0092] 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 single-slide universal swing angle feed transfer device, characterized in that: It comprises a horizontal swing mechanism (3), a lateral deployment mechanism (4) and a slide rod feeding mechanism (5), wherein the horizontal swing mechanism (3) is connected to the lander (2), the lateral deployment mechanism (4) is connected to the horizontal swing mechanism (3), the slide rod feeding mechanism (5) is connected to the lateral deployment mechanism (4), and the slide rod feeding mechanism (5) is connected to the planet rover (1). The horizontal swing mechanism (3) comprises a horizontal swing motor (6) and a slewing seat (10), wherein the horizontal swing motor (6) is connected to the slewing seat (10) to drive the slewing seat (10) to swing in the horizontal direction, and the lateral deployment mechanism (4) comprises a lateral swing motor (7), a first ratchet (13), a second ratchet (14) and a one-way rotating shaft (17), wherein the two output ends of the lateral swing motor (7) are respectively connected to the first ratchet (13) and a second ratchet (14), the first ratchet (13) is connected to a one-way rotating shaft (17), the one-way rotating shaft (17) is connected to a slewing seat (10), the slide rod feeding mechanism (5) comprises a slide rod (18), a slow-release rope wheel (16), a slow-release rope (19) and a lead screw (21), the slide rod (18) is connected to the one-way rotating shaft (17), the lead screw (21) is arranged inside the slide rod (18), one end of the slow-release rope wheel (16) is connected to the second ratchet (14), and the other end is connected to the lead screw (21), a nut (20) is screwed on the lead screw (21), the nut (20) is connected to the planetary rover (1) through a disengagement mechanism, a slow-release rope (19) is wound around the slow-release rope wheel (16), and the slow-release rope (19) is connected to the nut (20).

2. The single-slide universal swing angle feed transfer device according to claim 1, characterized in that: The disengagement mechanism comprises a pressure hook (26), a wedge block (28) and a cam (30); the nut (20) is connected to the connecting seat (24); the connecting seat (24) is arranged above the planetary rover (1) through the constraint of the pressure hook (26); a tension spring (27) is arranged between the pressure hook (26) and the planetary rover (1); the lower part of the pressure hook (26) is connected to the inclined surface of the wedge block (28); the lower part of the wedge block (28) is connected to the cam (30); the cam (30) is connected to the wheel (31); and the side surface of the wedge block (28) is limitedly matched with the limit block (29).

3. The single-slide universal swing angle transfer device according to claim 2, characterized in that: There are two disengagement mechanisms, which are respectively arranged on both sides of the planetary rover (1).

4. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: When the transfer device is in a retracted state, the planetary rover (1) is connected to the lander (2) via the planetary rover locking mechanism (22), and the slide bar (18) is connected to the lander (2) via the slide bar locking mechanism (23).

5. The single-slide universal swing angle continuous transfer device according to claim 4, characterized in that: The planet rover locking mechanism (22) and the slide bar locking mechanism (23) adopt a pyrotechnic unlocking mechanism and / or an electric unlocking mechanism.

6. The single-slide universal swing angle continuous transfer device according to claim 5, characterized in that: The electric unlocking mechanism comprises a limit rod (36), a load-bearing cone ring (33) and a lock cover (35), wherein the load-bearing cone ring (33) is connected to the lander (2), and the lock cover (35) is connected to the planet rover (1). The limit rod (36) is slidably connected to the inside of the separation rod (37), one end of the separation rod (37) is connected to the load-bearing cone ring (33), and the other end is inserted into the lock cover (35). A boss is provided in the middle of the limit rod (36), a limit spring (38) is provided between the bottom surface of the boss and the load-bearing cone ring (33), and an auxiliary separation spring (39) is provided between the load-bearing cone ring (33) and the lock cover (35). A plurality of through holes are provided around the separation rod (37), and balls (34) are provided in the through holes. A ball groove is provided on the lock cover (35), and the ball (34) is engaged with the ball groove. The limit rod (36) is connected to the unlocking mechanism.

7. The single-slide universal swing angle continuous transfer device according to claim 6, characterized in that: The unlocking mechanism is connected to the first ratchet (13).

8. The single-slide universal swing angle continuous transfer device according to claim 7, characterized in that: The unlocking mechanism is an eccentric unlocking mechanism, which includes an eccentric (40) and an unlocking rope (32). The eccentric (40) is arranged on the end face of the first ratchet (13). One end of the unlocking rope (32) is connected to the eccentric (40), and the other end is connected to the limit rod (36).

9. The single-slide universal swing angle continuous transfer device according to claim 7, characterized in that: The unlocking mechanism is a cam slide unlocking mechanism, which includes an unlocking cam (41), an unlocking slide (43) and an unlocking rope (32). The unlocking cam (41) is arranged on the end face of the first ratchet (13). The side of the unlocking cam (41) contacts and cooperates with one end of the unlocking slide (43). The other end of the unlocking slide (43) is connected to the unlocking rope (32), and the unlocking rope (32) is connected to the limiting rod (36).

10. The single-slide universal swing angle continuous transfer device according to claim 9, characterized in that: A limiting groove is provided on the side of the unlocking slide bar (43), and the limiting groove is locked with the limiting pin (42).

11. A single-slide universal swing angle continuous transfer device according to any one of claims 8 to 10, characterized in that: The unlocking pull rope (32) is provided with a steering pulley.

12. A single-slide universal swing angle continuous transfer device according to any one of claims 4 to 10, characterized in that: There are two planetary rover locking mechanisms (22), and the two planetary rover locking mechanisms (22) are arranged side by side between the bottom of the planetary rover (1) and the side wall of the lander (2).

13. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: The slide rod (18) has a C-shaped cross section, the nut (20) is sleeved on the outside of the slide rod (18), and the nut (20) is connected to the lead screw (21) through the opening of the C-shaped cross section of the slide rod (18).

14. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: The lead screw (21) is a trapezoidal lead screw with a diameter of 10 mm and a lead of 12 mm.

15. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: The horizontal swing mechanism (3) further comprises a gear set (8) and a support (9), wherein the support (9) is connected to the lander (2), a first rotating shaft (11) on the gear set (8) is connected to the horizontal swing motor (6), and a second rotating shaft (12) on the gear set (8) is connected to the slewing seat (10).

16. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: The first ratchet (13) is connected to the one-way rotating shaft (17) after the axial direction is changed by the bevel gear set (15).

17. The single-slide universal swing angle continuous transfer device according to claim 1, characterized in that: A ratchet is provided inside the one-way rotating shaft (17), and the ratchet is locked by a pawl.

18. A transfer method for a single-slide universal swing angle transfer device according to any one of claims 1 to 17, wherein when the transfer device is in a retracted state, the rover (1) is connected to the lander (2) via the rover locking mechanism (22), and the slide (18) is connected to the lander (2) via the slide locking mechanism (23), characterized in that: It includes the following steps: Step 1: The planet rover locking mechanism (22) and the slide bar locking mechanism (23) are unlocked, thereby achieving unlocking between the planet rover (1) and the lander (2); Step 2: The lateral swing motor (7) rotates forward, and the first ratchet (13) causes the slide bar (18) to unfold around the one-way rotating shaft (17). At the same time, the horizontal swing motor (6) rotates, driving the slide bar (18) to swing and select a suitable landing point within a certain sector area; Step 3: When the slide bar (18) is unfolded to a suitable position, the side swing motor (7) rotates in the opposite direction, and the second ratchet (14) drives the slow-release rope wheel (16) to rotate, and the slow-release rope wheel (16) drives the lead screw (21) to rotate, and at the same time releases the slow-release rope (19), and the planet rover (1) is pushed to the end of the slide bar (18) through the action of the lead screw (21) and the nut (20) until it is disengaged; Step 4: After the planet rover (1) is separated from the slide bar (18), the side swing motor (7) continues to rotate in the opposite direction, releasing the slow-release rope (19). The slow-release rope (19) passes through the interior of the slide bar (18) and continues to suspend the planet rover to the surface of the planet in a continuous manner; Step 5: The planet rover (1) moves and is separated from the release rope (19) under the action of the separation mechanism.

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