Lunar surface repeatable telescopic gallery bridge mechanism

Abstract

The invention relates to a lunar surface repeatable telescopic gallery bridge mechanism, and belongs to the technical field of star surface base equipment room assembly channel mechanisms. One end of a follow-up connecting mechanism is connected with a fixing device, and the other end of the follow-up connecting mechanism is connected with one end of a channel folding and unfolding mechanism; a walking mechanism is arranged on the lower portion of the other end of the channel folding and unfolding mechanism. The lockable transmission wheel set is used, so that the passing stability of personnel and goods is ensured, and the reliability is highest. In the traction unfolding and butt joint process of the traction mechanism, pitching and yawing movement at a certain angle can be carried out; the requirements that the planet surface has an unstructured terrain and assembly interfaces between equipment have attitude differences are met. According to the method, the requirements of large-error pose assembly working conditions and the folding-unfolding ratio are met.

Description

Technical Field

[0001] This invention relates to a telescopic corridor mechanism, belonging to the technical field of assembly passage mechanisms for equipment rooms in space bases. Background Technology

[0002] Currently, research findings on assembly channels between equipment on space stations are scarce, and existing technologies are insufficient to meet practical needs. Connection mechanisms used for land-based, underwater vehicles, and space stations are limited by key parameters such as size and weight, and cannot be directly applied to space station equipment connection missions. At the same time, the unique environment of space stations—low gravity, rugged terrain, and unstructured—leads to significant and uncertain positional deviations in the equipment to be docked. Existing space station assembly channels not only lack precision but also have weak environmental adaptability. Yet, these channels are precisely the necessary guarantee for modular docking and collaborative operation of space station equipment.

[0003] Astronomical assembly channels are primarily used for docking fixed and mobile equipment in unstructured terrain. This application scenario places specific requirements on them: they must possess multiple degrees of freedom to accommodate positional deviations between equipment, stably support the transfer of materials and personnel after docking, and isolate them from external environmental interference. Therefore, research and design of the assembly channel's unfolding mechanism, follow-up connection mechanism, and repetitive locking scheme are crucial. This will not only provide technical support for the construction of future astronomical research bases and the execution of exploration missions, but also have significant theoretical and practical value for deepening our understanding of planetary characteristics and evolutionary patterns, and promoting lunar surface resource exploration and acquisition.

[0004] Therefore, there is an urgent need to propose a repeatable telescopic walkway mechanism for the lunar surface to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned problems, a reusable retractable walkway mechanism for the lunar surface is provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0006] The technical solution of this invention:

[0007] A lunar reusable telescopic walkway mechanism includes: one end of a follower connection mechanism is connected to a fixed device, and the other end of the follower connection mechanism is connected to one end of a passage folding and unfolding mechanism; a walking mechanism is provided at the lower part of the other end of the passage folding and unfolding mechanism.

[0008] Preferably, the follow-up connection mechanism includes: four rotating joints arranged circumferentially on the hatch, and four spherical hinges arranged at one end of the passage folding and unfolding mechanism, with the rotating joints connected to the corresponding spherical hinges through sliding joints.

[0009] Preferably, one end of the hatch and the passageway folding and unfolding mechanism is connected by a flexible material.

[0010] Preferably, the walking mechanism includes: the upper end of the telescopic bracket is connected to the other end of the channel folding and unfolding mechanism, and the lower end of the telescopic bracket is provided with wheels.

[0011] Preferably, the channel folding and unfolding mechanism includes: a first-stage sleeve, an intermediate sleeve, a fifth-stage sleeve, and a locking transmission wheel assembly; the first-stage sleeve, intermediate sleeve, and fifth-stage sleeve are sequentially fitted together from the inside to the outside; The locking transmission wheel assembly includes pulleys and a conveyor belt. The pulleys are located at both ends of the intermediate sleeve, and the pulleys at both ends are connected by the conveyor belt. The first-stage sleeve is connected to the lower section of the conveyor belt, and the fifth-stage sleeve is connected to the upper section of the conveyor belt.

[0012] Preferably, the locking transmission wheel assembly further includes an electromagnetic lock, a locking groove, and a bearing housing. Two symmetrically arranged pulleys are mounted on a bearing housing via a rotating shaft. A locking groove is provided between the two pulleys, and the pulleys are coaxially connected to the locking groove. An electromagnetic lock is provided on the side wall of the bearing housing, and the movable end of the electromagnetic lock is correspondingly positioned to the locking groove.

[0013] Preferably, the intermediate sleeve includes: a second-stage sleeve, a third-stage sleeve, and a fourth-stage sleeve, all equipped with locking drive wheel sets; the conveyor belt on the second-stage sleeve is connected to the first-stage sleeve and the third-stage sleeve respectively; the conveyor belt on the third-stage sleeve is connected to the second-stage sleeve and the fourth-stage sleeve respectively; and the conveyor belt on the fourth-stage sleeve is connected to the third-stage sleeve and the fifth-stage sleeve respectively.

[0014] Preferably, the locking drive wheel sets on the second-stage sleeve, the third-stage sleeve, and the fourth-stage sleeve are alternately arranged, with the two locking drive wheel sets on the second-stage sleeve arranged symmetrically vertically, the two locking drive wheel sets on the third-stage sleeve arranged symmetrically vertically, and the two locking drive wheel sets on the fourth-stage sleeve arranged symmetrically vertically.

[0015] Preferably, the intermediate sleeve, the second-stage sleeve, the third-stage sleeve, and the fourth-stage sleeve are provided with mounting grooves, the first-stage sleeve is provided with a first mounting groove at the position corresponding to the mounting groove, the fifth-stage sleeve is provided with a fifth mounting groove at the position corresponding to the mounting groove, the locking transmission wheel set is provided with a corresponding mounting groove, and the bearing seat at the end of the mounting groove is slidably connected to another adjacent mounting groove.

[0016] The present invention has the following beneficial effects: 1. This invention meets the requirements for large-error pose assembly conditions and folding-to-unfold ratio.

[0017] 2. This invention selects a novel composite material with low density and high stiffness to minimize its weight, thereby reducing launch and manufacturing costs.

[0018] 3. This invention uses a lockable transmission wheel set to ensure stability and maximum reliability when personnel and goods pass through.

[0019] 4. During the traction deployment and docking process of the traction mechanism, the present invention can perform pitch and yaw movements at a certain angle; this satisfies the existence of unstructured terrain on the planetary surface and the attitude differences between the assembly interfaces of the equipment. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a reusable retractable walkway mechanism on the lunar surface.

[0021] Figure 2 This is a schematic diagram of the follower connection mechanism.

[0022] Figure 3 This is a schematic diagram of the walking mechanism.

[0023] Figure 4 This is a top view of a repeatable retractable walkway mechanism on the lunar surface.

[0024] Figure 5 yes Figure 4 A magnified view of a portion of point A in the middle.

[0025] Figure 6 This is a structural schematic diagram of the locking transmission wheel assembly. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0027] Specific implementation method one: Combining Figure 1-6 This embodiment describes a lunar reusable telescopic walkway mechanism, comprising: a follower connection mechanism 101, a passage folding and unfolding mechanism 102, and a traveling mechanism 103; one end of the follower connection mechanism 101 is connected to a fixed device, and the other end of the follower connection mechanism 101 is connected to one end of the passage folding and unfolding mechanism 102; the traveling mechanism 103 is provided at the lower part of the other end of the passage folding and unfolding mechanism 102; one side of the connection mechanism 101 is fixed, and the traveling mechanism 103 installed on the other side of the passage folding and unfolding mechanism drives the passage folding and unfolding mechanism 102 to extend or shorten, and adaptively adjusts through the connection mechanism 101; this invention meets the requirements of large error pose assembly conditions and folding / unfolding ratio.

[0028] Specific Implementation Method Two: Combining Figure 1-6This embodiment describes a lunar reusable telescopic walkway mechanism. The follower connection mechanism 101 is a parallel follower connection mechanism, including: a hatch 301, a rotating joint 302, a sliding joint 303, and spherical hinges 304. Four rotating joints 302 are evenly arranged circumferentially on the hatch 301. Four spherical hinges 304 are evenly arranged at one end of the passage folding and unfolding mechanism 102. The rotating joints 302 are connected to the corresponding spherical hinges 304 via sliding joints 303, for example... Figure 1 The front and rear rotating joints 302 are arranged along the x-direction, and the top and bottom rotating joints 302 are arranged along the y-direction. A rotating joint 302 is arranged near the middle of each side of the square hatch. A spherical hinge 304 is arranged at the middle of each side of the square passage folding and unfolding mechanism. The spherical hinge 304 can be a spherical hinge or a ball hinge. The rotating joint 302 can be a single-axis rotating ordinary hinge. The sliding joint 303 can be a hydraulic rod or a telescopic rod. The connecting mechanism 101 actively adjusts its movement according to the road surface undulations, turns, etc. as the walking mechanism 103 moves. The hatch 301 can be opened.

[0029] Specific implementation method three: Combining Figure 1-6 This embodiment describes a lunar reusable telescopic walkway mechanism. The hatch 301 is connected to the first-stage sleeve 401 at one end of the assembly channel folding and unfolding mechanism 102 by a flexible material. This connection does not affect the movement of the follow-up connection mechanism and can also seal the gap between the hatch and the first-stage sleeve. The flexible material can be a square corrugated pipe made of rubber.

[0030] Specific implementation method four: Combination Figure 1-6 This embodiment describes a lunar reusable telescopic walkway mechanism. The walking mechanism 103 includes a load-bearing plate 201, telescopic supports 202, and wheels 203. The upper ends of the two telescopic supports 202 are connected to the lower side of the fifth-stage sleeve 405 at the other end of the passage folding and unfolding mechanism 102 via a load-bearing plate 201. The lower ends of the telescopic supports 202 are equipped with wheels 203. For example, a bidirectional motor is fixed to the lower end of the telescopic support 202, and each of the two output ends of the bidirectional motor is connected to a wheel. The rotation of the bidirectional motor drives the wheels to rotate, thereby driving the extension and retraction of the passage folding and unfolding mechanism. The telescopic supports 202 can be hydraulic rods, which are height-adjustable and serve a shock-absorbing function. During the traction, unfolding, and docking process of the traction mechanism, this invention can perform pitch and yaw movements at certain angles, which is suitable for unstructured terrain on the planetary surface and for the attitude differences between the assembly interfaces of the equipment.

[0031] Specific Implementation Method Five: Combining Figure 1-6This embodiment describes a lunar reusable telescopic walkway mechanism. The passage folding and unfolding mechanism 102 includes: a first-stage sleeve 401, an intermediate sleeve, a fifth-stage sleeve 405, and a locking transmission wheel set 406. The first-stage sleeve 401, the intermediate sleeve, and the fifth-stage sleeve 405 are sequentially fitted from the inside to the outside, and adjacent sleeves are slidably connected. The intermediate sleeve can be one sleeve or two or more sleeves sequentially fitted. This embodiment uses one sleeve as an example. The locking transmission wheel assembly 406 includes: pulleys 502 and a conveyor belt 503. Bearing seats 500 are provided at both ends of the intermediate sleeve. The pulleys 502 are mounted at both ends of the intermediate sleeve via the bearing seats. The pulleys 502 at both ends are connected by the conveyor belt 503. One section of the conveyor belt 503 is located between the first-stage sleeve 401 and the intermediate sleeve, and the other section is located between the intermediate sleeve and the fifth-stage sleeve 405. In the initial retracted state, the right side or middle of the first-stage sleeve 401 is connected to the right side or middle of the lower section of the conveyor belt 503, and the left side of the fifth-stage sleeve 405... The sleeve is connected to the left or middle of the upper section of the conveyor belt 503. The pulley 502 is a synchronous pulley, and the conveyor belt 503 is a synchronous belt. The present invention enables the synchronous operation of each sleeve through the design of the transmission wheel set. The linkage between the sleeves forms a stable corridor bridge structure, which improves the safety and reliability of use. The sleeve material is CFRP. The present invention selects a new type of low-density and high-rigidity composite material. On the basis of ensuring that the total deformation remains unchanged, the size of the stiffened base plate is optimized so that it can meet the load requirements while minimizing its own weight, thereby reducing launch cost and manufacturing cost.

[0032] Specific Implementation Method Six: Combination Figure 1-6 This embodiment describes a lunar reusable telescopic walkway mechanism. The locking transmission wheel assembly 406 is a lockable transmission wheel assembly used for locking and unlocking. It also includes an electromagnetic lock 501, a locking groove 504, and a bearing seat. Two symmetrically arranged pulleys 502 are mounted on a bearing seat 500 via a rotating shaft. A locking groove 504 is provided between the two pulleys 502, and the pulleys 502 and the locking groove 504 are coaxially connected. The locking groove 504 is a bushing structure connected to a key on the rotating shaft. Several circumferentially evenly arranged grooves are provided on the outer side of the bushing structure. An electromagnetic lock 501 is mounted on the side wall of the bearing seat 500. The movable end of the electromagnetic lock 501 corresponds to the groove in the locking groove 504. For example, when the first-stage sleeve 401 extends to the required length, the movable end of the electromagnetic lock 501 extends and enters the groove in the locking groove 504, thereby preventing the pulleys 502 from rotating and achieving further positioning of adjacent sleeves, improving stability.

[0033] Specific implementation method seven: Combination Figure 1-6This embodiment describes a lunar reusable telescopic walkway mechanism. When the passage folding and unfolding mechanism 102 has three intermediate sleeves, it includes: a second-stage sleeve 402, a third-stage sleeve 403, and a fourth-stage sleeve 404. Each end of the second-stage sleeve 402, third-stage sleeve 403, and fourth-stage sleeve 404 is equipped with a pulley 502 of a locking transmission wheel assembly 406. The conveyor belt 503 on the second-stage sleeve 402 is connected to the first-stage sleeve 401 and the third-stage sleeve 403, respectively. The conveyor belt 503 on the third-stage sleeve 403 is connected to the second-stage sleeve 402 and the fourth-stage sleeve 404, respectively. The conveyor belt 503 on the fourth-stage sleeve 404 is connected to the third-stage sleeve 403 and the fifth-stage sleeve 405, respectively. The ability to install multiple sleeves with synchronized operation increases the length, improving stability, ease of use, and applicability.

[0034] Specific implementation method eight: Combination Figure 1-6 This embodiment describes a lunar surface reusable telescopic walkway mechanism. The locking transmission wheel sets 406 on the second-stage sleeve 402, the third-stage sleeve 403, and the fourth-stage sleeve 404... Figure 1 The two locking drive wheel sets 406 on the second-stage sleeve 402 are alternately set in the middle and front, and are in the middle. Figure 1 The two locking transmission wheel sets 406 on the third-stage sleeve 403 are symmetrically arranged at the top and bottom. Figure 1 The upper and lower parts are symmetrically arranged, and the two locking transmission wheel sets 406 on the fourth-stage sleeve 404 are in Figure 1 The symmetrical top and bottom arrangement, through a reasonable spatial layout design, prevents interference during movement and balances the forces on both sides, making movement and locking more stable and smooth.

[0035] Specific Implementation Method Nine: Combining Figure 1-6 This embodiment describes a lunar reusable telescopic walkway mechanism. The inner and outer surfaces of the intermediate sleeve, second-stage sleeve 402, third-stage sleeve 403, and fourth-stage sleeve 404 are provided with mounting grooves along the telescopic direction. One mounting groove is slidably connected to an adjacent bearing seat 500, and the other is used to install a locking transmission wheel assembly for the conveyor belt structure. A first mounting groove is provided on the outer surface of the first-stage sleeve 401 at a position corresponding to the mounting groove. A fifth mounting groove is provided on the inner surface of the fifth-stage sleeve 405 at a position corresponding to the mounting groove. The locking transmission wheel assembly 406 is correspondingly provided with the mounting groove. The bearing seat 500 at the end of the mounting groove is slidably connected to another adjacent mounting groove to prevent deformation of the conveyor device from affecting the movement trajectory.

[0036] Example 1: Combination Figure 1-6As shown, the purpose of this invention is to provide a reusable telescopic corridor structure to solve the assembly and docking problem between general fixed equipment and general mobile equipment to a certain extent; it mainly targets the folding and unfolding mechanism of the assembly channel, the multi-degree-of-freedom follow-up connection mechanism, and the repeated unlocking and locking mechanism, so as to facilitate the transfer of materials and personnel between mobile equipment, landers, and scientific research station modules; for example, the door is the door frame of the mobile device, and the walking device drives the folding and unfolding mechanism of the channel to move towards the fixed equipment to complete the docking. A lunar reusable telescopic walkway mechanism includes a walking mechanism, an assembly channel folding and unfolding mechanism, and a parallel follow-up connection mechanism.

[0037] The walking mechanism includes a wheel section and a telescopic support section.

[0038] The walking mechanism is characterized as follows: In the initial state, the assembly channel is folded and level with the hatch, and the walking mechanism does not move. At the start of operation, the wheels roll towards the target direction, the telescopic support rises to bring the assembly channel closer to the target, and locks it. At the end, the telescopic support returns to its original position, and the wheels roll towards the hatch.

[0039] The assembly channel folding and unfolding mechanism includes five foldable sleeves, synchronous pulleys, and a repeatable real-time locking and releasing mechanism throughout the entire process between stages.

[0040] The assembly channel folding and unfolding mechanism is characterized as follows: In the initial state, the channel is folded and the synchronous pulley is locked. Upon startup, the synchronous pulley releases its lock, and the folding sleeve unfolds under the action of the traveling mechanism. The next-stage sleeve's synchronous belt is fixedly connected to the upper side of the outer sleeve. The synchronous belt teeth mesh with the locking transmission wheel's tooth grooves to transmit motion and power. The lower side of the synchronous belt is fixedly connected to the next-next-stage sleeve, thereby synchronously transmitting the movement of the outermost sleeve. After unfolding, the electromagnetic lock is energized, and the output core rod extends into any locking slot in the circular array, pressing against the locking transmission wheel to complete the locking.

[0041] The parallel follower connection mechanism includes four kinematic chains with one end being a revolute joint and the other end being a ball joint.

[0042] The parallel follow-up connection mechanism is characterized as follows: In the initial state, the four moving chains do not move, and the first-stage sleeve is parallel to the hatch. Upon starting operation, the length of the moving chains changes with the movement of the passage. When all four moving chains extend by the same length, the first-stage sleeve moves in parallel; when the vertical moving chains extend and shorten respectively, the first-stage sleeve flips vertically; when the horizontal moving chains extend and shorten respectively, the first-stage sleeve flips horizontally.

[0043] A method for operating a lunar reusable telescopic walkway mechanism includes the following steps: 1. Start-up, adjustment, and locking process When the fixed and mobile equipment to be docked enter the docking range, upon receiving the docking command, the wheels of the traveling mechanism begin to move towards the fixed equipment. The motion chain of the parallel follower connection mechanism extends, the assembly channel folding mechanism unfolds, and the folding sleeve unfolds synchronously under the action of the synchronous belt pulley. After reaching the designated position, the telescopic bracket of the traveling mechanism extends, raising the folding sleeve to the designated height. The motion chain of the parallel follower connection mechanism extends or shortens, and the moving platform deflects to facilitate the continued unfolding of the assembly channel folding mechanism. The assembly channel folding unfolding mechanism continues to unfold until the fifth-stage sleeve reaches the target area. The traveling mechanism continues to move and adjust to bring the fifth-stage sleeve to the optimal position. When the optimal position is reached, the electromagnetic lock is energized, and the output core rod extends and enters any locking slot in the circumferential array, pressing against the locking transmission wheel to complete the locking.

[0044] 2. Release and reset process After the work is completed, the output mandrel leaves the locking groove, and the synchronous pulley releases. The telescopic bracket of the traveling mechanism shortens, lowering the folding sleeve to be parallel to the hatch. The motion chain of the parallel follower connecting mechanism extends or shortens, the moving platform deflects to make the folding sleeve parallel to the hatch, and the assembly channel folding and unfolding mechanism then retracts. After parallel alignment is achieved, the telescopic bracket of the traveling mechanism remains unchanged, the wheels of the traveling mechanism move towards the hatch, the motion chain of the parallel follower connecting mechanism retracts, the assembly channel folding mechanism retracts, and the folding sleeve retracts synchronously under the action of the synchronous pulley until the sleeve is fully retracted.

[0045] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reusable telescopic walkway mechanism for the lunar surface, characterized in that: include: One end of the follower connection mechanism (101) is connected to the fixed device, and the other end of the follower connection mechanism (101) is connected to one end of the channel folding and unfolding mechanism (102); a walking mechanism (103) is provided at the lower part of the other end of the channel folding and unfolding mechanism (102).

2. The lunar surface repeatable telescopic walkway mechanism according to claim 1, characterized in that: The follow-up connection mechanism (101) includes: four rotating joints (302) arranged circumferentially on the hatch (301), and four spherical hinges (304) arranged at one end of the passage folding and unfolding mechanism (102). The rotating joints (302) are connected to the corresponding spherical hinges (304) through the sliding joints (303).

3. The lunar surface repeatable telescopic walkway mechanism according to claim 2, characterized in that: The hatch (301) is connected to one end of the passage folding and unfolding mechanism (102) by a flexible material.

4. The lunar surface repeatable telescopic walkway mechanism according to claim 2, characterized in that: The walking mechanism (103) includes: the upper end of the telescopic bracket (202) is connected to the other end of the channel folding and unfolding mechanism (102), and the lower end of the telescopic bracket (202) is provided with wheels (203).

5. The lunar surface repeatable telescopic walkway mechanism according to claim 4, characterized in that: The channel folding and unfolding mechanism (102) includes: a first-stage sleeve (401), an intermediate sleeve, a fifth-stage sleeve (405), and a locking transmission wheel assembly (406); the first-stage sleeve (401), the intermediate sleeve, and the fifth-stage sleeve (405) are sequentially fitted together from the inside to the outside; The locking transmission wheel assembly (406) includes: pulleys (502) and a conveyor belt (503). The pulleys (502) are located at both ends of the intermediate sleeve. The pulleys (502) at both ends are connected through the conveyor belt (503). The first-stage sleeve (401) is connected to the lower section of the conveyor belt (503), and the fifth-stage sleeve (405) is connected to the upper section of the conveyor belt (503).

6. The lunar surface repeatable telescopic walkway mechanism according to claim 5, characterized in that: The locking transmission wheel assembly (406) also includes: an electromagnetic lock (501), a locking groove (504) and a bearing seat. Two symmetrically arranged pulleys (502) are provided on a bearing seat (500) via a rotating shaft. A locking groove (504) is provided between the two pulleys (502), and the pulleys (502) and the locking groove (504) are coaxially connected. An electromagnetic lock (501) is provided on the side wall of the bearing seat (500), and the movable end of the electromagnetic lock (501) is correspondingly provided with the locking groove (504).

7. The lunar surface repeatable telescopic walkway mechanism according to claim 5, characterized in that: The intermediate sleeve includes a second-stage sleeve (402), a third-stage sleeve (403), and a fourth-stage sleeve (404), all of which are equipped with locking drive wheel sets (406). The conveyor belt (503) on the second-stage sleeve (402) is connected to the first-stage sleeve (401) and the third-stage sleeve (403) respectively. The conveyor belt (503) on the third-stage sleeve (403) is connected to the second-stage sleeve (402) and the fourth-stage sleeve (404) respectively. The conveyor belt (503) on the fourth-stage sleeve (404) is connected to the third-stage sleeve (403) and the fifth-stage sleeve (405) respectively.

8. The lunar surface repeatable telescopic walkway mechanism according to claim 7, characterized in that: The locking drive wheel sets (406) on the second-stage sleeve (402), the third-stage sleeve (403), and the fourth-stage sleeve (404) are alternately arranged. The two locking drive wheel sets (406) on the second-stage sleeve (402) are arranged symmetrically up and down. The two locking drive wheel sets (406) on the third-stage sleeve (403) are arranged symmetrically up and down. The two locking drive wheel sets (406) on the fourth-stage sleeve (404) are arranged symmetrically up and down.

9. A lunar surface repeatable telescopic walkway mechanism according to claim 8, characterized in that: The intermediate sleeve, the second-stage sleeve (402), the third-stage sleeve (403), and the fourth-stage sleeve (404) are provided with mounting grooves. The first-stage sleeve (401) is provided with a first mounting groove at the position corresponding to the mounting groove. The fifth-stage sleeve (405) is provided with a fifth mounting groove at the position corresponding to the mounting groove. The locking transmission wheel assembly (406) is provided with a mounting groove corresponding to the mounting groove. The bearing seat (500) at the end of the mounting groove is slidably connected to another adjacent mounting groove.

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