Automatic unlocking lunar surface transfer and delivery mechanism and transfer method

Abstract

The present invention discloses an automatic unlocking lunar surface transfer and delivery mechanism and a transfer method, which relates to the field of aerospace technology and solves the problem that the container will be damaged to the lander and its accessories if it is allowed to flip freely during the lunar surface transfer and delivery. The present invention includes an automatic unlocking mechanism and a slow-release mechanism, the slow-release mechanism is installed on the automatic unlocking mechanism, the automatic unlocking mechanism includes a swing rod, a suspension rod, a swing locking mechanism and a throwing frame, the throwing frame is hinged to the swing rod, the top of the swing rod is hinged to the suspension rod and a swing locking mechanism is arranged at the hinged position, and the other end of the suspension rod is connected to the container; the slow-release mechanism includes a plurality of slow-release ropes and a plurality of fixed-length ropes, which control the deployment posture of the automatic unlocking mechanism and the release of the container. The present invention uses the slow-release mechanism to control the orderly deployment of the automatic unlocking mechanism, realizes the controllable transfer of the trajectory of the load container, and automatically unlocks the container when the automatic unlocking mechanism reaches the limit position, and then the slow-release mechanism smoothly continues to deliver the container to the lunar surface.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to an automatic unlocking lunar surface transfer and delivery mechanism and a transfer method. Background Art

[0002] Deep space exploration refers to human exploration activities of the moon and celestial bodies or space environments beyond it. As an important direction of human space activities and an important way to innovate space science and technology, it is one of the current and future development priorities in the aerospace field. Deep space exploration is not only a reflection of a country's scientific and technological level, but also a reflection of its comprehensive national strength.

[0003] At present, the main target of human deep space exploration is the only natural satellite of the earth: the moon. In the process of a series of exploration activities on the lunar surface, some equipment and tools are needed, and a payload container is needed to quickly and smoothly transfer these equipment and tools from the lander. Due to the large volume of the payload container, if it is allowed to flip freely during transfer and delivery, it may cause damage to the lander and its accessories. In order to avoid this situation, an automatic unlocking lunar surface transfer and delivery mechanism and transfer method are proposed. Summary of the invention

[0004] In order to solve the above-mentioned problem that the load container may cause damage to the lander and its accessories if it is allowed to flip freely during the transfer and continuation of the lunar surface, the present invention proposes an automatic unlocking lunar surface transfer and continuation mechanism and a transfer method, in which a slow-release mechanism is used to control the orderly deployment of the automatic unlocking mechanism, thereby realizing the controllable transfer of the load container trajectory, and when the automatic unlocking mechanism reaches the extreme position, the container and the swing locking mechanism are automatically unlocked, and then the slow-release mechanism smoothly continues to transport the container to the lunar surface.

[0005] The present invention proposes an automatic unlocking lunar surface transfer and delivery mechanism and a transfer method, which specifically includes an automatic unlocking mechanism and a slow release mechanism, wherein the slow release mechanism is installed on the automatic unlocking mechanism; the automatic unlocking mechanism includes a swing rod, a suspension rod, a swing locking mechanism and a throwing and distributing frame, wherein the bottom end of the throwing and distributing frame is hinged to the bottom end of the swing rod, the top end of the swing rod is hinged to the suspension rod and a swing locking mechanism is arranged at the hinged position, and the other end of the suspension rod is connected to the container; the swing locking mechanism is an incompletely closed rotating pair, and when the angle between the swing rod and the suspension rod is expanded to a set angle, the swing locking mechanism releases the lock on the container;

[0006] The slow-release mechanism includes a plurality of slow-release ropes, two hanging rod fixed-length ropes and a swing rod fixed-length rope. One end of the plurality of slow-release ropes is connected to the throwing and distributing machine frame, and the other end extends along the hanging rod and is connected to the container, so as to control the release of the container; one end of the two hanging rod fixed-length ropes and the swing rod fixed-length rope is connected to the throwing and distributing machine frame, and the other end of the swing rod fixed-length rope is connected to the swing rod, and the other end of the two hanging rod fixed-length ropes is connected to the hanging rod, so as to limit the deployment position of the automatic unlocking mechanism.

[0007] Furthermore, the slow-release mechanism also includes two slow-release rope wheels, the slow-release rope is connected to the throwing machine frame through the slow-release rope wheels, the slow-release rope corresponds to the slow-release rope wheels one by one, and the slow-release rope includes slow-release rope one and slow-release rope two, and the winding directions of slow-release rope one and slow-release rope two on their respective slow-release rope wheels are opposite.

[0008] Furthermore, the slow-release mechanism also includes two boom fixed-length wheels and a rocker fixed-length wheel, which are installed on the throwing and distribution machine frame; the two boom fixed-length ropes are respectively stored in different boom fixed-length wheels; the rocker fixed-length rope is stored in the rocker fixed-length wheel.

[0009] Furthermore, the slow-release mechanism also includes a posture control rope, one end of which is connected to the lower part of the throwing and distributing machine frame, and the other end is connected to the suspension rod.

[0010] Furthermore, the slow-release mechanism also includes a slow-release control rope, one end of which is connected to the swing rod, and the other end of which is connected to the control mechanism, so as to control the swinging speed of the swing rod.

[0011] Furthermore, the automatic unlocking mechanism also includes a damping hinge mechanism, the boom is connected to the container via the damping hinge mechanism, and the slow-release rope is connected to the container via the damping hinge mechanism.

[0012] Furthermore, one end of the suspension rod that cooperates with the damping hinge mechanism is provided with a U-shaped groove, and the U-shaped groove constrains the damping hinge mechanism.

[0013] Furthermore, the damping hinge mechanism includes a damping shaft and a mounting seat, the damping shaft is mounted on the mounting seat, and the mounting seat is mounted on the container; the damping shaft cooperates with the U-shaped groove of the suspension rod and is connected with the slow-release rope 1 and the slow-release rope 2.

[0014] Furthermore, the swing locking mechanism includes a plurality of rocker arm hinges and a plurality of boom hinges, wherein the plurality of rocker arm hinges are arranged on the rocker arm, and the plurality of boom hinges are arranged on the boom, and the rocker arm hinges and the boom hinges are respectively provided with U-shaped grooves at the hinged joints; in the locked state, the center lines of the U-shaped grooves of the rocker arm hinge and the boom hinge are staggered, and the openings do not overlap, so the container remains locked; when the boom and the rocker arm are opened to a preset angle, the center lines of the U-shaped grooves of the rocker arm hinge and the boom hinge overlap, and the opening channels of the U-shaped grooves of the rocker arm hinge and the boom hinge are fully opened, so the container is unlocked.

[0015] A transfer method using the above-mentioned automatic unlocking lunar transfer and delivery mechanism specifically includes the following transfer steps:

[0016] a. The control mechanism releases the slow-release control rope, and the boom and swing arm swing downward;

[0017] b. The attitude control rope controls the attitude of the boom, and the swing arm fixed length rope and the boom fixed length rope control the swing arm and the boom deployment position;

[0018] c. After the swing arm and the boom reach the preset deployment position, the swing locking mechanism unlocks the container;

[0019] d. After the container is swung to a horizontal state, the slow-release rope wheel releases the slow-release rope to continue to transport the container;

[0020] e. After the container lands, separate the slow-release rope and the damping hinge mechanism.

[0021] The beneficial effects of the automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention are:

[0022] (1) The automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention, through the swing locking mechanism, the container always locks the box body and the boom during the swinging process, so that it moves synchronously with the boom, and when it moves to a safe area, the container is unlocked and released;

[0023] (2) The automatic unlocking lunar transfer and delivery mechanism and transfer method described in the present invention, the swing locking mechanism is an incompletely closed rotating pair, which can effectively lock the container before reaching the set rotation angle to ensure that the container can be transferred with the boom. When the swing locking mechanism rotates to the preset rotation angle, the container will be unlocked;

[0024] (3) The automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention control the automatic unlocking mechanism to unfold in an orderly manner through a slow-release mechanism, thereby realizing a controllable transfer of the container trajectory. When the automatic unlocking mechanism unfolds to a predetermined position, the container is unlocked, and the slow-release mechanism gradually delivers the container to the lunar surface. After the work is completed, the container can be retrieved again through the slow-release mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] In the attached picture:

[0027] Figure 1 It is a structural schematic diagram of the automatic unlocking lunar surface transfer and delivery mechanism and the container according to the present invention;

[0028] Figure 2 It is a schematic diagram of the expansion of the mechanism of the automatic unlocking lunar surface transfer and delivery mechanism of the present invention;

[0029] Figure 3It is a schematic diagram of the overall structure of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0030] Figure 4 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Figure 3 A partial enlarged view of the middle A;

[0031] Figure 5 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Figure 3 A partial enlarged view of point B in the middle;

[0032] Figure 6 It is a schematic diagram of the structure of a slow-release rope wheel of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0033] Figure 7 It is a schematic diagram of the coordination structure of the suspension rod and the swing rod of the automatic unlocking lunar surface transfer and delivery mechanism described in the present invention;

[0034] Figure 8 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Figure 7 A partial enlarged view of point C in the middle;

[0035] Fig. 9 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Figure 7 A partial enlarged view of point D in the middle;

[0036] Fig.10 It is a schematic diagram of the coordination structure of a container and a swing locking mechanism of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0037] Fig.11 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Fig.10 A partial enlarged view of point E in the middle;

[0038] Fig.12 It is a cross-sectional view of a swing locking mechanism of an automatic unlocking lunar surface transfer and feeding mechanism according to the present invention;

[0039] Fig.13 It is a schematic diagram of the locked state of a swing locking mechanism of an automatic unlocking lunar transfer and delivery mechanism according to the present invention;

[0040] Fig.14 It is a schematic diagram of a semi-expanded state of a swing locking mechanism of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0041] Fig.15 It is a schematic diagram of the deployment / unlocking state of the swing locking mechanism of the automatic unlocking lunar surface transfer and delivery mechanism described in the present invention;

[0042] Fig.16 It is a schematic diagram of the structure of a boom of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0043] Fig.17 It is a schematic diagram of the attitude control rope connection state of an automatic unlocking lunar surface transfer and delivery mechanism described in the present invention;

[0044] Fig.18 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Fig.15 A partial enlarged view of point F in the middle;

[0045] Fig.19 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Fig.15 A partial enlarged view of the G point in the middle

[0046] Fig. 20 It is a schematic diagram of the cooperation structure of a container and a boom of an automatic unlocking lunar surface transfer and delivery mechanism according to the present invention;

[0047] Fig.21 The invention relates to an automatic unlocking lunar surface transfer and delivery mechanism. Fig. 20 A partial enlarged view of the H in the middle;

[0048] Fig. 22 It is a layout diagram of a fixed-length rope and a fixed-length rope wheel of an automatic unlocking lunar surface transfer and delivery mechanism described in the present invention;

[0049] Fig.23 It is a schematic diagram of the conveying effect of an automatic unlocking lunar surface transfer and conveying mechanism described in the present invention;

[0050] Wherein: 1-container, 11-locking shaft, 12-locking rope, 13-connecting seat, 2-automatic unlocking mechanism, 21-rocker, 22-suspender, 221-posture control wheel, 23-swing locking mechanism, 231-rocker hinge, 232-suspender hinge, 24-throwing frame, 25-damping hinge mechanism, 251-damping shaft, 2511-flattening mechanism, 252-mounting seat, 3-slow release mechanism, 31-slow release rope, 311-slow release rope one, 312-slow release rope two, 32-fixed length rope, 321-suspender fixed length rope, 322-rocker fixed length rope, 33-slow release rope wheel, 331-slow release rope wheel one, 332-slow release rope wheel two, 34-fixed length rope wheel, 341-suspender fixed length wheel, 342-rocker fixed length wheel, 35-posture control rope, 36-slow release control rope. DETAILED DESCRIPTION

[0051] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings:

[0052] Specific implementation method 1: See Figure 1-Figure 23The present embodiment is described in detail. The automatic unlocking lunar transfer and delivery mechanism and transfer method described in the present embodiment specifically include an automatic unlocking mechanism 2 and a slow-release mechanism 3, wherein the slow-release mechanism 3 is installed on the automatic unlocking mechanism 2; the automatic unlocking mechanism 2 includes a swing rod 21, a suspension rod 22, a swing locking mechanism 23 and a throwing frame 24, wherein the throwing frame 24 is fixed on the lander; in order to improve the stability of the transfer mechanism, the swing rod 21 is designed to be an A-type structure, wherein the bottom end of the swing rod 21 is hinged to the bottom end of the throwing frame 24, providing a fulcrum for the swing of the swing rod 21 to realize the swinging action of the swing rod 21; the top end of the swing rod 21 is hinged to the suspension rod 22 , providing support and a turning point for the linkage action of the boom 22, a swing locking mechanism 23 is provided at the hinged position between the top of the swing arm 21 and the boom 22, and the other end of the boom 22 is connected to the container 1; since the transfer trajectory and the state of the container 1 need to be fully controllable during the transfer process, the structure of the boom 22 is designed to be L-shaped, extending from the top of the container 1 to the center of the side of the container and connected to the container; the swing locking mechanism 23 is an incompletely closed revolving pair, and when the angle between the swing arm 21 and the boom 22 is expanded to a set angle, the swing locking mechanism 23 releases the lock on the container 1;

[0053] The slow-release mechanism 3 includes a plurality of slow-release ropes 31, two hanging rod fixed-length ropes 321 and a swing rod fixed-length rope 322. One end of the plurality of slow-release ropes is connected to the throwing and distribution frame 24, and the other end extends along the hanging rod 22 and is connected to the container 1, so as to control the process of releasing the container 1 from the automatic unlocking mechanism 2 and transferring it to the lunar surface; one end of the two hanging rod fixed-length ropes 321 and the swing rod fixed-length rope 322 is connected to the throwing and distribution frame 24, and the other end of the swing rod fixed-length rope 322 is connected to the swing rod 21, and the connection position is at the upper end of the swing rod 21 near the hinge position of the swing rod 21 and the hanging rod 22; the other end of the two hanging rod fixed-length ropes 321 is connected to the hanging rod 22, and the connection position is located at the L-shaped right angle position of the hanging rod 22; the automatic unlocking mechanism 2, that is, the final swing angle and the final deployment position reached by the swing rod 21 and the hanging rod 22 are limited by the hanging rod fixed-length ropes 321 and the swing rod fixed-length ropes 322, so as to ensure the maximization of the transfer distance and the safety of the transfer process.

[0054] The slow release mechanism 3 also includes a plurality of slow release sheaves 33, through which the slow release ropes 31 are connected to the throwing and distributing machine frame 24, and the slow release ropes 31 correspond to the slow release sheaves 33. The slow release sheaves 33 include a slow release sheave 1 331 and a slow release sheave 2 332, and the slow release ropes 31 include a slow release rope 1 311 and a slow release rope 2 312; the slow release rope 1 311 is stored and wound on the slow release sheave 1 331, and the slow release rope 2 312 is stored and wound on the slow release sheave 2 332, and the winding directions of the slow release rope 1 311 and the slow release rope 2 312 on their respective slow release sheaves 33 are opposite, so as to realize the lifting and lowering movement of the container 1 when the slow release sheave 1 331 and the slow release rope 2 332 are respectively actuated.

[0055] The slow-release mechanism 3 also includes two suspension rod fixed-length wheels 341 and a swing rod fixed-length wheel 342. The two suspension rod fixed-length wheels 341 and the swing rod fixed-length wheel 342 are all installed on the crossbeam above the throwing and distributing machine frame 24. The two suspension rod fixed-length wheels 341 are symmetrically installed on both sides of the swing rod fixed-length wheel 342. The swing rod fixed-length wheel 342 and the suspension rod 22 are in the same longitudinal plane; the two suspension rod fixed-length ropes 321 are respectively stored and wound in two different suspension rod fixed-length wheels 341, and the swing rod fixed-length rope 322 is stored and wound in the swing rod fixed-length wheel 342. When the swing rod 21 and the suspension rod 22 swing and unfold, the suspension rod 22 drives the two suspension rod fixed-length ropes 321 to be pulled out from the suspension rod fixed-length wheel 341, and the swing rod 21 drives the swing rod fixed-length rope 322 to be pulled out from the swing rod fixed-length wheel 342. At the same time, the cooperation between the boom fixed-length rope 321 and the boom fixed-length wheel 341 can also improve the rigidity of the boom 22 and improve the problem of poor rigidity of the boom 22 structure.

[0056] The slow-release mechanism 3 also includes a posture control rope 35, one end of which is connected to the crossbeam below the distribution frame 24, and the other end is connected to the boom 22 by passing through a posture control wheel 221 installed on the boom 22. The function of the posture control rope 35 is to cooperate with the deployment action of the swing arm 21 during the transfer process to control the posture of the boom 22 and the container 1. Through the control of the boom 22 by the posture control rope 35, the boom 22 swings upward when the swing arm 21 swings downward.

[0057] The slow-release mechanism 3 also includes a slow-release control rope 36, one end of which passes around the cross bar above the distribution frame 24 and is connected to the rocker arm 21, and the connection position is located at the upper end of the rocker arm 21 close to the hinge position of the rocker arm 21 and the suspension rod 22. The other end of the slow-release control rope 36 is connected to the control mechanism. The control mechanism controls the release speed of the slow-release control rope 36 to achieve the speed of controlling the rocker arm 21 to swing downward, thereby ensuring the stability of the container 1 during the transfer and release process.

[0058] The automatic unlocking mechanism 2 also includes a damping hinge mechanism 25, through which the suspension rod 22 is connected to the container 1. When the swing locking mechanism 23 unlocks the container 1, the container 1 will deflect at a position where the suspension rod 22 and the damping hinge mechanism 25 are matched as a rotation point under the action of the gravity eccentric moment, and the deflection angle is about 61°. In order to ensure the stability of the swing of the container 1, it is necessary to reduce its rotation speed, and for this purpose, the damping hinge mechanism 25 is added.

[0059] A U-shaped groove is provided at one end of the suspension rod 22 that cooperates with the damping hinge mechanism 25. The center line of the U-shaped groove forms a certain angle with the side surface of the container 1. In the locked state, the U-shaped groove constrains the damping hinge mechanism 25. When the suspension rod 22 swings to a predetermined angle, the U-shaped groove opens vertically downward. At this time, the U-shaped groove loses its ability to constrain the damping hinge mechanism 25. The damping hinge mechanism 25 will slowly descend vertically to the moon surface along with the container 1 under the action of the slow-release rope 31.

[0060] The damping hinge mechanism 25 includes a damping shaft 251 and a mounting seat 252, wherein the damping shaft 251 is mounted on the mounting seat 252, and the mounting seat 252 is mounted on the container 1; a flattening structure 2511 is provided on the damping shaft 251, and the flattening structure 2511 penetrates into the U-shaped groove of the suspension rod 22 and cooperates with the U-shaped groove of the suspension rod 22 to lock the damping shaft 251, so that when the container 1 swings, the container 1 drives the mounting seat 252, and the mounting seat 252 and the damping shaft 251 rotate relative to each other, at which time the friction disks on both sides of the damping shaft 251 generate damping under the action of the preload spring, limiting the speed of the box body rotation, making it slowly turn to a horizontal state, and reducing the number of oscillations. The flattening structure 2511 is connected to the slow-release rope 1 311 and the slow-release rope 2 312, and when the container 1 stabilizes to a horizontal state, the slow-release rope wheel 33 acts to release the slow-release rope 31, and the container 1 is slowly released to a designated area.

[0061] The swing locking mechanism 23 includes a plurality of swing arm hinges 231 and a plurality of suspension arm hinges 232. The plurality of swing arm hinges 231 are arranged on the swing arm 21, and the plurality of suspension arm hinges 232 are arranged on the suspension arm 22. The swing arm hinges 231 and the suspension arm hinges 232 are respectively provided with U-shaped grooves at the hinged parts, and the U-shaped grooves of the two are staggered with each other. The locking shaft 11 on the container 1 is locked through the U-shaped grooves of the swing arm hinges 231 and the suspension arm hinges 232. In the locked state, the swing arm hinges 231 and the suspension arm hinges 232 are locked. The center lines of the U-shaped grooves of the chain 232 are staggered and at a certain angle, and the openings do not overlap, so the container 1 remains locked; when the boom 22 and the rocker arm 21 are opened to a preset angle, the center lines of the U-shaped grooves of the rocker arm hinge 231 and the boom hinge 232 overlap, and the center line angle is reduced to 0 degrees, the U-shaped groove openings overlap, and the channel is fully opened, the rocker arm hinge 231 and the boom hinge 232 lose their restraining effect on the locking shaft 11, and the locking shaft 11 falls off and unlocks under the action of gravity, thereby releasing the lock on the container 1.

[0062] The container 1 is also provided with two locking ropes 12 and two connecting seats 13. The locking shaft 11 is connected to the two locking ropes 12 and pulled to the two sides of the bottom of the container body respectively, and is fixed to the container body 1 through the connecting seats 13, thereby realizing the locking of the container body and the suspension rod 22. When the transfer mechanism is deployed to a predetermined position, the U-shaped grooves of the suspension rod hinge 232 and the swing arm hinge 231 are aligned. At this time, the locking shaft 11 is separated from the U-shaped grooves of the suspension rod hinge 232 and the swing arm hinge 231 through the locking rope 12 under the action of the weight of the container body, realizing the unlocking of the swinging of the container body. At this time, the container body can be swung to a horizontal state through the damping hinge mechanism 25 at the front end of the suspension rod 22.

[0063] A transfer method using the above-mentioned automatic unlocking lunar transfer and delivery mechanism specifically includes the following transfer steps:

[0064] a. The control mechanism releases the slow-release control rope 36, and the boom 22 and the swing arm 21 swing downward under the gravity moment of the container 1;

[0065] b. The attitude control rope 35 controls the attitude of the boom 22, and the boom fixed length rope 321 and the swing rod fixed length rope 322 control the final deployment position of the swing rod 21 and the boom 22;

[0066] c. After the swing arm 21 and the boom 22 reach the final preset deployment position, the swing locking mechanism 23 unlocks the container 1;

[0067] d. After the container 1 is swung to a horizontal state, the slow-release rope wheel 33 releases the slow-release rope 31 to continue to deliver the container 1;

[0068] e. After the container 1 lands, the slow-release rope 31 and the damping hinge mechanism 25 are separated, and the transfer and continued delivery of the container 1 are completed.

[0069] The specific transfer working process of the automatic unlocking lunar transfer and delivery mechanism described in the present invention is as follows:

[0070] After the lander lands on the moon, it is ready to release the container 1. At this time, the control mechanism starts to release the slow-release control rope 36. Under the action of gravity torque, the container 1 drives the boom 22 and the swing rod 21 to start swinging downward. The swing rod fixed length rope 322 and the boom fixed length rope 321 are pulled out from the corresponding fixed length wheels 34, and the attitude control rope 35 synchronously controls the attitude of the boom 22; the swing rod hinge 231 and the boom hinge 232 in the swing locking mechanism 23 start to rotate relative to each other, and the swing locking mechanism 23 changes from the locked state to the semi-extended state and finally to the unfolded / unlocked state. Figure 13-Figure 15As shown; in this process, the center line angle of the U-shaped grooves staggered by the swing arm hinge 231 and the suspension arm hinge 232 gradually decreases until it is zero; when the center line angle of the U-shaped grooves staggered by the swing arm hinge 231 and the suspension arm hinge 232 is reduced to zero, the U-shaped groove channel is completely opened, the swing arm hinge 231 and the suspension arm hinge 232 lose the restraining effect of the locking shaft 11 of the container 1, and the locking shaft 11 falls off and unlocks under the action of gravity.

[0071] When the swing locking mechanism 23 unlocks the locking shaft 11, the container 1 will swing under the action of the gravity torque, and the container 1 drives the mounting seat 252, and the mounting seat 252 and the damping shaft 251 rotate relative to each other. At this time, the friction disks on both sides of the damping shaft 251 produce damping under the action of the preload spring, which limits the rotation speed of the box body, makes it slowly turn to a horizontal state, and reduces the number of oscillations. When the container 1 stabilizes to a horizontal state, the slow-release rope wheel 33 releases the slow-release rope 31, and slowly releases the container 1 to the designated area. The other end of the unlocked locking rope 12 is still connected to the box body, which can be used as a control rope for the box body in the air. After the container 1 lands, the slow-release rope 31 and the damping hinge mechanism 25 are separated, and the locking rope 12 is used as a towing rope after the box body lands. When the work is completed, the damping hinge mechanism 25 can be reconnected to the slow-release rope 31 to put away the container 1.

[0072] To summarize the above implementation cases, the automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention, through the set swing locking mechanism 23, the container 1 always locks the box body and the boom 22 during the swinging process, so that it moves synchronously with the boom 22, and when it moves to the safe area, the container 1 is unlocked and released; the automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention, the swing locking mechanism 23 is an incompletely closed rotating pair, which can effectively lock the container 1 before reaching the set rotation angle, ensuring that the container 1 can be transferred with the boom 22, and when the swing locking mechanism 23 rotates to the preset rotation angle, the container 1 will be unlocked; the automatic unlocking lunar surface transfer and delivery mechanism and transfer method described in the present invention, the automatic unlocking mechanism is controlled by the slow release mechanism to be unfolded in an orderly manner, thereby realizing the controllable transfer of the trajectory of the container 1, when the automatic unlocking mechanism is unfolded to the predetermined position, the container 1 is unlocked, and the slow release mechanism gradually continues to deliver the container 1 to the lunar surface, and after completing the work, the container 1 can be recovered again by the slow release mechanism.

[0073] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the invention. It can also be a reasonable combination of the features recorded in the above implementation methods. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic unlocking lunar transfer and delivery mechanism, Features: The invention comprises an automatic unlocking mechanism (2) and a slow-release mechanism (3), wherein the slow-release mechanism (3) is installed on the automatic unlocking mechanism (2); the automatic unlocking mechanism (2) comprises a swing rod (21), a suspension rod (22), a swing locking mechanism (23) and a throwing frame (24); the bottom end of the throwing frame (24) is hinged to the bottom end of the swing rod (21), the top end of the swing rod (21) is hinged to the suspension rod (22) and a swing locking mechanism (23) is arranged at the hinged position, and the other end of the suspension rod (22) is connected to the container (1); the swing locking mechanism (23) is an incompletely closed rotating pair, and when the angle between the swing rod (21) and the suspension rod (22) is expanded to a set angle, the swing locking mechanism (23) releases the lock on the container (1); The slow-release mechanism (3) comprises a plurality of slow-release ropes (31), two suspension rod fixed-length ropes (321) and a swing rod fixed-length rope (322); one end of the plurality of slow-release ropes is connected to the throwing frame (24), and the other end extends along the suspension rod (22) and is connected to the container (1), so as to control the release of the container (1); one end of the two suspension rod fixed-length ropes (321) and the swing rod fixed-length rope (322) is connected to the throwing frame (24), and the other end of the swing rod fixed-length rope (322) is connected to the swing rod (21); and the other end of the two suspension rod fixed-length ropes (321) is connected to the suspension rod (22), so as to limit the deployment position of the automatic unlocking mechanism (2).

2. The automatic unlocking lunar transfer and delivery mechanism according to claim 1, Features: The slow-release mechanism (3) further comprises two slow-release rope wheels (33), the slow-release rope (31) being connected to the throwing machine frame (24) via the slow-release rope wheels (33), the slow-release rope (31) corresponding to the slow-release rope wheels (33) one by one; the slow-release rope (31) comprises a slow-release rope 1 (311) and a slow-release rope 2 (312), the slow-release rope 1 (311) and the slow-release rope 2 (312) being wound in opposite directions on their respective slow-release rope wheels (33).

3. The automatic unlocking lunar transfer and delivery mechanism according to claim 1 or 2, Features: The slow-release mechanism (3) further comprises two suspension rod fixed-length wheels (341) and a swing rod fixed-length wheel (342), wherein the two suspension rod fixed-length wheels (341) and the swing rod fixed-length wheel (342) are both mounted on the throwing and distributing machine frame (24); the two suspension rod fixed-length ropes (321) are respectively received in different suspension rod fixed-length wheels (341); and the swing rod fixed-length rope (322) is received in the swing rod fixed-length wheel (342).

4. The automatic unlocking lunar transfer and delivery mechanism according to claim 1, Features: The slow-release mechanism (3) also includes a posture control rope (35), one end of which is connected to the lower part of the throwing machine frame (24) and the other end of which is connected to the suspension rod (22).

5. The automatic unlocking lunar transfer and delivery mechanism according to claim 1, Features: The slow-release mechanism (3) further comprises a slow-release control rope (36), one end of which is connected to the swing rod (21) and the other end of which is connected to the control mechanism, and is used to control the swing speed of the swing rod (21).

6. The automatic unlocking lunar transfer mechanism according to claim 1, 2, 4 or 5, Features: The automatic unlocking mechanism (2) further comprises a damping hinge mechanism (25), the suspension rod (22) is connected to the container (1) via the damping hinge mechanism (25), and the slow-release rope (31) is connected to the container (1) via the damping hinge mechanism (25).

7. The automatic unlocking lunar transfer and delivery mechanism according to claim 6, Features: One end of the suspension rod (22) that cooperates with the damping hinge mechanism (25) is provided with a U-shaped groove, and the U-shaped groove constrains the damping hinge mechanism (25).

8. The automatic unlocking lunar transfer and delivery mechanism according to claim 7, Features: The damping hinge mechanism (25) comprises a damping shaft (251) and a mounting seat (252), wherein the damping shaft (251) is mounted on the mounting seat (252), and the mounting seat (252) is mounted on the container (1); the damping shaft (251) cooperates with the U-shaped groove of the suspension rod (22), and is connected to a slow-release rope 1 (311) and a slow-release rope 2 (312).

9. The automatic unlocking lunar transfer and delivery mechanism according to claim 1, 2, 4, 5, 7 or 8, Features: The swing locking mechanism (23) comprises a plurality of swing arm hinges (231) and a plurality of suspension arm hinges (232); the plurality of swing arm hinges (231) are arranged on the swing arm (21), and the plurality of suspension arm hinges (232) are arranged on the suspension rod (22); the swing arm hinges (231) and the suspension arm hinges (232) are respectively provided with U-shaped grooves at the hinged parts; in the locked state, the center lines of the U-shaped grooves of the swing arm hinge (231) and the suspension arm hinge (232) are staggered, and the openings do not overlap, so that the container (1) remains locked; when the suspension rod (22) and the swing arm (21) are opened to a preset angle, the center lines of the U-shaped grooves of the swing arm hinge (231) and the suspension arm hinge (232) overlap, so that the container (1) is unlocked.

10. A transfer method using the automatic unlocking lunar transfer and delivery mechanism of claim 9, Features: The steps include: a. The control mechanism releases the slow-release control rope (36), and the boom (22) and the swing arm (21) swing downward; b. The posture control rope (35) controls the posture of the boom (22), and the boom fixed length rope (321) and the swing rod fixed length rope (322) control the deployment position of the swing rod (21) and the boom (22); c. After the swing arm (21) and the boom (22) reach the preset deployment position, the swing locking mechanism (23) unlocks the container (1); d. After the container (1) is swung to a horizontal state, the slow-release rope wheel (33) releases the slow-release rope (31) to continue to deliver the container (1); e. After the container (1) lands, the slow-release rope (31) and the damping hinge mechanism (25) are separated.

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