阅读说明：本技术 一种着陆器工具包转移装置及转移方法 (Lander tool kit transfer device and method ) 是由 姜生元 王印超 马超 孙成 张伟伟 唐钧跃 于 2021-05-26 设计创作，主要内容包括：本发明提供了一种着陆器工具包转移装置及转移方法,转移装置包括转移组件、工具包组件和驱动绳,转移组件包括缓释机构和框架,框架通过转移支点和转移组件锁紧点与着陆器相连,驱动绳的一端与缓释机构连接,另一端为自由端,缓释机构通过缓释绳与连接吊点连接；初始状态下,通过工具包锁紧点将工具包与着陆器锁紧,通过转移组件锁紧点将框架的长直角边与着陆器锁紧,缓释机构的缓释绳未动作；释放状态下,工具包及框架的长直角边与着陆器解锁,工具包下落,拉动驱动绳实现工具包缓慢释放。本发明能够在人工操作的情况下将工具包安全平稳的从探测器上转移到月球表面。(The invention provides a lander tool bag transfer device and a transfer method, wherein the transfer device comprises a transfer component, a tool bag component and a driving rope, the transfer component comprises a slow release mechanism and a frame, the frame is connected with a lander through a transfer fulcrum and a transfer component locking point, one end of the driving rope is connected with the slow release mechanism, the other end of the driving rope is a free end, and the slow release mechanism is connected with a connecting hoisting point through a slow release rope; in an initial state, the tool bag and the lander are locked through the tool bag locking point, the long right-angle edge of the frame and the lander are locked through the transfer assembly locking point, and the slow release rope of the slow release mechanism does not act; in the release state, the tool bag and the long right-angle edge of the frame are unlocked with the lander, the tool bag falls down, and the driving rope is pulled to realize the slow release of the tool bag. The invention can safely and stably transfer the tool kit from the detector to the lunar surface under the condition of manual operation.)

1. A lander kit transfer device, comprising: comprises a transfer component (3), a tool bag component and a driving rope (7), wherein the transfer component (3) comprises a slow release mechanism (5) and two frames, the two frames are triangular frames which are arranged in parallel, the tops of the two frames are connected through a supporting rod, the long right-angle edge of each frame is arranged close to a lander (0), the inflection point of the long right-angle edge of each frame, which is positioned at the bottom, is a transfer fulcrum (1), the inflection point of the long right-angle edge of each frame, which is positioned at the top, is a transfer component locking point (4), a connecting lifting point (28) and a transfer lifting point (6) are arranged on the supporting rod, the frames are connected with the lander (0) through the transfer fulcrum (1) and the transfer component locking point (4), the tool bag component is arranged between the two frames which are arranged in parallel, the tool bag component comprises a tool bag and a tool bag locking point (2), the tool bag locking point (2) is arranged on the back of the tool bag, the frames are connected with the tool bag through the transfer lifting point (6), the slow release mechanism (5) is fixed on the lander (0), the slow release mechanism (5) is arranged in the area between the two frames, one end of the driving rope (7) is connected with the slow release mechanism (5), the other end of the driving rope (7) is a free end, and the slow release mechanism (5) is connected with the connection lifting point (28) through the slow release rope (27);

in an initial state, the tool bag and the lander (0) are locked through the tool bag locking point (2), the long right-angle edge of the frame and the lander (0) are locked through the transfer assembly locking point (4), and the slow release rope of the slow release mechanism (5) does not act; in the release state, the locking point is unlocked, the tool bag and the long right-angle edge of the frame are unlocked with the lander (0), the frame rotates around the transfer fulcrum (1) to drive the tool bag to fall down, and the driving rope (7) is pulled to control the slow release rope (27) of the slow release mechanism (5) to act so as to realize the slow release of the tool bag.

2. The lander kit transfer device of claim 1, wherein: the slow release mechanism further comprises a first rope wheel (9), a second rope wheel (10), a shell (11), a connecting rod (13), a nonlinear disc spring (14), a fixed mandrel (17), a baffle plate (20), a slow release operating rod (12), a first friction plate (22) and a second friction plate (23), one end of the slow release operating rod (12) is connected with the shell (11) of the slow descent device (0), the middle of the slow release operating rod (12) is hinged with one end of the connecting rod (13), the other end of the connecting rod (13) is hinged with the baffle plate (20), a first shaft sleeve (8) is sleeved on the fixed mandrel (17), one end of the fixed mandrel (17) is fixed on the landing device (0), one end of the nonlinear disc spring (14) is tightly pressed on the baffle plate through a stop block, the other end of the nonlinear disc spring is limited on the first sleeve (8) through another stop block and a bolt (16), the first rope wheel (9), the second rope wheel (10) and the shell (11) are sequentially sleeved on the first shaft sleeve (8), the first rope wheel (9) is fixed on the first shaft sleeve (8), the first rope wheel (9) is arranged close to the lander (0), the second rope wheel (10) is fixedly connected with the shell (11), a plurality of second friction plates (23) are arranged in the shell (11) in a sliding way, a plurality of first friction plates (22) are arranged on the first shaft sleeve (8) in the shell (11) in a sliding way, the first friction plates (22) and the second friction plates (23) are arranged in a staggered way and are mutually attached, one friction plate I (22) is adjacent to the nonlinear spring (14), one side of the rope wheel II (10) is a slow release rope inlet (25), one side of the rope wheel I (9) is a slow release rope outlet (26), and one end of a slow release rope (27) wound on the rope wheel I (9) penetrates through a connecting lifting point (28) from the slow release rope outlet (26) and then is wound on the rope wheel II (10) from the slow release rope inlet (25).

3. The lander kit transfer device of claim 2, wherein: each first friction plate (22) is connected with a first spline (19) through a first connecting rod (21), a plurality of first splines (19) are matched with an external spline structure on the first shaft sleeve, each second friction plate (23) is connected with a second spline (24) through a second connecting rod, and the second splines (24) are matched with an internal spline in the shell (11).

4. The lander kit transfer device of claim 3, wherein: and a second shaft sleeve (15) is arranged on the first shaft sleeve (8), the nonlinear disc spring (14) is sleeved on the second shaft sleeve (15), and the second shaft sleeve (15) contacts a first connecting rod close to the nonlinear disc spring (14) under the action of the nonlinear spring (14) and the baffle (20).

5. The lander kit transfer device of claim 2, wherein: the first friction plate (22) and the second friction plate (23) are both circular thin plates.

6. The lander kit transfer device of claim 2, wherein: five friction plates are arranged on the first friction plate (22), and four friction plates are arranged on the second friction plate (23).

7. The lander kit transfer device of claim 1, wherein: the two frames are arranged in a front-back opposite mode, and the slow release mechanism (5) is arranged in an upper area between the two frames.

8. The lander kit transfer device of claim 1, wherein: the top of the tool bag is provided with a tool bag hanging point, and the tool bag is connected with the frame through the connection of the tool bag hanging point and the transfer hanging point (6).

9. The lander kit transfer device of claim 1, wherein: the tool bag locking points (2) are four and are symmetrically arranged on the back of the tool bag in an upper group and a lower group.

10. The lander kit transfer device of claim 2, wherein: the whole nonlinear disc spring (14) is semicircular, and the horizontal axis of the nonlinear disc spring (14) is superposed with the central axis of the fixed shaft core (17).

11. The method for transferring the lander kit transfer device according to any one of claims 2 to 10, wherein: the method specifically comprises the following steps:

step 1: the lander (0) stably lands on the lunar surface, and an astronaut pulls out the driving rope (7) and stands at the position right beside the tool kit;

step 2: the astronaut triggers the transfer component locking point (4) and the tool kit locking point (2) to unlock the frame, the tool kit and the lander (0);

and step 3: an astronaut pulls the driving rope (7) to swing the slow release operating rod (12), the slow release operating rod (12) swings to drive the connecting rod (13) to rotate, the connecting rod (13) drives the nonlinear disc spring (14) to move, so that the nonlinear disc spring (14) is compressed to release the baffle plate (20), the friction force between the first friction plate (22) and the first friction plate (23) is reduced, and the transfer assembly 3 and the tool bag rotate around the transfer fulcrum (1) under the action of self gravity;

and 4, step 4: when the tool bag continuously descends, the first rope wheel (9) rotates to release the slow release rope (27), and the slow release rope (27) penetrates through the connecting lifting point (28) to enter the second rope wheel (10), so that the rotating directions of the second rope wheel (9) and the first rope wheel (10) are opposite;

and 5: when the tool bag continuously descends and the descending speed is faster and faster, an astronaut slowly releases the driving rope (7), so that the nonlinear disc spring (14) is released to extrude the first friction plate (22) to move, the first friction plate extrudes the corresponding second friction plate, the second friction plate extrudes the next first friction plate, the adjacent friction plates extrude, the friction force is increased, the first friction plate (22) drives the first rope pulley (9) to decelerate through the first shaft sleeve (8), the second friction plate (23) drives the second rope pulley (10) to decelerate through the shell (11), the friction distance is increased due to the fact that the rotating directions of the first friction plate (22) and the second friction plate (23) are opposite, the gravity of the tool bag is increased and offset, and the tool bag slowly descends;

step 6: and (5) keeping the speed of releasing the driving rope (7) in the step (5) until the tool kit is slowly contacted with the lunar surface, and completely releasing the driving rope by the astronaut to finish the transferring process.

Technical Field

The invention belongs to the technical field of toolkit transfer, and particularly relates to a lander toolkit transfer device and a lander toolkit transfer method.

Background

The manned lunar landing device sends astronauts, detection tools and the like to the surface of a moon together, the tools carried according to the activities of the moon surface of the astronauts are determined according to tasks, generally comprise a brush for removing moon dust on an astronaut suit, a special hammer for smashing rocks on the moon surface, a shovel for digging lunar soil, a rake for raking broken stones on the moon surface, a sieve for sieving large-diameter lunar soil particles, a spoon, a pliers, a clamp and a handle for carrying during the lunar sample sampling process, and the like, and the tools are generally stored in a tool bag in a centralized manner. Due to the relatively large weight and volume of the kit, and in view of the kit mounting location above the astronaut operating height. In order to facilitate the convenience of astronauts, the kit on the probe needs to be transferred from the probe to the lunar surface. In the process of transferring the tool bag, how to realize the function of slowly releasing the tool bag and avoid the damage to the transferred articles caused by the rapid descending of the tool bag due to the overlarge load of the tool bag is urgent to solve. Therefore, there is a need to design a lander kit transfer apparatus to solve the above problems.

Disclosure of Invention

In view of the above, the present invention is directed to a lander kit transferring apparatus and a transferring method, which can safely and smoothly transfer a kit from a probe to a lunar surface under a manual operation.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a lander tool bag transfer device comprises transfer assemblies, tool bag assemblies and a driving rope, wherein each transfer assembly comprises a slow release mechanism and two frames which are triangular frames arranged in parallel, the tops of the two frames are connected through a supporting rod, the long right-angle edge of each frame is arranged close to a lander, an inflection point of the long right-angle edge of each frame, which is positioned at the bottom, is a transfer fulcrum, an inflection point of the long right-angle edge of each frame, which is positioned at the top, is a transfer assembly locking point, a connecting lifting point and a transfer lifting point are arranged on the supporting rod, each frame is connected with the lander through the transfer fulcrum and the transfer assembly locking point, each tool bag assembly is arranged between the two frames arranged in parallel, each tool bag assembly comprises a tool bag and a tool bag locking point, the tool bag locking points are arranged on the back of the tool bag, and the frames are connected with the tool bag through the transfer lifting points, the slow release mechanism is fixed on the lander, the slow release mechanism is arranged in the area between the two frames, one end of the driving rope is connected with the slow release mechanism, the other end of the driving rope is a free end, and the slow release mechanism is connected with the connecting hoisting point through the slow release rope;

in an initial state, the tool bag and the lander are locked through the tool bag locking point, the long right-angle edge of the frame and the lander are locked through the transfer assembly locking point, and the slow release rope of the slow release mechanism does not act; in a release state, the locking point is unlocked, the tool bag and the long right-angle edge of the frame are unlocked with the lander, the frame rotates around the transfer fulcrum to drive the tool bag to fall down, and the driving rope is pulled to control the slow release rope of the slow release mechanism to act so as to realize the slow release of the tool bag.

Further, the slow release mechanism further comprises a first rope wheel, a second rope wheel, a shell, a connecting rod, a nonlinear disc spring, a fixed core shaft, a baffle plate, a slow release operating rod, a first friction plate and a second friction plate, one end of the slow release operating rod is connected with the shell of the slow descent device, the middle of the slow release operating rod is hinged with one end of the connecting rod, the other end of the connecting rod is hinged with the baffle plate, a first shaft sleeve is sleeved on the fixed core shaft, one end of the fixed core shaft is fixed on the lander, one end of the nonlinear disc spring is tightly pressed on the baffle plate through a stop block, the other end of the nonlinear disc spring is limited on the first sleeve through another stop block and a bolt, the first rope wheel, the second rope wheel and the shell are sequentially sleeved on the first shaft sleeve, the first rope wheel is fixed on the first shaft sleeve and the first rope wheel is arranged close to the lander, the second rope wheel is fixedly connected with the shell, a plurality of second friction plates are arranged in a sliding mode on the first shaft sleeve in the shell, the friction plates I and the friction plates II are arranged in a staggered mode and are mutually attached, one friction plate I is adjacent to the nonlinear spring, one side of the rope wheel II is a slow release rope inlet, one side of the rope wheel I is a slow release rope outlet, one end of a slow release rope wound on the rope wheel I penetrates through a connecting lifting point from the slow release rope outlet and then is wound on the rope wheel II from the slow release rope inlet.

Furthermore, each first friction plate is connected with one first spline through a first connecting rod respectively, a plurality of first splines are matched with an external spline structure on the first shaft sleeve, each second friction plate is connected with one second spline through a second connecting rod, and a plurality of second splines are matched with an internal spline in the shell.

Further, a second shaft sleeve is arranged on the first shaft sleeve, the nonlinear disc spring is sleeved on the second shaft sleeve, and the second shaft sleeve contacts with a first connecting rod close to the nonlinear disc spring under the action of the nonlinear spring and the baffle.

Furthermore, the first friction plate and the second friction plate are both circular thin plates.

Furthermore, the first friction plate is provided with five friction plates, and the second friction plate is provided with four friction plates.

Furthermore, the two frames are arranged in a front-back opposite mode, and the slow release mechanism is arranged in an upper area between the two frames.

Furthermore, a tool bag hanging point is arranged at the top of the tool bag, and the tool bag is connected with the frame through the connection of the tool bag hanging point and the transfer hanging point.

Furthermore, the tool bag is provided with four locking points which are symmetrically arranged on the back of the tool bag in an upper group and a lower group.

Furthermore, the whole nonlinear disc spring is semicircular, and the horizontal axis of the nonlinear disc spring is superposed with the central axis of the fixed shaft core.

A transfer method of a lander kit transfer device specifically comprises the following steps:

step 1: the lander is stably landed on the lunar surface, and an astronaut pulls out the driving rope and stands at the position right beside the tool kit;

step 2: the astronaut triggers the transfer assembly locking point and the tool bag locking point to unlock the frame, the tool bag and the lander;

and step 3: the astronaut pulls the driving rope to swing the slow release operating rod, the slow release operating rod swings to drive the connecting rod to rotate, the connecting rod drives the nonlinear disc spring to move, the nonlinear disc spring is compressed to release the baffle, the friction force between the first friction plate and the first friction plate is reduced, and the transfer assembly and the tool bag rotate around a transfer fulcrum under the action of self gravity;

and 4, step 4: when the tool bag continuously descends, one rope wheel rotates to release the slow release rope, and the slow release rope passes through the connecting lifting point to enter the second rope wheel, so that the rotating direction of the second rope wheel is opposite to that of the second rope wheel;

and 5: when the tool bag continuously descends and the descending speed is faster and faster, an astronaut slowly releases the driving rope, so that the nonlinear disc spring is released to extrude the first friction plate to move, the first friction plate extrudes the corresponding second friction plate, the second friction plate extrudes the next first friction plate, the adjacent friction plates extrude, the friction force is increased, the first friction plate drives the first rope pulley to decelerate through the first shaft sleeve, the second friction plate drives the second rope pulley to decelerate through the outer shell, and the friction distance is increased due to the fact that the rotating directions of the first friction plate and the second friction plate are opposite, the gravity of the tool bag is increased and offset, and the tool bag slowly descends;

step 6: and (5) keeping the speed of releasing the driving rope in the step (5) until the tool kit is slowly contacted with the lunar surface, and completing the transferring process of completely releasing the driving rope by the astronaut.

Compared with the prior art, the lander kit transfer device and the transfer method have the following advantages:

1. the purpose of transferring the tool bag to the moon surface can be achieved by releasing the rope under the condition that an astronaut wears heavy space suits in a space environment.

2. The slow release mechanism is adopted, and the slow release of the rope can be completed after the unlocking handle is manually driven; when the driving is stopped, the unlocking device can be quickly locked by self, and the damage of the transferred object caused by improper operation is avoided.

3. The astronaut realizes the deceleration by releasing the slow release operating rod instead of pulling the tool kit, thereby greatly improving the safety; the double-friction-plate fitting mechanism is adopted, so that the fitting tightness degree can be adjusted, the slow descending speed of the slow descending device can be changed, and convenience is brought to use under different requirements; through releasing the slow release operating rod, the nonlinear disc spring is driven to push the friction plate, the flexibility and the operability are improved, and the slow release purpose can be realized by the left-right swing of the slow release operating rod.

4. The tool bag transferring method adopts a scheme of releasing the tool bag by a rope traction frame, the device is simple, the operation is easy, and the working difficulty of astronauts is greatly reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of an initial state of a lander kit transferring apparatus according to an embodiment of the present invention;

fig. 2 is a schematic perspective view illustrating an initial state of the lander kit transferring apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of a landing gear kit according to an embodiment of the present invention being transferred to a lunar state;

FIG. 4 is a schematic view of the locking point distribution;

FIG. 5 is a schematic view of the slow release mechanism in operation;

description of reference numerals:

0-lander, 1-transfer fulcrum, 2-toolkit locking point, 3-transfer component, 4-transfer component locking point, 5-slow release mechanism, 6-transfer lifting point, 7-driving rope, 8-shaft sleeve I, 9-rope pulley I, 10-rope pulley II, 11-shell, 12-slow release operating rod, 13-connecting rod, 14-nonlinear disc spring, 15-shaft sleeve II, 16-bolt, 17-fixed mandrel, 18-stop block, 19-spline I, 20-baffle plate, 21-first connecting rod, 22-friction plate I, 23-friction plate II, 24-spline II, 25-slow release rope inlet, 26-slow release rope outlet, 27-slow release rope and 28-connection lifting point.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-5, a lander tool bag transfer device comprises a transfer component 3, a tool bag component and a driving rope 7, wherein the transfer component 3 comprises a slow release mechanism 5 and two frames, the two frames are triangular frames arranged in parallel, the tops of the two frames are connected through a supporting rod, the long right-angle edge of the frame is arranged close to a lander 0, the inflection point of the long right-angle edge of the frame at the bottom is a transfer fulcrum 1, the inflection point of the long right-angle edge of the frame at the top is a transfer component locking point 4, a connecting lifting point 28 and a transfer lifting point 6 are arranged on the supporting rod connecting the tops of the two frames, the frames are connected with the lander 0 through the transfer fulcrum 1 and the transfer component locking point 4, the tool bag component is arranged between the two frames arranged in parallel, the tool bag component comprises a tool bag and a tool bag locking point 2, the tool bag locking point 2 is arranged on the back of the tool bag, the frames are connected with the tool bag through the transfer hoisting point 6, the slow release mechanism 5 is fixed on the lander 0, the slow release mechanism 5 is arranged in the area between the two frames, one end of the driving rope 7 is connected with the slow release mechanism 5, the other end of the driving rope 7 is a free end, and the slow release mechanism 5 is connected with the connection hoisting point 28 through the slow release rope 27;

in an initial state, the tool bag is locked with the lander 0 through the tool bag locking point 2, the long right-angle edge of the frame is locked with the lander 0 through the transfer assembly locking point 4, and the slow release rope of the slow release mechanism 5 does not act; in the release state, the locking point is unlocked, the tool bag and the long right-angle edge of the frame are unlocked with the lander 0, the frame rotates around the transfer pivot 1 to drive the tool bag to fall down, and the driving rope 7 is pulled to control the slow release rope 27 of the slow release mechanism 5 to act so as to realize the slow release of the tool bag.

The slow release mechanism further comprises a first rope wheel 9, a second rope wheel 10, a shell 11, a connecting rod 13, a nonlinear disc spring 14, a fixed core shaft 17, a baffle 20, a slow release operating rod 12, a first friction plate 22 and a second friction plate 23, one end of the slow release operating rod 12 is connected with the shell 11 of the slow descent device 0, the middle of the slow release operating rod 12 is hinged with one end of the connecting rod 13, the other end of the connecting rod 13 is hinged with the baffle 20, a first shaft sleeve 8 is sleeved on the fixed core shaft 17, one end of the fixed core shaft 17 is fixed on the landing device 0, one end of the nonlinear disc spring 14 is tightly pressed on the baffle through a baffle, the other end of the nonlinear disc spring is limited on a first sleeve 8 through another baffle and a bolt 16, the first rope wheel 9, the second rope wheel 10 and the shell 11 are sequentially sleeved on the first shaft sleeve 8, the first rope wheel 9 is fixed on the first shaft sleeve 8 and the first rope wheel 9 is arranged close to the landing device 0, the second rope wheel 10 is fixedly connected with the shell 11, a plurality of second friction plates 23 are arranged in the shell 11 in a sliding mode, a plurality of first friction plates 22 are arranged on a first shaft sleeve 8 in the shell 11 in a sliding mode, the first friction plates 22 and the second friction plates 23 are arranged in a staggered mode and are attached to each other, one first friction plate 22 is adjacent to the nonlinear spring 14, one side of the second rope wheel 10 is a slow release rope inlet 25, one side of the first rope wheel 9 is a slow release rope outlet 26, and one end of a slow release rope 27 wound on the first rope wheel 9 penetrates through a connecting lifting point 28 from the slow release rope outlet 26 and then is wound on the second rope wheel 10 from the slow release rope inlet 25.

Each first friction plate 22 is connected with a first spline 19 through a first connecting rod 21, a plurality of first splines 19 are matched with an external spline structure on the first shaft sleeve, each second friction plate 23 is connected with a second spline 24 through a second connecting rod, and a plurality of second splines 24 are matched with internal splines inside the shell 11. In the initial state of the slow release mechanism, pretightening force is applied to the nonlinear disc spring 14 through the positions of the adjusting bolt 16 and the stop block 18, the nonlinear disc spring 14 sequentially extrudes the baffle plate 20, the second shaft sleeve 15 and the first spline 19, the first spline 19 and the first connecting rod 21 fixed on the first spline move leftwards along the axis of the first shaft sleeve 8, so that the first friction plate 22 connected with the first connecting rod 21 is driven to extrude the corresponding second friction plate 23, the friction force of the first friction plate and the second friction plate is increased, the first friction plate 22 drives the first rope wheel 9 to decelerate through the first spline 19 and the first shaft sleeve 8, the second friction plate 23 drives the second rope wheel 10 to decelerate through the shell 11, and the slow release rope 27 is reduced in speed to realize slow descent of the tool pack.

The first shaft sleeve 8 is provided with a second shaft sleeve 15, the nonlinear disc spring 14 is sleeved on the second shaft sleeve 15, and the second shaft sleeve 15 contacts a first connecting rod close to the nonlinear disc spring 14 under the action of the nonlinear spring 14 and the baffle plate 20.

The first friction plate 22 and the second friction plate 23 are both circular thin plates. Is the core of the slow release mechanism 5, and the fixed shaft core is the central support of the slow release mechanism 5 and is a main bearing part. Five friction plates 22 are arranged, and four friction plates 23 are arranged. So configured, sufficient friction is provided.

The two frames are arranged in a front-back opposite mode, and the slow release mechanism 5 is arranged in an upper area between the two frames.

The top of the tool bag is provided with a tool bag hanging point, and the tool bag is connected with the frame through the connection of the tool bag hanging point and the transfer hanging point 6.

The tool bag locking points 2 are four and are symmetrically arranged on the back of the tool bag in an upper group and a lower group.

The nonlinear disc spring 14 is semicircular as a whole, and the horizontal axis of the nonlinear disc spring 14 is overlapped with the central axis of the fixed shaft core 17.

A transfer method of a lander kit transfer device specifically comprises the following steps:

step 1: the lander 0 is stably landed on the lunar surface, and an astronaut pulls out the driving rope 7 and stands at the position right beside the tool kit;

step 2: the astronaut triggers the transfer component locking point 4 and the tool kit locking point 2 to unlock the frame, the tool kit and the lander 0;

and step 3: the astronaut pulls the driving rope 7 to swing the slow release operating rod 12, the slow release operating rod 12 swings to drive the connecting rod 13 to rotate, the connecting rod 13 drives the nonlinear disc spring 14 to move rightwards along the axis, the nonlinear disc spring 14 is compressed to release the baffle plate 20, the friction force between the first friction plate 22 and the first friction plate 23 is reduced, and the transfer assembly 3 and the tool bag rotate around the transfer fulcrum 1 under the action of self gravity;

and 4, step 4: when the tool bag continuously descends, the first rope wheel 9 rotates to release the slow release rope 27, and the slow release rope 27 penetrates through the connecting lifting point 28 to enter the second rope wheel 10, so that the rotation directions of the second rope wheel 9 and the first rope wheel 10 are opposite;

and 5: when the tool bag continuously descends and the descending speed is faster and faster, an astronaut slowly releases the driving rope 7, so that the nonlinear disc spring 14 is released to extrude the first friction plate 22 to move, the first friction plate 22 extrudes the corresponding second friction plate 23, the second friction plate 23 extrudes the next first friction plate, the adjacent first friction plates extrude, the friction force is increased, the first friction plate 22 drives the first rope pulley 9 to decelerate through the first shaft sleeve 8, the second friction plate 23 drives the second rope pulley 10 to decelerate through the outer shell 11, and the friction distance is increased due to the fact that the rotating directions of the first friction plate 22 and the second friction plate 23 are opposite, the gravity of the tool bag is increased and offset, and the tool bag slowly descends;

step 6: and (5) maintaining the speed of releasing the driving rope 7 in the step (5) until the tool kit is slowly contacted with the lunar surface, and completely releasing the driving rope by the astronaut to finish the transfer process.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.