A rover locking transfer device

Abstract

The application discloses a single-drive self-weight transfer device of a rover, which comprises two hinge assemblies, a drive and release assembly, a deployment shaft assembly, a composite frame assembly, two linkage wheel assemblies, two compression and release devices, two connection and separation devices, a strong separation device, a release steel wire, a lander and a rover. Compared with the prior art, the device adopts a single-drive linkage interlocking scheme, realizes a single power source to complete the functions of deployment and transfer, double actions and double degrees of freedom of three wire linkages, and solves the problems of multiple constraints and adaptive transfer of a side-hung rover. The device can also adopt a double-drive scheme, and under the double-drive scheme, the device is a single degree of freedom mechanism, and all swing movement links and swing angles can be edited. Especially, the transfer function can be realized under the inclined state of the landing moon surface environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rover locking and transferring, and particularly relates to a single-drive self-weight transferring device for a rover. BACKGROUND

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

[0003] According to different landing modes and rover masses, the transferring device has various forms. Taking the transfer of a lunar rover as an example, it is required that, during the flight processes of the transfer phase to the moon, the lunar orbit phase and the powered descent phase, the lunar rover and the transferring device should be reliably pressed against the side wall of the lander and be able to withstand the transverse 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 transferring device and reliably separated therefrom. This puts forward higher requirements for the transferring device, and it is required that the lunar transfer device should be safely and reliably pressed and installed on the lander during the flight phase and before the lunar transfer; after the lander lands on the moon, the transferring device and the lunar rover are separated from the lander, the transferring device 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 transferring device should be able to reliably transfer the lunar rover to the moon surface under various landing conditions, the landing site of the lunar rover should have a certain optional range to avoid pits and protrusions on the moon surface, and after the lunar rover stably lands on the moon, the lunar rover is separated from the transferring device 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 rover transfer is required.

[0005] Through the search of the prior art, patent document CN115848658A discloses a patrol device inclined single pendulum rod transfer device and its transfer method, the scheme adopts double motor control slow release rope, the patrol device is transferred to the position through the pendulum rod, the double motor is heavy, the energy consumption is high, and the structure needs to be further optimized; patent document CN116495202A discloses a planet patrol device transfer release device and transfer release method, the device adopts a "double rod double rope" structure, the pendulum rod controls rotation, the boom controls the posture of the patrol device, the device is only suitable for the transfer release of the patrol vehicle, and the transfer release device cannot be recovered; patent document CN116119027A discloses a folding and unfolding rod side swing continuous sending planet patrol device transfer device and transfer method, the patrol device is released through double motor double rod, the slow release and mechanism recovery functions of the patrol device can be realized, but the weight is heavy and the power consumption is high; patent document CN116280284A discloses a patrol device three-stage linkage folding transfer device and its transfer method, a double motor multi-link structure is adopted, and the structure is relatively complex. SUMMARY

[0006] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a patrol device locking transfer device, which can realize single power source to complete the unfolding and transfer double actions, double degrees of freedom three rope linkage self-weight transfer, simple mechanism structure, stable and reliable actuation, and attitude control of the patrol device and the moon surface.

[0007] The present scheme is based on the mechanism principle of "double connecting rod swing + double rotating shaft linkage + self-weight transfer rope control", one of the double connecting rods is composed of a composite frame of the transfer device, and the other rod is a patrol device frame structure; the double rotating shafts are shafts at both ends of the composite frame, which are respectively called upper unfolding shaft and lower rotating shaft, and the combination of double rotating degrees of freedom is realized through rope linkage; the relative attitude of the two rods (composite frame and patrol device) and the attitude of the two rod systems and the moon surface are realized through motor control of the rope winding and unwinding. The device structure is simple, only small force is needed to realize transfer release, the space utilization rate is high, the function of single power source to complete the unfolding and transfer double actions, double degrees of freedom three rope linkage is realized, and the side hanging type multi-constraint and self-adaptive transfer problem is solved.

[0008] The technical scheme provided by the present application is as follows:

[0009] A patrol device locking transfer device is used for connecting the patrol device to one side of a lander, comprising a composite frame, an unfolding shaft, a driving slow release assembly, a linkage wheel assembly and a linkage assembly, the lander is fixedly connected with a hinge support, one end of the composite frame is rotatably connected to the hinge support, the other end of the composite frame is rotatably connected with the unfolding shaft, and the composite frame and the lander are controllably connected or separated;

[0010] The unfolding shaft is used for connecting the patrol device, the driving slow release assembly is connected between the lander and the unfolding shaft, and is used for driving the unfolding shaft to rotate and drive the patrol device to unfold;

[0011] The linkage wheel assembly comprises a linkage wheel, a rotating shaft and a locking mechanism, the rotating shaft is fixedly connected to the end of the unfolding shaft, and the linkage wheel is rotatably connected to the outside of the rotating shaft; in the initial state, the linkage wheel is locked with the composite frame through the locking mechanism, when the unfolding shaft and the rotating shaft rotate to the state that the rover is unfolded, the linkage wheel is locked with the rotating shaft through the locking mechanism, and the linkage wheel rotates together with the rotating shaft;

[0012] The linkage assembly is connected between the lander and the linkage wheel, and the composite frame rotates to drive the linkage wheel to rotate reversely through the linkage assembly.

[0013] In the initial state, the composite frame is connected with the lander, the linkage wheel is locked with the composite frame through the locking mechanism, the driving and releasing assembly drives the unfolding shaft to rotate, and the unfolding shaft drives the rover to rotate to unfold the rover;

[0014] When the rover is in the unfolded state, the linkage wheel is locked with the rotating shaft through the locking mechanism, the linkage wheel rotates together with the rotating shaft, the composite frame is separated from the lander, and the composite frame is controlled to rotate relative to the lander through the driving and releasing assembly.

[0015] The driving and releasing assembly comprises a winding mechanism and a releasing steel wire rope, the winding mechanism is connected to the lander, the unfolding shaft is connected with a supporting rod, and one end of the releasing steel wire rope is wound on the winding mechanism and the other end is connected to the supporting rod; in the initial state, the winding mechanism winds up the releasing steel wire rope, and the releasing steel wire rope drives the unfolding shaft to rotate through the supporting rod; when the rover is in the unfolded state, the winding mechanism releases the releasing steel wire rope, and the rover and the composite frame rotate to the side away from the lander by the weight.

[0016] The linkage assembly comprises a cam and a linkage rope, the cam is fixedly connected to the lander, one end of the linkage rope is connected to the lander, then the linkage rope passes through the linkage wheel from the side of the cam close to the lander and the side of the linkage wheel close to the lander, and the other end of the linkage rope is connected to the outer wall surface of the linkage wheel.

[0017] The composite frame is further rotatably connected with an upper guide wheel and a lower guide wheel, the linkage wheel, the upper guide wheel, the lower guide wheel and the cam are arranged in sequence on the side surface of the composite frame, and the linkage rope passes through the upper guide wheel and the lower guide wheel from the side away from the lander.

[0018] The lander is provided with a pre-tightening force adjusting device, one end of the linkage rope is connected to the lander through the pre-tightening force adjusting device, the pre-tightening force adjusting device comprises a sliding block, a guide sleeve and a nut, the guide sleeve is fixedly connected to the lander, the sliding block passes through the guide sleeve and is slidably connected with the guide sleeve, one end of the sliding block is fixedly connected with the linkage rope and the other end of the sliding block extends out of the guide sleeve, and the nut is threadedly connected to the end of the sliding block extending out of the guide sleeve.

[0019] The guide sleeve has an elongated groove on one side, and the sliding block has a protrusion located inside the elongated groove so that the sliding block can slide along the length of the elongated groove inside the guide sleeve.

[0020] A connection and separation device is connected to the unfolding shaft. The connection and separation device rotates with the unfolding shaft and is used to connect or separate the unfolding shaft from the patrol device.

[0021] The locking mechanism includes a support, a locking pin, and a large spring. The support is fixedly connected to the composite frame. The rotating shaft is inserted into the inner hole of the support and rotatably connected to the support. The linkage wheel is located on the side of the support away from the deployment axis. The locking pin and the large spring are located between the rotating shaft and the support. One end of the large spring contacts the inner wall of the support, and the other end contacts the end of the locking pin, so as to push the locking pin to move closer to the linkage wheel. The support has a limiting groove. The inner wall of the linkage wheel has a first half-groove. The end of the rotating shaft away from the deployment axis is provided with an annular step, and a second half-groove is provided on the annular step. In the initial state, the locking pin is simultaneously located in the limiting groove and the first half-groove. The end of the locking pin contacts the step surface of the annular step. The rotating shaft is driven to rotate by the deployment axis until the inspection device is in the deployed state. At this time, the first half-groove and the second half-groove are aligned to form a slot that cooperates with the locking pin. The locking pin is pushed into the slot and disengages from the limiting groove. At this time, the rotating shaft and the linkage wheel are locked.

[0022] Both the first and second half-grooves are semi-cylindrical grooves.

[0023] In summary, this application includes at least the following beneficial technical effects:

[0024] (1) A single-drive self-weight transfer device for the rover is designed for the transfer and release of the rover after the lander lands. The mechanism has a simple structure, small size and high space utilization.

[0025] (2) The transfer action of the rover is divided into two steps. First, the rover is deployed to transfer it from a vertical position to a horizontal position to adapt to its landing attitude. Second, the rover is transferred. During the transfer of the rover to the lunar surface, the lunar gravity is in the same direction as the transfer motion of the rover, which can provide power for the movement of the transfer device, thereby reducing the power source requirement and reducing the power consumption of the device.

[0026] (3) The transfer device adopts the “single-drive linkage interlock” scheme to realize the function of single power source to complete the deployment and transfer of dual actions and dual degrees of freedom of three rope linkage, thus solving the problem of side-mounted multi-constraint and adaptive transfer.

[0027] (4) The transfer device can also adopt a "dual-drive" scheme. The dual-drive scheme uses a single-degree-of-freedom mechanism, and all swing motion links and swing angles can be edited. In particular, it can ensure the transfer function can be realized even when the lunar surface is tilted. The attitude of the rover can be adjusted in real time, so that the rover can always maintain a horizontal state with the lunar surface, ensuring the landing attitude of the rover and solving the problem of the stability of the rover landing when the lander is tilted. Attached Figure Description

[0028] Figure 1 This is a front view schematic diagram of the single-drive self-weight transfer device in this embodiment;

[0029] Figure 2 This is a side view schematic diagram of the single-drive self-weight transfer device in this embodiment;

[0030] Figure 3 This is the initial state of the single-drive self-weight transfer device in this embodiment;

[0031] Figure 4 This is the deployed state of the single-drive self-weight transfer device in this embodiment;

[0032] Figure 5 This is the pressed and unlocked state of the single-drive self-weight transfer device in this embodiment;

[0033] Figure 6 This is the end-of-transfer state of the single-drive gravity transfer device in this embodiment;

[0034] Figure 7 This is the separated and released state of the single-drive gravity transfer device in this embodiment;

[0035] Figure 8 This is a schematic diagram of the overall structure of the single-drive self-weight transfer device in this embodiment;

[0036] Figure 9 This is a schematic diagram of the linkage wheel in the pressed-in state;

[0037] Figure 10 This is a cross-sectional view of the linkage wheel assembly;

[0038] Figure 11 This is an exploded view of the linkage wheel assembly;

[0039] Figure 12 This is a schematic diagram showing the sequence of states: the linkage wheel is pressed down, the bolt is triggered, and the locking pin is triggered.

[0040] Figure 13 This is a structural diagram of the linkage components;

[0041] Figure 14 This is a schematic diagram of the linkage wheel structure.

[0042] Explanation of reference numerals: 1-Lander; 11-Hinge bracket; 2-Rover; 3-Drive release assembly; 31-Motor; 32-Release cable; 4-Forced detachment device;

[0043] 9-Composite frame; 91-Compression release device; 92-Connection and separation device; 93-Support rod;

[0044] 5-Expanding axis;

[0045] 41-Cam; 42-Linkage rope;

[0046] 61-Sliding block; 62-Guide sleeve; 63-Nut;

[0047] 71-Locking pin; 711-Ring frame; 712-Pin shaft; 72-Linkage wheel; 721-First half groove; 722-Lock tongue slot; 73-Lock tongue; 74-Support; 741-Limit groove; 75-Large spring; 76-Rotating shaft; 761-Second half groove; 77-Small spring; 78-Lock tongue mounting base. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments disclosed in the present invention will be described in further detail below with reference to the accompanying drawings.

[0049] This application discloses a single-drive gravity transfer device for a rover, connected to one side of a lander 1, for connecting a rover 2 to the lander 1, such as... Figure 1 , Figure 2 and Figure 8 As shown, it includes a composite frame 9, a drive-release assembly 3, a linkage wheel assembly, and a linkage assembly.

[0050] Lander 1 is fixedly connected to hinge bracket 11. One end of composite frame 9 is rotatably connected to hinge bracket 11. Composite frame 9 is equipped with clamping release device 91, which can be controllably connected to or separated from lander 1. The other end of composite frame 9 is rotatably connected to deployment shaft 5. Deployment shaft 5 is connected to connection and separation device 92, which rotates with deployment shaft 5 and is used to connect rover 2. Linkage wheel assembly is located at both ends of deployment shaft 5. Linkage assembly includes cam 41 and linkage rope 42. Cam is fixedly connected to hinge bracket 11. One end of linkage rope is connected to linkage wheel assembly and the other end is connected to cam, coupling two degrees of freedom into one degree of freedom. This enables the composite frame 9 to rotate in a direction away from lander 1 (clockwise rotation) during the transfer process, while deployment shaft 5 can only rotate counterclockwise.

[0051] In the initial state, the clamping release device 91 is fixed to the lander 1, and in the first state, the clamping release device 91 is separated from the lander 1. After the clamping release device 91 is separated from the lander 1, the composite frame 9 can rotate relative to the hinge bracket 11, thereby lowering the rover. In the initial state, the hinge bracket 11 and the clamping release device 91 form a four-point clamping between the composite frame 9 and the lander 1 to ensure the stability of the mechanism. At this time, the deployment shaft 5 is located above the hinge shaft between the composite frame 9 and the hinge bracket 11. During the transfer of the rover 2, the clamping release device 91 is separated from the lander 1, and the composite frame 9 can rotate clockwise around the hinge bracket 11.

[0052] The composite frame 9 is the main structure of the entire transfer device. Metal joints are reserved at the top and bottom of the composite frame 9 for connection with other components.

[0053] A support rod 93 is fixedly connected to the middle of the deployment shaft 5. The drive and release assembly 3 includes a motor 31, a pulley, and a release steel wire rope 3. The motor is fixedly connected to the lander 1. One end of the release steel wire rope is connected to the pulley, and the other end is connected to the support rod 93. The motor drives the pulley to rotate. When the pulley retracts the release steel wire rope, the release steel wire rope pulls the deployment shaft 5, the separation device 92, and the rover 2 together through the support rod 93 until the rover 2 is in the deployed state. In the deployed state, the rover 2 is in a horizontal position. This process is the deployment process of the rover 2. At this time, the linkage wheel assembly is locked to the deployment shaft 5. Then, the motor controls the release of the release steel wire rope, and the composite frame 9 rotates away from the lander 1, realizing the transfer of the rover 2. The forward and reverse rotation of the motor controls the release and retraction of the release steel wire rope, realizing the speed control of the transfer deployment and transfer process, and completing the deployment, transfer, and mechanism retraction actions of the rover 2. Figures 3-7 As shown, Figure 3 It is in launch mode. Figure 4 This is the unfolded state. Figure 5 It is in the process of transitioning. Figure 6 The transfer is complete. Figure 7 This is the initial recovery state (at which point the probe and transfer mechanism have separated).

[0054] like Figure 10 and Figure 11 As shown, the composite frame 9 is equipped with a linkage wheel assembly, which includes a locking pin 71, a linkage wheel 72, a locking tongue 73, a support 74, a large spring 75, a rotating shaft 76, and a small spring 77. The rotating shaft 76 is coaxial with and fixed to the unfolding shaft 5, so that the unfolding shaft 5 drives the rotating shaft 76 to rotate together. The support 74 is fixedly connected to the composite frame 9. The rotating shaft 76 is inserted into the inner hole of the support 74 and rotatably connected to the support 74. At the same time, the rotating shaft 76 passes through the inner hole of the linkage wheel 72. The linkage wheel 72 is located on the side of the support 74 away from the unfolding shaft 5.

[0055] likeFigure 11 and Figure 14 As shown, the locking pin 71 includes an annular frame 711 and multiple cylindrical pins 712. The pins 712 are fixedly connected to the annular frame 711 and are evenly distributed along the circumferential direction of the annular frame 711. In this embodiment, three pins 712 are provided. The locking pin 71 and the large spring 75 are located between the pivot 76 of the support 74. One end of the large spring 75 contacts the support 74 and the other end contacts the locking pin 71 to push the locking pin 71 to move towards the linkage wheel 72. The support 74 is provided with a limiting groove 741 at one end near the linkage wheel 72. In the initial state, the pin 712 is located in the limiting groove 741. The limiting groove 741 is used to limit the pin 712, so that the locking pin 71 does not rotate with the rotating shaft 76. At the same time, the inner wall of the linkage wheel 72 is provided with a first half groove 721. The pin 712 is locked in the first half groove 721. The pin 712 is locked in both the limiting groove 741 and the first half groove 721, so that the linkage wheel 72 does not rotate with the rotating shaft 76.

[0056] like Figure 12 As shown, an annular step is provided at the end of the rotating shaft 76 away from the unfolding shaft 5. A second half-groove 761 is provided on the annular step. Both the first half-groove 721 and the second half-groove 761 are semi-cylindrical grooves. In the initial state, the end of the pin 712 is in contact with the step surface of the annular step, and the rotating shaft 76 is driven to rotate by the unfolding shaft 5 until the inspector 2 is in the unfolded state. At this time, the first half-groove 721 and the second half-groove 761 are aligned to form a cylindrical groove that cooperates with the pin 712. At this time, the locking pin 71 is pushed into the cylindrical groove and the locking pin is disengaged from the limiting groove 741. At this time, the rotating shaft 76 is locked with the linkage wheel 72, and the linkage wheel 72 rotates together with the rotating shaft 76, thereby realizing the linkage function.

[0057] A latch mounting seat is installed on the inner side of the end of the rotating shaft 76. A groove is provided on the latch mounting seat, with its length along the radial direction of the rotating shaft 76. The latch 73 is located within the groove and can slide along its length. A small spring 77 connects the latch 73 and the latch mounting seat, driving the latch 73 to move along the length of the groove. The rotating shaft 76 has a through hole facing the end of the groove, and a latch slot 722 is also provided on the inner wall of the linkage wheel 72. When the first half-groove 721 and the second half-groove 761 are aligned to form a cylindrical groove, the latch 73 is aligned with the latch slot 722. At this time, the small spring 77 drives the latch 73 to pass through the through hole and engage in the latch slot 722.

[0058] Because the unfolding shaft 5 is connected to the inspector 2, meaning the unfolding shaft 5 bears a large load, it may deform, causing a certain deviation in the position of the locking pin 71. This can lead to the locking pin 71 getting stuck, preventing it from immediately engaging in the cylindrical groove when the first half-groove 721 and the second half-groove 761 are aligned. Furthermore, during the rotation of the rotating shaft 76, friction causes the locking pin 71 to press against one side of the limiting groove 741, resulting in significant friction on one side of the locking pin 71 and making it prone to jamming. This again prevents the locking pin 71 from immediately engaging in the cylindrical groove when the first half-groove 721 and the second half-groove 761 are aligned. However, the movement of the locking tongue 73 is not affected by the deformation of the unfolding shaft 5. When the locking tongue 73 is aligned with the locking tongue slot 722, the locking tongue 73 first engages in the locking tongue slot 722, and then the pin 712 is inserted into the cylindrical groove.

[0059] Further configuration: The limiting groove 741 is designed as an elongated groove, meaning the width of the limiting groove 741 along the circumferential direction of the support 74 is greater than the diameter of the pin 712. Specifically, the width of the limiting groove 741 along the circumferential direction of the support 74 is 1.5 to 2 times the diameter of the pin. When the unfolding shaft 5 begins to rotate in the reverse direction, the force pressing between the pin 712 and one side of the limiting groove 741 is released, and the pin 712 is driven by the large spring 75 to insert into the cylindrical groove. This configuration ensures that the locking pin 71 can be engaged in the cylindrical groove; and the mating structure between the pin 712 and the cylindrical groove allows it to withstand greater torque, thereby ensuring that the rotating shaft 76 and the linkage wheel 72 rotate together.

[0060] That is, when in the unfolded state, the unfolding shaft 5, the rotating shaft 76 and the linkage wheel 72 rotate together.

[0061] The end of the rotating shaft 76 away from the unfolding shaft 5 extends through the linkage wheel 72. A protrusion is provided on the outside of the end of the rotating shaft 76 that extends through the linkage wheel 72. The protrusion is located on the outside of the end of the linkage wheel 72 away from the support 74. A limit block is provided on the outer wall surface of the linkage wheel 72. The limit block is located on the rotation path of the protrusion. The protrusion prevents the linkage wheel 72 from slipping off the rotating shaft 76, and the limit block cooperates with the protrusion to limit the rotation stroke of the rotating shaft 76.

[0062] like Figure 13As shown, the hinge bracket 11 is connected to a cam and a preload adjustment device. One end of the linkage rope is fixedly connected to the outer side of the linkage wheel 72, and the other end is connected to the preload adjustment device, which is used to preload the linkage rope. The cam is fixedly connected to the hinge bracket 11, and the axis of the cam is parallel to the rotation axis of the composite frame 9. An upper guide wheel and a lower guide wheel are also rotatably connected to the composite frame 9. The linkage wheel 72, the upper guide wheel, the lower guide wheel, and the cam are arranged sequentially on the side of the composite frame 9. The linkage rope passes around the cam from the side of the cam closest to the lander 1, passes around the lower guide wheel from the side of the lower guide wheel away from the lander 1, passes around the upper guide wheel from the side of the upper guide wheel away from the lander 1, passes around the linkage wheel 72 from the side of the linkage wheel 72 closest to the lander 1, and is fixedly connected to the outer wall of the linkage wheel 72. The straight line of the linkage rope between the upper guide wheel and the cam passes through the axis of the linkage wheel 72, so that the force exerted on the linkage wheel 72 by the linkage rope is perpendicular to the axis of the linkage wheel 72, and there is no torque on the linkage wheel 72 in the circumferential direction.

[0063] When the composite frame 9 rotates, the linkage rope is wound around the outer curved surface of the cam, while the linkage rope on the outer curved surface of the upper guide wheel is released. Thus, when the composite frame 9 moves away from the rotating lander 1, the upper guide wheel, cam, and linkage rope drive the deployment shaft 5 to rotate in the opposite direction, and the rotation angle of the deployment shaft 5 is the same as the rotation angle of the composite frame 9. Therefore, during the rotation of the composite frame 9, the rover 2 connected to the deployment shaft 5 can maintain a stable horizontal state.

[0064] The curve of the cam satisfies the following: when the composite frame 9 rotates, the rotation angle of the composite frame 9 around the hinge axis is consistent with the rotation angle of the linkage wheel 72 (opposite in direction), and the patrol device 2 remains horizontal.

[0065] The preload adjustment device includes a sliding block, a guide sleeve, and a nut. The guide sleeve is fixedly connected to the hinge bracket 11. The sliding block passes through the guide sleeve and is slidably connected to it. A long strip groove is provided on one side of the guide sleeve. The sliding block has a protrusion located in the long strip groove. One end of the sliding block is fixed to the linkage rope, and the other end extends out of the guide sleeve. The nut is threadedly connected to the end of the sliding block that extends out of the guide sleeve. When the nut is rotated, the sliding block moves within the guide sleeve, thereby adjusting the preload of the linkage rope.

[0066] One end of the forced disconnect device 4 is mounted on the deployment shaft 5, and the other end is connected to the rover 11. In the event that the electric disconnect function of the disconnect connector of the rover 2 fails, the forced disconnect device 4 achieves mechanical separation of the disconnect plug located at the lander 1 end from the socket at the rover 2 end.

[0067] The implementation principle of this patent is as follows:

[0068] In the initial stage, the transfer device and rover 2 are locked to the side wall of lander 1. When the transfer begins, rover 2 is swung to a horizontal position with the lunar surface. The release device 91 is pressed to release the frame assembly 9, and the slow-release assembly 3 controls the release of the frame assembly 9. Under the gravity of rover 2, the frame assembly 9 rotates around the hinge axis of the hinge bracket 11 and the composite frame 9. At the same time, the linkage wheel assembly, cam and linkage rope work together to adjust rover 2 to always maintain a horizontal attitude with the lunar surface until rover 2 is in complete contact with the lunar surface. Then the separation device 92 releases rover 2, completing the transfer action.

[0069] During the probe launch phase, Earth-Moon transfer phase, lunar orbit phase, and powered descent phase, the transfer device, via the clamping and release device 91, closes and clamps against the side of the lander 1 and remains connected to the rover 2. After the lander 1 lands safely, the rover 2 unlocks from the lander 1 and remains connected to the deployment shaft assembly 5. The ground sends a power-on command to the transfer device control circuit and the motor of the drive release assembly 3, while the digital tube sends a motor reversal command. Driven by the release steel cable 3, the rover 2 is rotated from a lateral attitude to a horizontal attitude, completing the deployment action. The lander 1 then issues an unlocking command, and the clamping and release device 91 connects the composite frame 9 to the lander. When the lander 1 and the umbilical cord detachment device 3 are unlocked, the ground sends a command to drive the release component 3 motor to rotate forward, the release wire rope 3 releases its extension, and the rover 2 and the composite frame 9 slowly release by rotating around the hinge support under their own weight. At the same time, the linkage wheel component controls the hinge component 10 to rotate clockwise during the transfer process, and the deployment shaft 5 can only rotate counterclockwise. After the rover 2 is transferred to the position, if the umbilical cord detachment between the rover 2 and the lander 1 fails, the ground sends a command to the forced detachment device 4 to forcibly disconnect the umbilical cord connector of the rover 2. The ground then sends an unlocking command again to unlock the connection separation device 92 between the deployment shaft 5 and the rover 2, and finally realizes the ground release of the rover 2.

[0070] After the patrol unit 2 is released, when the composite frame 9 needs to be retracted, the ground sends a command to drive the motor of the slow-release component 3 to rotate forward. The slow-release steel wire rope 3 drives the unfolding shaft component 5 to move, and finally completes the retraction of the entire composite frame 9. After being retracted into place, the patrol unit 2 drives away, and the overall transfer device is powered off.

[0071] Under the traction of the release rope 22 and the gravity of the rover 25, the transfer mechanism frame assembly 28 begins to slowly rotate. At the same time, the rotation motor adjusts the attitude of the rover 25 at the same angular velocity as the rotation speed of the frame assembly 8, so that the rover 25 always remains in a horizontal state. The transfer mechanism can further control the combined movement of the release mechanism 21 and the rotation mechanism 23 under telemetry commands according to the tilt angle between the lander 1 and the lunar surface, until the wheels of the rover 25 contact the lunar surface. After the rover 25 contacts the lunar surface, the lander 1 sends an unlocking command, the separation release mechanism 24 works, and the transfer mechanism is unlocked from the rover 25. The rover 25 can then move away by itself. At this point, the transfer action of the rover 25 is completed.

[0072] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0073] The contents not described in detail in this application specification are common knowledge to those skilled in the art.

Claims

1. A rover locking and transfer device for connecting a rover (2) to one side of a lander (1), characterized in that: It includes a composite frame (9), a deployment shaft (5), a drive release assembly (3), a linkage wheel assembly and a linkage assembly. The lander (1) is fixedly connected to a hinge bracket. One end of the composite frame (9) is rotatably connected to the hinge bracket, and the other end of the composite frame (9) is rotatably connected to the deployment shaft (5). The composite frame (9) and the lander (1) can be controllably connected or separated. The deployment shaft (5) is used to connect the rover (2), and the drive release assembly (3) is connected between the lander (1) and the deployment shaft (5) to drive the deployment shaft (5) to rotate and drive the rover (2) to deploy. The linkage wheel assembly includes a linkage wheel (72), a rotating shaft (76), and a locking mechanism. The rotating shaft (76) is fixedly connected to the end of the unfolding shaft (5), and the linkage wheel (72) is rotatably connected to the outside of the rotating shaft (76). In the initial state, the linkage wheel (72) is locked to the composite frame (9) through the locking mechanism. When the unfolding shaft (5) and the rotating shaft (76) rotate to the unfolded state of the patrol device (2), the linkage wheel (72) is locked to the rotating shaft (76) through the locking mechanism, and the linkage wheel (72) and the rotating shaft (76) rotate together. The linkage assembly is connected between the lander (1) and the linkage wheel (72). The rotation of the composite frame (9) drives the linkage wheel (72) to rotate in the opposite direction through the linkage assembly. In the initial state, the composite frame (9) is connected to the lander (1), and the linkage wheel (72) is locked to the composite frame (9) through the locking mechanism. The drive release component (3) drives the deployment shaft (5) to rotate, and the deployment shaft (5) drives the rover (2) to rotate and deploy the rover (2). When the rover (2) is in the deployed state, the linkage wheel (72) is locked to the rotating shaft (76) through the locking mechanism. The linkage wheel (72) and the rotating shaft (76) rotate together. The composite frame (9) is separated from the lander (1). The composite frame (9) is controlled to rotate relative to the lander (1) by driving the slow-release component (3). The linkage assembly includes a cam (41) and a linkage rope (42). The cam (41) is fixedly connected to the lander (1). One end of the linkage rope (42) is connected to the lander (1), and then passes around the linkage wheel (72) from the side of the cam (41) near the lander (1) and the side of the linkage wheel (72) near the lander (1). The other end of the linkage rope (42) is connected to the outer wall of the linkage wheel (72). The lander (1) is equipped with a pretension adjustment device. One end of the linkage rope (42) is connected to the lander (1) through the pretension adjustment device. The pretension adjustment device includes a sliding block (61), a guide sleeve (62) and a nut (63). The guide sleeve (62) is fixedly connected to the lander (1). The sliding block (61) passes through the guide sleeve (62) and is slidably connected to the guide sleeve (62). One end of the sliding block (61) is fixed to the linkage rope (42) and the other end extends out of the guide sleeve (62). The nut (63) is threadedly connected to the end of the sliding block (61) that extends out of the guide sleeve (62). The locking mechanism includes a support (74), a locking pin (71), and a large spring (75). The support (74) is fixedly connected to the composite frame (9). A rotating shaft (76) is inserted into the inner hole of the support (74) and rotatably connected to the support (74). The linkage wheel (72) is located on the side of the support (74) away from the unfolding shaft (5). The locking pin (71) and the large spring (75) are located between the rotating shaft (76) and the support (74). One end of the large spring (75) contacts the inner wall of the support (74), and the other end contacts the end of the locking pin (71) to push the locking pin (71) to move closer to the linkage wheel (72). The support (74) has a limit groove (741), and the inner wall of the linkage wheel (72) is... A first half-groove (721) is provided, and an annular step is provided at the end of the rotating shaft (76) away from the unfolding shaft (5). A second half-groove (761) is provided on the annular step. In the initial state, the locking pin (71) is simultaneously located in the limiting groove (741) and the first half-groove (721). The end of the locking pin (71) is in contact with the step surface of the annular step. The rotating shaft (76) is driven to rotate by the unfolding shaft (5) until the patrol device (2) is in the unfolded state. At this time, the first half-groove (721) and the second half-groove (761) are aligned to form a slot that cooperates with the locking pin (71). The locking pin (71) is pushed into the slot and the locking pin is disengaged from the limiting groove (741). At this time, the rotating shaft (76) is locked with the linkage wheel (72).

2. The patrol device locking and transfer device according to claim 1, characterized in that: The drive-release assembly (3) includes a winding mechanism and a release wire rope. The winding mechanism is connected to the lander (1), and the deployment shaft (5) is connected to a support rod (93). One end of the release wire rope is wound around the winding mechanism, and the other end is connected to the support rod (93). In the initial state, the winding mechanism retracts the release wire rope, and the release wire rope pulls the deployment shaft (5) to rotate through the support rod (93). When the rover (2) is in the deployed state, the winding mechanism releases the release wire rope, and the rover (2) and the composite frame (9) rotate away from the lander (1) by their own weight.

3. The patrol device locking and transfer device according to claim 1, characterized in that: The composite frame (9) is also rotatably connected to an upper guide wheel and a lower guide wheel. The linkage wheel (72), the upper guide wheel, the lower guide wheel and the cam (41) are arranged in sequence on the side of the composite frame (9). The linkage rope (42) passes around the upper guide wheel and the lower guide wheel from the side away from the lander (1).

4. The patrol device locking and transfer device according to claim 1, characterized in that: The guide sleeve (62) has an elongated groove on one side, and the sliding block (61) has a protrusion located in the elongated groove so that the sliding block (61) slides in the guide sleeve (62) along the length of the elongated groove.

5. The patrol device locking and transfer device according to claim 1, characterized in that: A connection and separation device (92) is connected to the unfolding shaft (5). The connection and separation device (92) rotates together with the unfolding shaft (5). The connection and separation device (92) is used to connect or separate the unfolding shaft (5) from the patrol device (2).

6. The patrol device locking and transfer device according to claim 1, characterized in that: Both the first half-groove (721) and the second half-groove (761) are semi-cylindrical grooves.

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