Electromechanical servo mechanism with high reliability for forced unlocking and separation of isomerized redundancy of pyrotechnic device

Abstract

The present application is aimed at the reliability of the separation mechanism and the problem of forced unlocking, and provides a high-reliability electromechanical servo mechanism for forced unlocking and separation of heterogeneous redundancy of pyrotechnics, which adopts electromechanical servo mechanism forced unlocking as a normal mode and has a reusable function, adopts pyrotechnic mechanism forced unlocking as a backup mode and has a one-time use function, and the forced unlocking mechanism is designed as a special-shaped slope sleeve matched with a shear pin shaft structure, the forced unlocking of the mechanism is realized through the "slit" structure, the pyrotechnic mechanism is designed as a slip ring electric circuit structure, the explosion separation is realized by controlling the driving motor assembly, and the overall device has compact space volume and high reliability.

Description

Technical Field

[0001] This invention relates to a highly reliable separation mechanism, and more particularly to a highly reliable electromechanical servo mechanism for heterogeneous redundant forced unlocking and separation of pyrotechnic components. Background Technology

[0002] The main function of the separation mechanism is to connect and separate two connected objects. When used for connection, it is necessary to ensure the strength and rigidity requirements to meet the long-term reliability requirements. Similarly, when used for separation, the reliability of separation is the primary consideration, followed by the speed and simplicity of separation.

[0003] For some long-term storage applications, separation mechanisms using conventional principles are affected by factors such as acid corrosion, metal adhesion, and electrochemical corrosion. Complex environmental factors increase the roughness of the connection surface, making separation difficult and increasing the risk of jamming. Especially in scenarios that rely on gravity for separation, a forced unlocking principle device must be used for separation while maintaining the connection performance.

[0004] Electromechanical servo mechanisms are reusable, simple to control, and easy to test. However, adding a forced unlocking mechanism inevitably increases the size and weight of the device, increases its complexity, and incurs relatively high costs. Forced separation can be achieved using pyrotechnics, which are widely used, such as in interstage sections of spacecraft. However, pyrotechnics are currently unreusable and difficult to design with heterogeneous redundancy. Therefore, it is necessary to propose a heterogeneous redundant forced unlocking mechanism to cleverly combine these two approaches, thereby improving reliability within a compact space. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a highly reliable electromechanical servo mechanism for the heterogeneous redundant forced unlocking and separation of pyrotechnic items, which combines forced unlocking and forced separation of pyrotechnic items in a compact space, thereby improving the reliability of separation.

[0006] The technical solution provided by this invention is as follows:

[0007] A highly reliable electromechanical servo mechanism for heterogeneous redundant forced unlocking and separation of pyrotechnic items includes a first separation object, a second separation object, a drive motor assembly, an unlocking mechanism assembly, and a pyrotechnic item assembly.

[0008] The drive motor assembly, the unlocking mechanism assembly, and the pyrotechnic assembly are located inside the first separation object. The drive motor assembly is used to drive the unlocking mechanism assembly to unlock.

[0009] The unlocking mechanism assembly includes a rotating shaft, a shear pin, and a shaped ramp sleeve. The rotating shaft is rotatably connected to the first object to be separated, the shear pin is connected to the rotating shaft, and the shaped ramp sleeve is sleeved outside the rotating shaft. The shaped ramp sleeve is slidably connected to the first object to be separated along the axial direction of the first object. One end of the shaped ramp sleeve is provided with a shaped ramp structure, and the other end is connected to the second object to be separated. The end of the shear pin is located inside the shaped ramp structure. The drive motor assembly drives the rotating shaft and the shear pin to rotate together.

[0010] The pyrotechnic component is used to break the end rotating shaft to unlock the device when the unlocking mechanism component fails to do so.

[0011] The rotating shaft includes an end-tooth drive shaft and an end-tooth transition sleeve. The end-tooth drive shaft is rotatably connected to the first separation object, and the ends of the end-tooth drive shaft and the end-tooth transition sleeve are connected. The fracture surface of the pyrotechnic assembly is located at the junction of the end-tooth drive shaft and the end-tooth transition sleeve.

[0012] The ends of the end-tooth drive shaft and the end-tooth transition sleeve are connected by fixed-tooth meshing.

[0013] The irregular ramp structure includes a circumferential straight segment and a circumferential ramp segment connected at both ends. The circumferential straight segment is arranged along the circumference of the irregular ramp sleeve. The circumferential ramp segment includes an arc-shaped transition segment and an axial straight segment. The axial straight segment is arranged along the axial direction of the irregular ramp sleeve. The arc-shaped transition segment connects one end of the axial straight segment and one end of the circumferential straight segment.

[0014] The drive motor assembly includes a motor housing, a motor rotor, and a motor stator. The motor housing is connected to the upper end face of the annular fixed base. The motor rotor and the motor stator are coaxially mounted and both are assembled inside the motor housing. The motor stator is fixed to the motor housing, and the motor rotor can rotate about a fixed axis relative to the motor housing.

[0015] The drive motor assembly also includes a rear end cover, a brake stator, a brake rotor, a brake end cover, and connecting screws. The rear end cover is connected to the end of the motor housing away from the unlocking mechanism assembly. The brake stator is fixed to the end of the motor housing. The brake rotor is coaxially nested on the motor rotor, and the two can rotate simultaneously. After the brake stator is de-energized, it can engage with the brake rotor. The brake end cover is fixed to the rear end cover using connecting screws.

[0016] The pyrotechnic assembly includes an explosive bolt and an electric slip ring. The two ends of the explosive bolt are threadedly connected to the end-tooth drive shaft and the end-tooth transition sleeve, respectively. A through hole is provided on the side of the motor rotor output shaft. The explosive bolt contains the pyrotechnic and a lead wire. One end of the lead wire is connected to the pyrotechnic, and the other end passes through the end-tooth drive shaft into the motor rotor output shaft and out through the through hole. The electric slip ring is installed in the motor housing. The end of the lead wire that passes through the through hole is connected to the electric slip ring. The electric slip ring is used to receive the activation current from the drive motor assembly so that the pyrotechnic assembly can explode the tooth drive shaft and the end-tooth transition sleeve to unlock them.

[0017] The end of the explosive bolt that extends into the end tooth transition sleeve is threaded with a lock nut.

[0018] The first separation object is fixed with an annular fixing seat. The annular fixing seat has a mounting hole in the middle. The electromechanical servo mechanism also includes a rotary support assembly. The rotary support assembly and the unlocking mechanism assembly are installed in the mounting hole. The rotary support assembly includes a bearing sleeve, a rolling bearing, a lock nut, and a connecting screw. The rolling bearing is sleeved on the outside of the end tooth drive shaft. The bearing sleeve is sleeved on the outside of the rolling bearing and is fixedly connected to the annular fixing seat. The lock nut is threaded on the outside of the end tooth drive shaft. The two ends of the rolling bearing are pressed by the lock nut and the bearing sleeve, respectively.

[0019] One end of the irregularly shaped ramp sleeve passes through the second separation object, and the end of the irregularly shaped ramp sleeve that passes through the second separation object is threaded with a locking nut.

[0020] The contact portion between the first separation object and the second separation object is an inner conical surface, while the second separation object has a conical structure and the contact portion with the first separation object is an outer conical surface, with both having the same conical angle.

[0021] This application has at least the following advantages over the prior art:

[0022] The electromechanical servo mechanism is used as the forced unlocking and separation method in normal mode. It is green, simple, reliable, highly maintainable, and reusable.

[0023] Using a pyrotechnic mechanism as a backup mode for forced unlocking and separation is a small-sized, technologically mature, and short-response method that meets the requirements of heterogeneous redundancy.

[0024] This technical solution can be applied to the fields of high reliability and high safety actuation technology, such as the separation of launch vehicle stages and the separation between spacecraft and booster stages, and has a wider range of application prospects. Attached Figure Description

[0025] Figure 1This is a diagram illustrating the internal structure of a highly reliable electromechanical servo mechanism for heterogeneous redundant forced unlocking and separation of pyrotechnic devices, as provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the core component of a high-reliability electromechanical servo mechanism for heterogeneous redundancy forced unlocking and separation of pyrotechnic devices, provided in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the appearance of a high-reliability electromechanical servo mechanism for heterogeneous redundancy forced unlocking and separation of pyrotechnic devices provided in an embodiment of the present invention.

[0028] Explanation of icon numbers:

[0029] 1a. First separated object; 1b. Second separated object;

[0030] Unlocking mechanism components; 2a. End tooth drive shaft; 2b. End tooth transition sleeve; 2c. Shear pin; 2d. Irregularly shaped ramp sleeve; 2e. Annular fixed seat; 2f. Locking nut;

[0031] Drive motor assembly; 3a, motor rotor; 3b, motor stator; 3c, motor housing; 3d, rear end cover; 3e, brake stator; 3f, brake rotor; 3g, brake end cover; 3h, connecting screws;

[0032] Pyrotechnic components; 4a. Explosion bolt; 4b. Lead wire; 4c. Electric slip ring; 4d. Locking nut;

[0033] Rotary support assembly; 5a, bearing sleeve; 5b, rolling bearing; 5c, lock nut; 5d, connecting screw;

[0034] 6a. Radial sealing ring; 6b. End face sealing ring; 6c. Connecting screw; 6d. Connecting screw. Detailed Implementation

[0035] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0036] This invention provides a highly reliable electromechanical servo mechanism for heterogeneous redundant forced unlocking and separation of pyrotechnic components, such as... Figure 1As shown, the assembly includes a separation object component, an unlocking mechanism component, a drive motor component, a pyrotechnic component, and a rotating support component. The servo mechanism of this application is placed parallel to the direction of gravity. The separation object component, drive motor component, unlocking mechanism component, rotating support component, pyrotechnic component, and sealing component are sequentially installed from top to bottom on a vertical axis. The separation object component is located on the outermost side, with the unlocking mechanism component and drive motor component nested inside it. The rotating support component is nested inside the unlocking mechanism component, and the pyrotechnic component is nested inside the rotating support component. The separation object component includes a first separation object 1a and a second separation object 1b. The first separation object 1a and the second separation object 1b are fixed together by the unlocking mechanism component and separated by either the unlocking mechanism component or the pyrotechnic component.

[0037] The unlocking mechanism components include an end-tooth drive shaft 2a, an end-tooth transition sleeve 2b, a shear pin 2c, a shaped ramp sleeve 2d, an annular fixing seat 2e, and a locking nut 2f.

[0038] The drive motor assembly includes a motor rotor 3a, a motor stator 3b, a motor housing 3c, a rear end cover 3d, a brake stator 3e, a brake rotor 3f, a brake end cover 3g, and connecting screws 3h.

[0039] The pyrotechnic assembly includes an explosion bolt 4a, a lead wire 4b, an electric slip ring 4c, and a lock nut 4d.

[0040] The rotating support assembly includes a bearing sleeve 5a, a rolling bearing 5b, a lock nut 5c, and a connecting screw 5d.

[0041] The sealing assembly includes a radial sealing ring 6a, an end face sealing ring 6b, a connecting screw 6c, and a connecting screw 6d.

[0042] The first separation object 1a and the second separation object 1b must be set on the outermost side, and the pyrotechnic component must be embedded in the innermost side and center line position of each component. The pyrotechnic component must be located in the middle position between the drive motor component and the unlocking mechanism component. The purpose is to form a nested and serial layout of normal mode and backup mode, to ensure the reliable operation of both modes, and to further reduce the overall installation space of the device, forming a compact effect.

[0043] like Figure 3 As shown, the first separation object 1a has a thin-walled, cylindrical, annular structure, and the part in contact with the second separation object 1b is an inner conical surface; rectangular windows are provided on both sides of the outer surface of the first separation object 1a corresponding to the position of the drive motor assembly, facilitating maintenance of the drive motor assembly and connection of cables, etc.; the second separation object 1b has a conical structure, and the part in contact with the first separation object 1a is an outer conical surface, and the conical angles of both are the same.

[0044] The second separation object 1b has a threaded through hole on its outer circumference, which facilitates the use of connecting screws 6c to fix it to other components; the bottom of the second separation object 1b is flat and has an annular sealing groove, which facilitates the use of end face sealing rings 6b to seal it with other components.

[0045] The first separation object 1a has a circumferential boss inside, and the boss has a threaded through hole, which facilitates the use of connecting screws 6d to fix the annular fixing seat 2e to the first separation object 1a.

[0046] The motor housing 3c is fixedly installed on the upper end face of the annular fixed seat 2e. The motor rotor 3a and the motor stator 3b are coaxially installed and assembled inside the motor housing 3c. The motor stator 3b is fixed to the motor housing 3c and cannot rotate, while the motor rotor 3a can rotate relative to the motor housing 3c. The brake stator 3e is fixed to the end of the motor housing 3c, and the brake rotor 3f is coaxially nested in the motor rotor 3a. Both can rotate simultaneously. After the brake stator 3e is de-energized, it can engage with the brake rotor 3f to achieve self-locking when de-energized and separation when energized. The brake end cover 3g is fixed to the rear end cover 3d by connecting screws 3h.

[0047] like Figure 1 As shown, one end of the annular fixing seat 2e has a circumferential threaded through hole, which facilitates fixing it to the inside of the first separated object 1a using a connecting screw 6d. The annular fixing seat 2e has an annular hollow structure with a through hole inside. The bearing sleeve 5a and the irregularly shaped ramp sleeve 2d are installed inside the annular fixing seat 2e, and a radial sealing ring 6a is provided between the irregularly shaped ramp sleeve 2d and the annular fixing seat 2e to achieve a sealing effect. The bearing sleeve 5a is located between the irregularly shaped ramp sleeve 2d and the motor rotor 3a. The end tooth drive shaft 2a, the end tooth transition sleeve 2b, the shear pin shaft 2c, and the irregularly shaped ramp sleeve 2d are all located in the through hole of the annular fixing seat 2e.

[0048] like Figure 1 and Figure 2 As shown, the end-tooth drive shaft 2a is located inside the bearing sleeve 5a. One end of the end-tooth drive shaft 2a is connected to the motor rotor 3a by a key, allowing the motor rotor 3a to rotate together with the end-tooth drive shaft 2a. The other end of the end-tooth drive shaft 2a is connected to the end-tooth transition sleeve 2b by a fixed tooth, allowing the end-tooth transition sleeve 2b to rotate together with the end-tooth drive shaft 2a. The ends of the end-tooth drive shaft 2a and the end-tooth transition sleeve 2b must be equipped with teeth to maintain a long-term connection. To facilitate reliable axial disengagement, the teeth must be rectangular or triangular in shape, not helical or oblique, and capable of withstanding the output torque of the drive motor assembly.

[0049] The irregularly shaped ramp sleeve 2d is fitted onto the outside of the end tooth transition sleeve 2b, and the irregularly shaped ramp structure is provided at the end of the irregularly shaped ramp sleeve 2d facing the end tooth drive shaft 2a. The shear pin 2c passes through the end tooth transition sleeve 2b, and the shear pin 2c is perpendicular to the axial direction of the end tooth transition sleeve 2b. Both ends of the shear pin 2c extend out of the surface of the end tooth transition sleeve 2b and are inserted into the irregularly shaped ramp structure.

[0050] One end of the irregular ramp sleeve 2d is an irregular ramp structure, and the other end is a threaded shaft structure. The irregular ramp structure part contacts the shear pin shaft 2c and is installed inside the cylinder of the annular fixed seat 2e; the threaded shaft structure part passes through the hole of the second separation object 1b and is fixedly connected by a lock nut 2f. The irregular ramp structure is further divided into a circumferential straight section and a circumferential ramp section. The circumferential straight section has structures on both sides that force the pin to only rotate. The circumferential ramp section has a "gap" structure on one side, the size of which allows the shear pin 2c to pass through when moving vertically. When the circumferential straight section contacts the shear pin 2c, it is in an unlocked state and can withstand vertical tensile and compressive loads. When the shear pin 2c rotates a certain angle relative to the irregular ramp sleeve 2d, it contacts the circumferential ramp section and is in a forced unlocked state. The shear pin 2c squeezes the circumferential ramp to generate a vertical thrust, causing the irregular ramp sleeve 2d to move vertically to the "gap" position and exit, thus completing the forced unlocking.

[0051] The two ends of the explosion bolt 4a are connected to the end-tooth drive shaft 2a and the end-tooth transition sleeve 2b, respectively. Both ends of the explosion bolt 4a are threaded shafts, connecting to the threaded holes of the end-tooth drive shaft 2a and the end-tooth transition sleeve 2b. The thread strength and rigidity can meet the axial load requirements. A lock nut 4d is threadedly connected to the end of the explosion bolt 4a that extends into the end-tooth transition sleeve 2b. The fracture surface of the explosion bolt 4a must be set at the engagement position between the end-tooth drive shaft 2a and the end-tooth transition sleeve 2b.

[0052] The lead wire 4b of the explosion bolt 4a is divided into positive and negative poles, maintaining a specific slender, straight, 90° bend shape, and both pass through the inner cavity of the drive shaft 2a without contacting it; the output shaft of the motor rotor 3a has two small holes in the radial direction, and the positive and negative poles of the lead wire 4b pass through the two holes respectively without contacting it; there are two slip rings 4c, which are installed at one end inside the motor housing 3c and are interference-fitted with the motor housing 3c. Both slip rings 4c are installed in the side seat holes of the motor housing 3c at a certain distance. The positive and negative poles of the lead wire 4b after passing through the small holes contact the two slip rings 4c respectively and always maintain a sliding contact state. The slip rings 4c can accept the activation current from the drive motor assembly to form an electrical circuit.

[0053] The bearing sleeve 5a is a thin-walled flange structure, which is installed with the annular fixed seat 2e and fixed with connecting screws 5d. A pair of rolling bearings 5b are coaxially installed inside the bearing sleeve 5a. The end gear drive shaft 2a passes through the rolling bearings 5b and is fixed to them by a lock nut 5c. The lock nut 5c is threaded to the outside of the end gear drive shaft 2a, and the lock nut 5c and the bearing sleeve 5a press the two ends of the rolling bearings 5b together.

[0054] The working principle is:

[0055] The electromechanical servo mechanism is forcibly unlocked to normal mode and can be reused, while the pyrotechnic mechanism is forcibly unlocked to backup mode and can be used only once. The two modes cannot work simultaneously.

[0056] In normal mode, the drive motor assembly outputs rotation and torque, causing the motor rotor 3a, end-tooth drive shaft 2a, explosion bolt 4a, and lead wire 4b to rotate together. The end-tooth drive shaft 2a drives the end-tooth transition sleeve 2b and shear pin 2c to rotate together through the connection of the end teeth. After the shear pin 2c rotates a certain angle, it first disengages from the initial locked position and then continues to contact the annular slope surface of the irregular slope sleeve 2d, forcing the irregular slope sleeve 2d, together with the locking nut 2f and the second separation object 1b, to move a certain distance vertically relative to the first separation object 1a, thus completing the forced unlocking and separation action.

[0057] In backup mode, the electromechanical servo mechanism failed to complete the separation action when forced unlocking. The separation surface of the explosive bolt 4a is located between the end tooth drive shaft 2a and the end tooth transition sleeve 2b. The lead wire 4b is divided into positive and negative poles, both of which pass through the inner cavity of the drive shaft 2a and connect to the two ends of the electric slip ring 4c on one side of the motor housing 3c, and always maintain a sliding contact state. When the drive motor assembly sends an activation current signal, the explosive bolt 4a explodes and breaks, forcing the end tooth transition sleeve 2b, shear pin 2c, irregular slope sleeve 2d, locking nut 2f, and the second separation object 1b to move a certain distance vertically relative to the first separation object 1a, thereby completing the forced unlocking and separation action.

[0058] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0059] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A high-reliability electromechanical servo mechanism with pyrotechnic isomerization redundant forced unlocking separation, characterized in that: The first separation object (1a), the second separation object (1b), the driving motor assembly, the unlocking mechanism assembly, and the explosive component are arranged inside the first separation object (1a), the driving motor assembly is used to drive the unlocking mechanism assembly to be unlocked. The unlocking mechanism assembly comprises a rotating shaft, a shear pin shaft (2c), and a special-shaped slope sleeve (2d), the rotating shaft is rotatably connected to the first separation object (1a), the shear pin shaft (2c) is connected to the rotating shaft, the special-shaped slope sleeve (2d) is arranged outside the rotating shaft, the special-shaped slope sleeve (2d) is slidably connected to the first separation object (1a) along the axial direction of the first separation object (1a), one end of the special-shaped slope sleeve (2d) is provided with a special-shaped slope structure, the other end is connected to the second separation object (1b), the end of the shear pin shaft (2c) is located in the special-shaped slope structure, and the driving motor assembly drives the rotating shaft and the shear pin shaft (2c) to rotate together. The explosive component is used to break the rotating shaft by explosion to realize unlocking when the unlocking mechanism assembly cannot realize unlocking. The special-shaped slope structure comprises a circumferential straight line segment and a circumferential slope segment which are connected at the ends, the circumferential straight line segment is arranged along the circumferential direction of the special-shaped slope sleeve (2d), the circumferential slope segment comprises an arc transition segment and an axial straight line segment, the axial straight line segment is arranged along the axial direction of the special-shaped slope sleeve (2d), and the arc transition segment is connected to one end of the axial straight line segment and one end of the circumferential straight line segment. The rotating shaft comprises an end-tooth driving rotating shaft (2a) and an end-tooth transition sleeve (2b), the end-tooth driving rotating shaft (2a) is rotatably connected to the first separation object (1a), and the end-tooth driving rotating shaft (2a) and the end-tooth transition sleeve (2b) are connected at the ends; the breaking surface of the explosive component is arranged at the joint position of the end-tooth driving rotating shaft (2a) and the end-tooth transition sleeve (2b).

2. The high-reliability electromechanical servo mechanism with initiation explosive isomeric redundancy forced unlocking separation according to claim 1, characterized in that: The ends of the end-tooth driving rotating shaft (2a) and the end-tooth transition sleeve (2b) are connected through tooth engagement.

3. The high-reliability electromechanical servo mechanism with initiation explosive isomeric redundancy forced unlocking separation according to claim 2, characterized in that: The driving motor assembly comprises a motor shell (3c), a motor rotor (3a), and a motor stator (3b), the motor shell (3c) is connected to the upper end surface of the annular fixing seat (2e), the motor rotor (3a) and the motor stator (3b) are coaxially installed, both of which are arranged inside the motor shell (3c), the motor stator (3b) is fixed to the motor shell (3c), and the motor rotor (3a) can rotate around the motor shell (3c) along a fixed shaft.

4. The high-reliability electromechanical servo mechanism with initiation explosive isomeric redundancy forced unlocking separation according to claim 1, characterized in that: The driving motor assembly further comprises a rear end cover (3d), a brake stator (3e), a brake rotor (3f), a brake end cover (3g), and a connecting screw I (3h), the rear end cover (3d) is connected to the end of the motor shell (3c) away from the unlocking mechanism assembly, the brake stator (3e) is fixed to the end of the motor shell (3c), the brake rotor (3f) is coaxially nested in the motor rotor (3a), both of which can rotate simultaneously, the brake stator (3e) can be attracted to the brake rotor (3f) after being powered off, and the brake end cover (3g) is fixed to the rear end cover (3d) through the connecting screw I (3h).

5. The high-reliability electromechanical servo mechanism with pyrotechnic isomerically redundant forced unlocking and separation according to claim 4, characterized in that: ​ 6. The high-reliability electromechanical servo mechanism with pyrotechnic isomerism redundancy forced unlocking separation according to claim 4, characterized in that: The explosive assembly comprises an explosive bolt (4a), an electric slip ring (4c), and the explosive bolt (4a) is threadedly connected with an end tooth driving shaft (2a) and an end tooth transition sleeve (2b) at two ends respectively, a side surface of an output shaft of a motor rotor (3a) is provided with a through hole, the explosive bolt (4a) is provided with an explosive device and a lead wire (4b) inside, one end of the lead wire (4b) is connected with the explosive device, the other end of the lead wire (4b) is passed into the output shaft of the motor rotor (3a) from inside the end tooth driving shaft (2a) and is passed out from the through hole, the electric slip ring (4c) is installed on a motor housing (3c), the end of the lead wire (4b) passed out from the through hole is connected with the electric slip ring (4c), and the electric slip ring (4c) is used for receiving an activation current from the driving motor assembly, so that the explosive assembly blows open between the end tooth driving shaft (2a) and the end tooth transition sleeve (2b) to realize unlocking.

7. The high-reliability electromechanical servo mechanism with initiation explosive isomeric redundancy forced unlocking separation according to claim 6, characterized in that: The explosive bolt (4a) is threadedly connected with a locking nut I (4d) at one end extending into the inside of the end tooth transition sleeve (2b).

8. The high-reliability electromechanical servo mechanism with initiation explosive isomeric redundancy forced unlocking separation according to claim 2, characterized in that: The first separation object (1a) is fixedly provided with an annular fixing seat (2e), the annular fixing seat (2e) is provided with a mounting hole in the middle, the electromechanical servo mechanism further comprises a rotary supporting assembly and an unlocking mechanism assembly installed in the mounting hole, the rotary supporting assembly comprises a bearing sleeve (5a), a rolling bearing (5b), a locking nut II (5c) and a connecting screw II (5d), the rolling bearing (5b) is sleeved on the outside of the end tooth driving shaft (2a), the bearing sleeve (5a) is sleeved on the outside of the rolling bearing (5b), and the bearing sleeve (5a) is fixedly connected with the annular fixing seat (2e), the locking nut II (5c) is threadedly connected on the outside of the end tooth driving shaft (2a), and the two ends of the rolling bearing (5b) are pressed by the locking nut II (5c) and the bearing sleeve (5a) respectively.

9. The high-reliability electromechanical servo mechanism with pyrotechnic isomerism redundancy forced unlocking separation according to claim 1, characterized in that: One end of the special-shaped slope sleeve (2d) passes through the second separation object (1b), and the end of the special-shaped slope sleeve (2d) passing through the second separation object (1b) is threadedly connected with a locking nut III (2f); The contact part of the first separation object (1a) and the second separation object (1b) is an inner tapered surface, the second separation object (1b) is a conical structure, and the contact part of the second separation object (1b) is an outer tapered surface, and the tapered surface angles of the two are the same.

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