A transfer device and method for a folded boom side swing follow-on planetary rover

Abstract

The application provides a folding and unfolding rod side swing continuous transfer celestial orbiter transfer device and method, and belongs to the field of celestial orbiter transfer. The transfer device comprises a swing rod, a boom, a slow-release rope, an attitude control rope and a fixed-length rope. One end of the swing rod is connected with one end of the boom through an attitude control hinge, and the other end is connected with a first cam through a hinge. The other end of the boom is connected with the celestial orbiter through a separation mechanism. The first cam is connected with a swing motor. The swing motor controls the swing rod to swing along the horizontal direction. One end of the slow-release rope is wound around a slow-release rope wheel, and the other end is connected with the separation mechanism. The slow-release rope wheel is connected with a slow-release motor. One end of the attitude control rope is arranged on the first cam, and the other end is connected with the boom. One end of the fixed-length rope is wound around a fixed-length rope wheel, and the other end is connected with the swing rod. The slow-release rope wheel, the fixed-length rope wheel, the slow-release motor, the swing motor and the first cam are arranged on a lander. The device is mainly used for the transfer of the celestial orbiter.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of planet rover transfer, and particularly relates to a folding rod side swing continuous transfer planet rover transfer device and a transfer method. BACKGROUND

[0002] The transfer mechanism is a component for transferring and releasing the rover carried by the lander to the surface of a planet, and has important applications in the field of extraterrestrial exploration. The transfer release technology represented by the transfer mechanism is one of the key technologies in the technical system required by the entire extraterrestrial exploration mission, and is a key link that determines the success or failure of the exploration mission.

[0003] According to different landing modes and rover masses, the transfer mechanism has various forms. Taking the transfer of a lunar rover as an example, it is required that during the flight processes of the transfer-to-moon segment, the moon orbiting segment, and the powered descent segment, the lunar rover and the transfer mechanism should be reliably pressed against the side wall of the lander and be able to withstand lateral and longitudinal acceleration loads; after the lander safely lands on the moon surface, the lunar rover can be reliably transferred to the moon surface under the action of the transfer mechanism and reliably separated. This puts forward higher requirements for the transfer mechanism, which needs the lunar transfer mechanism to safely and reliably press and install the lunar rover and the transfer mechanism on the lander during the flight stage and before the lunar transfer; after the lander lands on the moon, the transfer mechanism and the lunar rover are separated from the lander, the transfer mechanism reliably transfers the lunar rover to the moon surface, and at the same time, the lander has various working conditions such as side inclination and pitch. Therefore, the transfer mechanism should be able to reliably transfer the lunar rover to the moon surface under various landing conditions, and the lunar rover landing site should have a certain optional range to avoid moon surface pits and protrusions; after the lunar rover stably lands on the moon, the lunar rover is separated from the transfer mechanism to realize free walking of the lunar rover on the moon surface.

[0004] The requirements of other rovers are basically the same as those of the lunar rover, and therefore a scheme capable of meeting the current planet rover transfer is needed. SUMMARY

[0005] Therefore, the present application aims to provide a folding rod side swing continuous transfer planet rover transfer device and a transfer method to meet the current rover transfer requirements.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a folding boom side-swinging continuous planetary rover transfer device, comprising a swing boom, a boom, a release rope, an attitude control rope, and a fixed-length rope. One end of the swing boom is connected to one end of the boom via an attitude control hinge, and the other end is hinged to a first cam. The other end of the boom is connected to the planetary rover via a release mechanism. The first cam is connected to a swing motor, which controls the swing boom to swing horizontally. One end of the release rope is wound around a release rope wheel, and the other end is connected to the release mechanism. The release rope wheel is connected to a release motor. One end of the attitude control rope is disposed on the first cam, and the other end is connected to the boom. One end of the fixed-length rope is wound around a fixed-length rope wheel, and the other end is connected to the swing boom. The release rope wheel, the fixed-length rope wheel, the release motor, the swing motor, and the first cam are all disposed on the lander.

[0007] Furthermore, the detachment mechanism includes a connecting seat, a detachment pin, and a flipping hook. The connecting seat is connected to the planetary rover, the detachment pin is connected to the release rope, and flipping hooks are hinged on both sides inside the connecting seat. A torsion spring is provided at the hinge of the flipping hook, the detachment pin is limited to the flipping hook, and a second limiting block is provided on the connecting seat at a corresponding position on the outside of the flipping hook.

[0008] Furthermore, when the transfer device is in the retracted state, the planetary rover is connected to the lander via a clamping mechanism, which is connected to an unlocking mechanism.

[0009] Furthermore, the clamping mechanism includes a limiting rod, a load-bearing cone ring, and a locking cover. The load-bearing cone ring is connected to the lander, and the locking cover is connected to the planetary rover. The limiting rod is slidably connected inside 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 locking cover. A boss is provided in the middle of the limiting rod, and a limiting spring is provided between the bottom surface of the boss and the load-bearing cone ring. A separating spring is provided between the load-bearing cone ring and the locking cover. Multiple through holes are opened around the separation rod, and ball bearings are provided in the through holes. A ball groove is opened on the locking cover, and the ball bearings engage with the ball groove. The limiting rod is connected to the unlocking mechanism.

[0010] Furthermore, the unlocking mechanism is connected to a slow-release rope pulley.

[0011] Furthermore, the unlocking mechanism is an eccentric wheel unlocking mechanism, which includes an eccentric wheel and an unlocking pull rope. The eccentric wheel is disposed on the end face of the slow-release pull rope, and one end of the unlocking pull rope is connected to the eccentric wheel, while the other end is connected to the limiting rod.

[0012] Further, the unlocking mechanism is a cam slide rod unlocking mechanism, the cam slide rod unlocking mechanism comprises a second cam, a slide rod and an unlocking pull rope, the second cam is arranged on the end face of the slow release rope wheel, the side of the second cam is in contact with one end of the slide rod, the other end of the slide rod is connected with the unlocking pull rope, and the unlocking pull rope is connected with the limiting rod.

[0013] Further, the side of the slide rod is provided with a limiting groove which is locked with the limiting pin.

[0014] Further, the unlocking pull rope is provided with a turning pulley.

[0015] Further, the first cam is connected with the lander through a mounting seat, the first cam is rotationally connected with the mounting seat, the swing motor is arranged on the mounting seat, and the swing motor is connected with the first cam through a gear reduction set.

[0016] Further, the fixed length rope wheel is arranged on the upper portion of the side wall of the lander, and the number of the fixed length rope wheels is two, and the two fixed length rope wheels are arranged on the two sides of the swing rod respectively.

[0017] Further, the side of the fixed length rope wheel is provided with a friction plate which is connected with a pre-tightening spring.

[0018] Further, the side of the first cam is provided with a 15° inclined surface.

[0019] Further, a tension spring is arranged between the swing rod and the suspender.

[0020] Further, the swing rod is provided with a first limiting block which is matched with the bottom of the planet rover.

[0021] Further, the attitude control hinge is provided with a groove cam.

[0022] Further, a spiral spring is arranged between the swing rod and the first cam, and the slow release rope passes through the inside of the suspender.

[0023] A transfer method of a folding and unfolding rod side swing continuous planet rover transfer device, which comprises the following steps:

[0024] Step 1: the slow release motor rotates to drive the unlocking mechanism to complete the unlocking of the planet rover and the lander;

[0025] Step 2: the slow release motor continues to rotate to release the slow release rope through the slow release rope wheel, the swing rod is subjected to clockwise swing motion under the action of its own gravity and the spiral spring, the suspender is expanded under the traction of the attitude control rope, the fixed length rope is passively released in the expansion process, and the swing rod is expanded to the limit position, and the fixed length rope locks the position of the suspender;

[0026] Step 3: the swing motor works, the boom is driven by the first cam to swing in the horizontal direction, and a suitable landing point is selected on the swing arc;

[0027] Step 4: after the landing point is determined, the slow-release motor continues to release the slow-release rope, and the slow-release rope continuously sends the planet rover to the surface of the planet in a continuous manner;

[0028] Step 5: the slow-release motor continues to release the slow-release rope, the disengagement mechanism is unlocked, and the disengagement of the planet rover and the slow-release rope is completed.

[0029] Compared with the prior art, the present application has the beneficial effects that: the present application can control the orderly expansion of the swing lever and the boom by using the slow-release motor, so as to realize the controllable transfer of the rover trajectory; and the transfer mechanism is controlled to swing around the X axis by the swing motor, so as to realize the selection of the landing position. In the extreme working condition, the rover can select a relatively sufficient landing range, which covers the -Z plane and +Y plane regions of the lander, thereby greatly increasing the illumination range of the planet rover.

[0030] The rover and the transfer device are initially in a state of being folded and pressed against the side wall of the lander, the boom of the transfer device is connected to the top of the planet rover, and the swing lever of the transfer device is constrained between the side wall of the lander and the bottom surface of the rover. The rover and the lander are pressed by the locking mechanism, and by controlling the locking and unlocking of the locking mechanism, the synchronous pressing and unlocking release of the pressing mechanism and the rover can be realized.

[0031] The pressing, unlocking and transfer mechanism of the rover realizes a common body design, has a simple structure and high reliability. The landing site can be selected in the form of a circular arc, the selection range is relatively large, and the influence of the working condition is small. The unlocking and disengagement mode of the rover eliminates the dependence on the pyrotechnic unlocking and reduces the overall weight. The entire transfer device adopts a rod-rope structure, which is light and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which form a part of the present application, are used to provide a further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The accompanying drawings do not constitute an inappropriate limitation on the present application. In the drawings:

[0033] Figure 1 FIG. 1 is a schematic view of the unfolded state of the folding and expanding rod side swing continuous sending planet rover transfer device according to the present application;

[0034] Figure 2 FIG. 2 is a schematic view of the folded state of the folding and expanding rod side swing continuous sending planet rover transfer device according to the present application;

[0035] Figure 3 FIG. 3 is a schematic view of the unfolding process of the folding and expanding rod side swing continuous sending planet rover transfer device according to the present application;

[0036] Figure 4Structure diagram of eccentric wheel unlocking mechanism according to the present application;

[0037] Figure 5 Structure diagram of cam slide rod unlocking mechanism according to the present application;

[0038] Figure 6 Structure diagram of compression mechanism according to the present application;

[0039] Figure 7 Unlocked process diagram of compression mechanism according to the present application Figure 1 ;

[0040] Figure 8 Unlocked process diagram of compression mechanism according to the present application Figure 2 ;

[0041] Figure 9 Structure diagram of swing motor connecting structure according to the present application;

[0042] Figure 10 Structure diagram of fixed-length rope wheel according to the present application;

[0043] Figure 11 Process diagram of planet rover hanging and continuously sending to planet surface according to the present application;

[0044] Figure 12 Unlocked process diagram of disengagement mechanism according to the present application;

[0045] Figure 13 Structure diagram of disengagement mechanism according to the present application;

[0046] Figure 14 Process diagram of disengagement mechanism flip hook flipping according to the present application;

[0047] Figure 15 Process diagram of slow-release rope recovery according to the present application;

[0048] Figure 16 Initial locking state diagram of planet rover according to the present application;

[0049] Figure 17 Linkage deployment process diagram of transfer device according to the present application;

[0050] Figure 18 Swing selection landing point diagram according to the present application;

[0051] Figure 19 Transfer state diagram of continuously sending planet rover according to the present application;

[0052] Figure 20 14° backward transfer mode diagram according to the present application;

[0053] Figure 21 The transfer range diagram of the back 14° transfer mode according to the present application;

[0054] Figure 22 The transfer range diagram of the back 14° transfer mode according to the present application;

[0055] Figure 23 The transfer range diagram of the back 14° transfer mode according to the present application.

[0056] 1-planet rover, 2-lander, 3-swinging rod, 4-derrick, 5-slow-release rope, 6-attitude control rope, 7-fixed-length rope, 8-slow-release rope wheel, 9-fixed-length rope wheel, 10-slow-release motor, 11-swinging motor, 12-first cam, 13-attitude control hinge, 14-tension spring, 15-first limit block, 16- eccentric wheel, 17-limit rod, 18-second cam, 19-limit pin, 20-sliding rod, 21-mounting seat, 22-gear reduction set, 23-friction plate, 24-pre-tightening spring, 25-unlocking pull rope, 26-load-bearing conical ring, 27-rolling ball, 28-locking cover, 29-separation rod, 30-limit spring, 31-assistance separation spring, 32-disengagement mechanism, 33-connection seat, 34-disengagement pin, 35-flipping hook, 36-rotary shaft torsional spring, 37-second limit block. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0058] The present embodiment takes the moon transfer process as an example, and the planet rover 1 is a moon rover.

[0059] Referring to Figures 1-23The embodiment is illustrated by a transfer device for a side swing and extension star planet rover, which comprises a swing rod 3, a boom 4, a slow release rope 5, a posture control rope 6 and a fixed length rope 7. One end of the swing rod 3 is connected with one end of the boom 4 through a posture control hinge 13, and the other end is connected with a first cam 12. The other end of the boom 4 is connected with a lunar rover through a disengaging mechanism 32. The first cam 12 is connected with a swing motor 11, which controls the swing rod 3 to swing in the horizontal direction. One end of the slow release rope 5 is wound around a slow release rope wheel 8, and the other end is connected with the disengaging mechanism 32. The slow release rope wheel 8 is connected with a slow release motor 10. One end of the posture control rope 6 is arranged on the first cam 12, and the other end is connected with the boom 4. One end of the fixed length rope 7 is wound around a fixed length rope wheel 9, and the other end is connected with the swing rod 3. The slow release rope wheel 8, the fixed length rope wheel 9, the slow release motor 10, the swing motor 11 and the first cam 12 are arranged on a lander 2.

[0060] The embodiment adopts a "two-rod and three-rope" structure as a whole, wherein the "two-rod" is the swing rod 3 and the boom 4, and the "three-rope" is the slow release rope 5, the posture control rope 6 and the fixed length rope 7. The swing rod 3 provides support for the transfer of the lunar rover, and can be controlled to swing in the horizontal plane by the driving of the swing motor 11, so as to select a suitable landing point on the swing arc. The boom 4 is connected with the swing rod 3 through the posture control hinge 13, and suspends the lunar rover to complete the transfer process, and provides a channel for the extension of the slow release rope 5. The slow release rope 5 is wound around the slow release rope wheel 8, and the slow release rope wheel 8 has an active release function. The slow release motor 10 controls the slow release rope wheel 8 to release the slow release rope 5, and stably extends the lunar rover to the lunar surface after the landing point is determined. The posture control rope 6, the posture control hinge 13, the swing rod 3 and the first cam 12 constitute a four-bar mechanism, which can realize the extension attitude control of the boom 4. In the transfer process, the slot profile of the posture control hinge 13 and the first cam 12 is designed according to the actual transfer requirement, the length of the posture control rope 6 is adjusted, and the swing angle of the boom 4 in the swing process is controlled. The fixed length rope 7 is wound around the fixed length rope wheel 9, and the fixed length rope wheel 9 passively releases the fixed length rope 7. When the fixed length rope 7 is released to the limit length, the swing rod 3 and the boom 4 no longer continue to extend, which plays a role in limiting the swing angle, and also can improve the rigidity of the swing rod 3 in the limit state.

[0061] The transfer device is used to control the orderly extension of the linkage mechanism by the slow release motor 10, so as to realize the controllable transfer of the lunar rover, and to control the swing of the transfer device around the X axis by the swing motor 11, so as to realize the selection of the landing position on the moon.

[0062] The disengaging mechanism 32 includes a connecting seat 33, a disengaging pin 34 and a flip hook 35. The connecting seat 33 is connected with the lunar rover. The disengaging pin 34 is connected with the slow-release rope 5. The flip hook 35 is hinged on both sides of the connecting seat 33. The hinge of the flip hook 35 is provided with a rotating shaft torsion spring 36. The disengaging pin 34 is limited with the flip hook 35. The connecting seat 33 is provided with a second limiting block 37 on the outside of the flip hook 35. When the lunar rover is in the landing state, the slow-release rope 5 is continuously released, the disengaging mechanism 32 is automatically disengaged, the slow-release motor 10 is reversed to collect the rope, and the disengaging action is completed.

[0063] The connecting seat 33 is connected with the lunar rover. After disengaging, the connecting seat 33 is left on the lunar rover. The connecting seat 33 is provided with a pair of flip hooks 35 with built-in rotating shaft torsion springs 36. Figure 13 As shown in the figure, the slow-release rope 5 is in the traction continuation state. At this time, the flip hook 35 in the connecting seat 33 acts on the disengaging pin 34 connected with the slow-release rope 5. The weight of the lunar rover is used to overcome the force of the rotating shaft torsion spring 36, so that the flip hook 35 is flipped up, and is constrained by the second limiting block 37 on the connecting seat 33. At this time, the flip hook 35 constrains the disengaging pin 34 to lock the slow-release rope 5 and the lunar rover. Figure 14 As shown in the figure, the slow-release rope 5 is continuously released. The gravity of the lunar rover is offset. The torsion spring force of the flip hook 35 acts on the disengaging pin 34. The disengaging pin 34 is pushed to the bottom of the connecting seat 33 by the slow-release motor 10. The flip hook 35 loses the constraint and is collected in the connecting seat 33 by the torsion spring force. The unlocking channel is opened. Figure 15 As shown in the figure, the slow-release motor 10 is reversed to collect the slow-release rope 5, so that the disengaging pin 34 is disengaged from the connecting seat 33, and the disengaging action is completed. This disengaging method eliminates the dependence on the pyrotechnic unlocking and reduces the overall weight.

[0064] When the transfer device is in the collection state, the lunar rover is connected with the lander 2 through the pressing mechanism, and the pressing mechanism is connected with the unlocking mechanism. The initial state of the lunar rover and the transfer device is that they are collected and pressed on the side wall of the lander 2. The boom 4 is connected with the top of the lunar rover. The swing rod 3 is constrained between the side wall of the lander 2 and the bottom surface of the lunar rover. The lunar rover and the lander 2 are pressed by the pressing mechanism. By controlling the locking and unlocking of the unlocking mechanism, the synchronous pressing and unlocking release of the transfer device and the lunar rover can be realized.

[0065] The ball type pressing mechanism is used in the embodiment. The ball type pressing mechanism is a typical electric pressing mechanism. Its significant feature is small unlocking force. Under the condition that the product load is not large, the external size and the weight of the mechanism are limited, and the mechanical structure design requirement is high, the ball limiting is used to realize the multi-point connection to provide the bearing force, and the single-point unlocking release of the ball 27 is realized by the limiting rod 17, so that the unlocking separation is realized.

[0066] The pressing mechanism comprises a limiting rod 17, a force bearing conical ring 26 and a lock cover 28, the force bearing conical ring 26 is connected with the lander 2, the lock cover 28 is connected with the lunar rover, the limiting rod 17 is slidingly connected inside a separation rod 29, one end of the separation rod 29 is connected with the force bearing conical ring 26, the other end is inserted into the lock cover 28, a boss is arranged in the middle of the limiting rod 17, a limiting spring 30 is arranged between the bottom surface of the boss and the force bearing conical ring 26, a separation assisting spring 31 is arranged between the force bearing conical ring 26 and the lock cover 28, a plurality of through holes are formed around the separation rod 29, a ball 27 is arranged in the through hole, a ball groove is formed on the lock cover 28, the ball 27 is clamped in the ball groove, and the limiting rod 17 is connected with the unlocking mechanism.

[0067] When the pressing mechanism is in the pressing state, the lander 2, the transfer device and the lunar rover are tightly connected together through the interaction between the ball 27, the separation rod 29 and the limiting rod 17. When the lander 2 needs to be unlocked after landing on the moon, the limiting rod 17 is pulled by driving the unlocking mechanism, the pre-tightening force and the friction force of the limiting spring 30 are overcome, the limiting rod 17 moves to the left end, at this time the ball 27 loses the radial constraint, the separation rod 29 is separated from the lock cover 28, and the unlocking is completed. The separation assisting spring 31 provides a pushing force to help the lunar rover separate.

[0068] The unlocking mechanism in the embodiment is connected with the slow release rope wheel 8, the slow release rope wheel 8 is connected with the slow release motor 10, and the slow release motor 10 is used to pull the limiting rod 17 to achieve unlocking. The slow release motor 10 is used as a driving source, the output end of the slow release motor 10 is connected with the slow release rope wheel 8, the slow release rope 5 is slowly released in the positive rotation, the transfer device is controlled to be unfolded, and the transfer movement is completed. The slow release rope 5 is slowly retracted in the reverse rotation, and the separation action of the lunar rover and the transfer device can be realized in cooperation with the end of the lunar rover. The unlocking mechanism and the slow release rope 5 use the same power source, the pressing, unlocking and transfer of the lunar rover are realized in the same body design, the complexity of the device is reduced, and the reliability is improved. Therefore, two forms of unlocking mechanisms are proposed, which are respectively an eccentric wheel unlocking mechanism and a cam sliding rod unlocking mechanism.

[0069] As shown in Figure 4 The eccentric wheel unlocking mechanism comprises an eccentric wheel 16 and an unlocking pull rope 25, the eccentric wheel 16 is arranged on the end surface of the slow release rope wheel 8, one end of the unlocking pull rope 25 is connected with the eccentric wheel 16, and the other end is connected with the limiting rod 17. The unlocking of the lunar rover and the lander 2 is realized through the eccentric wheel 16 on the end surface of the slow release rope wheel 8, the eccentric wheel 16 is installed at the left end of the slow release rope wheel 8, and the rotation of the eccentric wheel 16 can pull the limiting rod 17 of the pressing mechanism through the unlocking pull rope 25 to realize unlocking. This unlocking mechanism has a simple structure, but the eccentric wheel 16 continuously rotates and the limiting rod 17 reciprocates under tension, which does not affect normal unlocking.

[0070] To address the issue of the reciprocating motion of the limit rod 17 under tension in the eccentric wheel unlocking mechanism, and to extend the unlocking trigger time, a cam-slide bar unlocking mechanism is proposed. For example... Figure 5 As shown, the cam-slide unlocking mechanism includes a second cam 18, a slide rod 20, and an unlocking pull rope 25. The second cam 18 is disposed on the end face of the release rope wheel 8, and its side engages with one end of the slide rod 20. The other end of the slide rod 20 is connected to the unlocking pull rope 25, which is connected to a limiting rod 17. The second cam 18 is mounted on the left side of the release rope wheel 8, engaging with the slide rod 20. The other end of the slide rod 20 is connected to the limiting rod 17 of the pressing mechanism via the unlocking pull rope 25. When the release rope wheel 8 begins to rotate, it drives the second cam 18 to push the slide rod 20 downwards, pulling the unlocking pull rope 25 to extend the limiting rod 17, thus unlocking the mechanism. Furthermore, a limiting groove is provided on the side of the slide rod 20, which engages with a limiting pin 19. The limiting pin 19 then pops out to lock the slide rod 20 in place. This unlocking mechanism has a slightly complex structure, but it solves the problems in the eccentric wheel unlocking scheme well. At the same time, the unlocking holding time can be controlled by the profile of the second cam 18 to ensure reliable unlocking and separation.

[0071] In the two eccentric wheel unlocking mechanisms and the cam slide bar unlocking mechanism described above, the unlocking pull rope 25 is equipped with a steering pulley. By changing the pulling direction of the unlocking pull rope 25 through the steering pulley, the unlocking pull rope 25 can pull out the limit rod 17.

[0072] like Figure 9 As shown, in this embodiment, the first cam 12 is connected to the lander 2 via the mounting base 21, and the first cam 12 is rotatably connected to the mounting base 21. The swing motor 11 is mounted on the mounting base 21 and is connected to the first cam 12 via a gear reduction set 22. The swing motor 11 and the mounting base 21 are arranged at the bottom of the Z-axis sidewall of the lander 2. The swing motor 11 drives the first cam 12 to rotate around the X-axis via the gear reduction set 22. The swing rod 3 is hinged to the first cam 12, thereby controlling the swing rod 3 to swing in the YZ plane.

[0073] like Figure 10 As shown, when the pendulum 3 and boom 4 move to their extreme positions, the pendulum angle needs to be limited to ensure the maximization of the transfer distance and the safety of the transfer process. In this embodiment, two fixed-length rope pulleys 9 are installed on the upper side wall of the lander 2. In the retracted state, the two fixed-length rope pulleys 9 are respectively arranged on both sides of the pendulum 3. By pulling the top of the pendulum 3 near the hinge through the fixed-length rope pulleys 9, the extreme angle of the pendulum 3 is controlled by the rope length. This also improves the rigidity of the pendulum 3, addressing the problem of poor rigidity in the transfer device structure. Preferably, friction plates 23 are provided on the side of the fixed-length rope pulleys 9, and the friction plates 23 are connected to the preload spring 24.

[0074] The swing bar 3 and the boom 4 in the above embodiment are the key components for controlling the transfer posture of the lunar rover. Considering the instability of the lunar rover after being unlocked, the lunar rover needs to be constrained by the transfer device in the initial unlocking stage, and then released when the transfer device is swung to a position far away from the lander 2, so that the lunar rover is free to swing to a vertical state.

[0075] As shown in Figure 3 the initial unfolding stage, the swing bar 3 is within a range of 15° with respect to the side wall of the lander, which is called a constraint zone. A first limiting block 15 is arranged on the swing bar 3, and the first limiting block 15 cooperates with the bottom of the lunar rover. In the constraint zone, the lunar rover is constrained by the swing bar 3, the boom 4 and the first limiting block 15. In order to keep the angle between the swing bar and the boom within a range of 0-15° unchanged, a 15° inclined surface is arranged on the side of a first cam 12 at the bottom of the swing bar 3, that is, the attitude control rope 6 does not generate a pulling force on the boom 4 within the range of 0-15°. Meanwhile, a tension spring 14 is arranged between the boom 4 and the swing bar 3, so as to improve the reliability of the constraint. When the swing bar 3 enters a swing zone, the attitude control rope 6 pulls the attitude control hinge 13 on the swing bar 3 due to the profile of the first cam 12, so as to overcome the gravity and the pulling force of the tension spring 14, and make the boom 4 rotate relative to the swing bar 3. With the increase of the swing angle, the swing bar 3 and the boom 4 lose the constraint ability on the lunar rover, and the lunar rover swings to a vertical state by the self-weight. The swing bar 3 continues to rotate, and the transfer of the lunar rover is completed by the linkage of the boom 4.

[0076] In the above embodiment, the attitude control hinge 13 is a composite structure, which has a slot cam arranged thereon for rotation limiting in addition to the rotation function. A spiral spring is arranged between the swing bar 3 and the first cam 12, and the slow-release rope 5 passes through the inside of the boom 4.

[0077] The embodiment is a transfer method of a transfer device of a side swing continuous transfer planetary rover folding and unfolding bar, as shown in Figures 16-23 , which comprises the following steps.

[0078] Step 1: the slow-release motor 10 rotates to drive the unlocking mechanism, and completes the unlocking of the lunar rover and the lander 2.

[0079] Step 2: the slow-release motor 10 continues to rotate, slowly releases the slow-release rope 5 through the slow-release rope wheel 8, and the swing bar 3 swings clockwise under the action of the self-weight and the spiral spring. The boom 4 is unfolded by the attitude control rope 6 under the action of the first cam 12, and the passive release fixed-length rope 7 is released in the unfolding process. When the swing bar 3 is unfolded to the limit position, the fixed-length rope 7 locks the position of the boom 4.

[0080] Step 3: the swing motor 11 works to drive the boom 4 to swing along the horizontal direction through the first cam 12, and selects a suitable landing point on the swing arc.

[0081] Step 4: After determining the landing point, the slow-release motor 10 continues to release the slow-release rope 5, and the slow-release rope 5 hoists the lunar rover to the lunar surface in a continuous manner;

[0082] Step 5: The slow-release motor 10 continues to release the slow-release rope 5, the disengagement mechanism 32 is unlocked, the disengagement of the lunar rover from the slow-release rope 5 is completed, and then the slow-release motor 10 reverses to recover the slow-release rope 5.

[0083] In the extreme working condition, i.e., the back 14° (the moon slope 8°, the lander 2 relative to the moon side angle 6°), the lunar rover transfer range and interference check is performed. As shown in Figure 20 and 21 As shown in the back 14° working condition, without considering the skidding during the landing of the lunar rover, the lunar rover can be sent to a distance of 1634mm from the lander. As can be seen from the figure, the lunar rover has two arc regions on the -Z side to choose, i.e., the 90°+20° range and the 15° range. The arc length corresponding to the 90°+20° range is 3738mm, and the arc length corresponding to the 15° range is 510mm. As shown in Figure 22 and 23 As shown in the front 14° working condition, without considering the skidding during the landing of the lunar rover, the lunar rover can be sent to a distance of 2149mm from the lander. As can be seen from the figure, the lunar rover has a complete arc region on the -Z side to choose. The arc length corresponding thereto is 4922mm. It can be seen that the back 14° working condition is the most affected state of the transfer range. According to the analysis, the lunar rover can choose a relatively sufficient landing range, covering the -Z side and +Y side regions of the lander, greatly increasing the illumination range of the lunar rover.

[0084] The transfer scheme of the planet rover for other planets is the same as the lunar transfer process, and the planet rover 1 is the corresponding planet rover.

[0085] The above disclosed embodiments of the application are only used to help explain the application. The embodiments do not describe all the details, nor limit the application to the specific implementation. According to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application.

Claims

1. A foldable boom side-stacking continuation orbiter transfer apparatus, characterized by: It includes a swing rod (3), a boom (4), a slow release rope (5), a posture control rope (6) and a fixed length rope (7), one end of the swing rod (3) is connected with one end of the boom (4) through a posture control hinge (13), the other end is connected with a first cam (12), the other end of the boom (4) is connected with the planet rover (1) through a disengaging mechanism (32), the first cam (12) is connected with a swing motor (11), the swing motor (11) controls the swing rod (3) to swing along the horizontal direction, one end of the slow release rope (5) is wound on a slow release rope wheel (8), the other end is connected with the disengaging mechanism (32), the slow release rope wheel (8) is connected with a slow release motor (10), one end of the posture control rope (6) is arranged on the first cam (12), the other end is connected with the boom (4), one end of the fixed length rope (7) is wound on a fixed length rope wheel (9), the other end is connected with the swing rod (3), the slow release rope wheel (8), the fixed length rope wheel (9), the slow release motor (10), the swing motor (11) and the first cam (12) are arranged on the lander (2).

2. A transfer device for a side-popping follow-on orbiter of a deployable mast side-popping follow-on orbiter vehicle according to claim 1, characterized in that: The disengaging mechanism (32) includes a connecting seat (33), a disengaging pin (34) and a turnover hook (35), the connecting seat (33) is connected with the planet rover (1), the disengaging pin (34) is connected with the slow release rope (5), the turnover hook (35) is hinged on both sides of the connecting seat (33), the hinge of the turnover hook (35) is provided with a rotating shaft torsional spring (36), the disengaging pin (34) is limited with the turnover hook (35), the second limiting block (37) is arranged on the connecting seat (33) outside the turnover hook (35).

3. A transfer device for a side-popping follow-on orbiter of a deployable mast side-popping follow-on orbiter transfer device according to claim 1, wherein: When the transfer device is in the folding state, the planet rover (1) is connected with the lander (2) through a compression mechanism, and the compression mechanism is connected with an unlocking mechanism.

4. A transfer device for a side-popping follow-on orbiter of a deployable mast according to claim 3, characterized in that: The compression mechanism includes a limiting rod (17), a force bearing conical ring (26) and a lock cover (28), the force bearing conical ring (26) is connected with the lander (2), the lock cover (28) is connected with the planet rover (1), the limiting rod (17) is slidingly connected in the inside of a separation rod (29), one end of the separation rod (29) is connected with the force bearing conical ring (26), the other end is inserted into the lock cover (28), a boss is arranged in the middle of the limiting rod (17), a limiting spring (30) is arranged between the bottom surface of the boss and the force bearing conical ring (26), a separation spring (31) is arranged between the force bearing conical ring (26) and the lock cover (28), a plurality of through holes are formed around the separation rod (29), the through holes are provided with balls (27), a ball groove is formed on the lock cover (28), the balls (27) are clamped with the ball groove, and the limiting rod (17) is connected with the unlocking mechanism.

5. A folding boom side-stacking follow-on planetary rover transfer apparatus according to claim 4, wherein: The unlocking mechanism is connected with the slow release rope wheel (8).

6. A folding boom side-stacking continuation-of-flight satellite vehicle transfer apparatus according to claim 5, characterized by: The unlocking mechanism is an eccentric wheel unlocking mechanism, the eccentric wheel unlocking mechanism includes an eccentric wheel (16) and an unlocking pull rope (25), the eccentric wheel (16) is arranged on the end face of the slow release rope wheel (8), one end of the unlocking pull rope (25) is connected with the eccentric wheel (16), the other end is connected with the limiting rod (17).

7. A transfer device for a side-popping follow-on orbiter of a deployable mast according to claim 5, characterized in that: The unlocking mechanism is a cam slide rod unlocking mechanism, which comprises a second cam (18), a slide rod (20) and an unlocking pull rope (25), the second cam (18) is arranged on the end face of the slow release rope wheel (8), the side edge of the second cam (18) is in contact with one end of the slide rod (20), the other end of the slide rod (20) is connected with the unlocking pull rope (25), and the unlocking pull rope (25) is connected with the limiting rod (17).

8. A folding boom side-stacking continuation-of-flight satellite vehicle transfer apparatus according to claim 7, characterized by: The side surface of the slide rod (20) is provided with a limiting groove which is locked and matched with the limiting pin (19).

9. A folding boom side-stacking continuation star-vehicle transfer apparatus according to any one of claims 6-8, characterized in that: The unlocking pull rope (25) is provided with a turning pulley.

10. A folding boom side-stacking follow-on planetary rover transfer apparatus according to claim 1, wherein: The first cam (12) is connected with the lander (2) through a mounting seat (21), the first cam (12) is rotationally connected with the mounting seat (21), the swing motor (11) is arranged on the mounting seat (21), and the swing motor (11) is connected with the first cam (12) through a gear reduction set (22).

11. A folding boom side-stacking continuation-of-flight satellite vehicle transfer apparatus as claimed in claim 1, wherein: The constant-length rope wheels (9) are arranged on the upper portion of the side wall of the lander (2) and the number is two, and the two constant-length rope wheels (9) are arranged on the two sides of the swing rod (3) respectively.

12. A folding boom side-stacking continuation-of-flight satellite vehicle transfer apparatus as claimed in claim 1, wherein: The side surface of the constant-length rope wheel (9) is provided with a friction plate (23), and the friction plate (23) is connected with a pre-tightening spring (24).

13. A folding boom side-stacking continuation-of-flight satellite vehicle transfer apparatus as claimed in claim 1, wherein: The side surface of the first cam (12) is provided with a 15° inclined surface.

14. A folding boom side-stacking follow-on planetary rover transfer apparatus according to claim 1, wherein: A tension spring (14) is arranged between the swing rod (3) and the suspender (4).

15. A folding boom side-stacking follow-on planetary rover transfer apparatus according to claim 1, wherein: The swing rod (3) is provided with a first limiting block (15), and the first limiting block (15) is matched with the bottom of the planet rover (1).

16. A folding boom side-stacking follow-on planetary rover transfer apparatus according to claim 1, characterized by: The attitude control hinge (13) is provided with a groove cam.

17. A folding boom side-stacking continuation-of-journey satellite vehicle transfer apparatus according to claim 1, characterised in that: A spiral spring is arranged between the swing rod (3) and the first cam (12), and the slow release rope (5) passes through the inside of the suspender (4).

18. A method of transferring a rover of a side-popping kick-starter of a foldable pole of any one of claims 1-17, comprising: It comprises the following steps: Step 1: the slow release motor (10) rotates to drive the unlocking mechanism, and the unlocking of the planet rover (1) and the lander (2) is completed; Step 2: the slow release motor (10) continues to rotate to release the slow release rope (5) through the slow release rope wheel (8), the swing rod (3) is subjected to the action of its own gravity and the spiral spring and is subjected to clockwise swing movement, the attitude control rope (6) is pulled to expand the suspender (4) under the action of the first cam (12), the constant-length rope (7) is passively released in the expansion process, and the swing rod (3) is expanded to the limit position, and the constant-length rope (7) locks the position of the suspender (4); Step 3: the swing motor (11) works to drive the suspender (4) to swing along the horizontal direction through the first cam (12), and a suitable landing point is selected on the swing arc; Step 4: after the landing point is determined, the slow release motor (10) continues to release the slow release rope (5), and the slow release rope (5) continuously sends the planet rover (1) to the surface of the planet in a continuous sending mode; Step 5: the slow release motor (10) continues to release the slow release rope (5), the disengaging mechanism (32) is unlocked, and the disengagement of the planet rover (1) and the slow release rope (5) is completed.

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