Gas-driven hook lock type locking and separating mechanism for satellite-rocket separation

Abstract

The invention provides a gas-driven hook lock type locking and separating mechanism for satellite-rocket separation, and belongs to the technical field of spaceflight. Air cylinder driving is adopted to be matched with a three-connecting-rod transmission mechanism, and unlocking of the non-initiating explosive device is achieved. Compared with explosive bolts and other initiating explosive devices, the risk that extremely high instantaneous impact load generated by explosion threatens precise instruments on satellites and the risk that the surface of the satellites is polluted by fuel gas and chippings can be avoided; and meanwhile, pneumatic driving and mechanical transmission are adopted, so that the mechanism can be repeatedly locked and separated. The device comprises a rocket end connecting base and a passive end connector, the rocket end connecting base is installed at the tail stage of a rocket, and the passive end connector is connected with a satellite load through bolts; the locking claws are symmetrically mounted on the rocket end connecting seat through hinge shafts, and locking grooves matched with the passive end connectors are formed in the locking claws; the device further comprises a driving device and a transmission connecting rod mechanism, and the transmission connecting rod mechanism is connected between the driving device and the locking clamping jaw.

Description

Technical Field

[0001] This invention relates to a pneumatically driven hook-lock type locking and separation mechanism for satellite-rocket separation, specifically belonging to the field of aerospace technology. Background Technology

[0002] In rocket launch missions, satellite-rocket separation is one of the key links that determines the success or failure of the mission. This link requires the connection mechanism to provide a connection with sufficient rigidity and strength during the launch phase (including harsh mechanical environments such as takeoff, ascent, transonic flight, and interstage separation) to securely lock the satellite to the rocket's final stage. At the same time, after entering the target orbit, it must be able to achieve separation quickly, reliably, and without interference according to instructions, and minimize adverse effects such as separation shock. The mechanisms for achieving star-rocket separation are mainly divided into two categories: pyrotechnic separation mechanisms and non-pyrotechnic separation mechanisms. Traditional pyrotechnic separation technologies (such as explosive bolts, cutters, expansion tubes, etc.) have the advantages of strong load-bearing capacity and rapid and reliable unlocking, but they also have disadvantages such as non-reusability, non-detectability, excessive impact, and explosion pollution. The publication number "CN208460751U" discloses a wedge-shaped locking and separating mechanism, which includes a locking block, a sliding block, and a locking mechanism. The locking block includes a locking plane and a wedge-shaped protrusion. The wedge-shaped protrusion is disposed below the locking plane. The sliding block is provided with multiple wedge-shaped grooves corresponding to the wedge-shaped protrusion. The locking block and the sliding block are connected by the wedge-shaped protrusion and the wedge-shaped grooves. A locking mechanism is provided on one side of the locking plane of the locking block. However, the locking mechanism is only connected through a slot, resulting in insufficient impact resistance. Therefore, a non-pyrotechnic separation mechanism that is reliable in unlocking, has strong impact resistance, and is reusable is needed to effectively meet the future reusable development needs of launch vehicles. Summary of the Invention

[0003] The purpose of this invention is to provide a gas-driven hook-lock type locking and separation mechanism for satellite-rocket separation, so as to achieve a high-strength locking connection and rapid separation between the satellite and the rocket's final stage.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The invention includes a rocket end connector and a passive end interface. The rocket end connector is installed on the last stage of the rocket, and the passive end interface is connected to the satellite payload by bolts. Two locking claws are symmetrically installed on the rocket end connector via hinge axes, and the locking claws are provided with locking grooves that mate with the passive end interface. The invention also includes a drive device and a transmission linkage mechanism, with the transmission linkage mechanism connected between the drive device and the locking claws. The transmission linkage mechanism is configured such that when the drive device provides locking force, the transmission linkage mechanism can move to and stabilize at the mechanical over-dead point position or the self-locking position, thereby locking the passive end interface with the locking claw; when the locking force is released, the transmission linkage mechanism disengages from the over-dead point position or the self-locking position under the action of the reset element, and drives the locking claw to open, thereby achieving separation.

[0005] Furthermore, the mechanism's own geometric configuration ensures that it has extremely high resistance to vibration and impact, guaranteeing that it will not accidentally unlock in the harsh mechanical environment of rocket launch. Its reliability far exceeds that of mechanisms that rely on electromagnetic force or continuous hydraulic pressure for locking. During separation, only the locking force of the drive device needs to be released, and the mechanism can automatically and quickly disengage from the dead point position to complete the unlocking with the assistance of the reset element. The entire process is a purely mechanical and orderly release of kinetic energy, rather than an explosive release of chemical energy. Therefore, the separation impact is extremely low, and the separation process is controllable, perfectly avoiding the inherent disadvantages of pyrotechnic devices.

[0006] The drive unit includes a cylinder and a wire rope, with one end of the wire rope connected to the cylinder and the other end connected to the transmission linkage mechanism. Furthermore, the pneumatic drive used in the cylinder has the advantages of repeatable operation, fast response speed, and simple control. Combined with the flexibility of the wire rope drive, it is easy to lay out and can be installed outside the impact-sensitive area, further protecting the satellite. Compressed gas is used as a power source, which has no risk of explosion and is not classified as a dangerous good. It simplifies the storage, transportation and testing process and reduces the total life cycle cost, making it a key link in realizing the "reusable launch vehicle".

[0007] The transmission linkage mechanism is a three-bar linkage, comprising a first link, a second link, and a third link. The third link is hinged to the rocket end connector via a fixed shaft, which serves as the fixed fulcrum of the transmission linkage mechanism. The third link is hinged to the second link via a third pivot, and the second link is hinged to the first link via a second pivot. The first link is hinged to the locking claw via a first pivot. The transmission linkage mechanism also includes a fifth pivot and a torsion spring. The fifth pivot is connected to the steel wire rope of the drive device, and the torsion spring is sleeved on the fixed shaft and associated with the third link. Notably, both the first and second links adopt a parallel multi-bar design, connected by a shared pivot, to increase the overall rigidity and bending resistance of the transmission linkage mechanism. Furthermore, the three-bar linkage can cleverly amplify the relatively small pulling force provided by the cylinder into a huge locking force of the locking jaws through the lever principle, achieving the effect of small drive and large locking. At the same time, its specific geometric relationship makes it easy to achieve the required "over-dead point" self-locking function. The structure is compact and the motion relationship is clear. Moreover, the motion trajectory of the linkage is precise and definite, avoiding possible motion uncertainties and ensuring the reliability of locking and disengaging actions.

[0008] The reset element is a torsion spring sleeved on a fixed shaft; Furthermore, the torsion spring provides a small but definite initial unlocking driving force, thereby ensuring that the three-bar linkage can be reliably pushed away from the dead position and the unlocking sequence can be initiated at the moment the cylinder pull is released; this effectively prevents the mechanism from "jamming" or "not unlocking" failures that may be caused by factors such as friction and machining errors.

[0009] The locking groove of the locking claw and the mating surface of the passive end interface are multiple discontinuous cylindrical surfaces, which are used to distribute the locking force to multiple contact areas and optimize the load distribution; Furthermore, by changing the continuous cylindrical contact surface to multiple discontinuous contact surfaces, the concentrated load is distributed to multiple independent load-bearing areas, avoiding local plastic deformation or crushing, and significantly improving load-bearing capacity and service life; multiple contact surfaces jointly constrain the passive end interface, greatly improving the overall stiffness and positioning accuracy of the connection interface; ensuring that the satellite will not experience micro-displacement due to structural deformation during launch.

[0010] The number of discontinuous cylindrical surfaces is five. Furthermore, the "five-segment" is an optimized implementation method that significantly increases the number of contact surfaces (better than a single or two-segment design), effectively distributing the load; while avoiding the increased processing difficulty, rising costs, and assembly complexity caused by too many segments.

[0011] The entire structure is arranged symmetrically around the passive end interface; Furthermore, the symmetrical layout allows the locking force and launch load to be evenly and symmetrically transmitted to the rocket end connector, ensuring the stability and lifespan of the structure; it also ensures that the locking claws on both sides can move synchronously, smoothly gripping or releasing the passive end interface without generating additional torsional or lateral interference forces on the satellite.

[0012] The beneficial effects of this invention are: 1. By employing a cylinder-driven, three-bar linkage mechanism, non-pyrotechnic unlocking (whether the cylinder maintains the tension of the steel cable) is achieved. Compared to pyrotechnic devices such as explosive bolts, this avoids the risk of extremely high instantaneous impact loads from explosions threatening precision instruments on satellites and contaminating the satellite surface with gas and debris. At the same time, by using pneumatic drive and mechanical transmission, the mechanism itself can repeatedly perform locking-separation cycles, supporting multiple locking and separation after reentry, thus promoting the development of reusable launch vehicles.

[0013] 2. By using symmetrically arranged locking claws and the cylindrical grooves formed by their closure, and cooperating with the five contact surfaces of the passive end interface, reliable constraints on the three degrees of freedom of X, Y, and Z are achieved. This design optimizes the load distribution, significantly reduces the local stress in the locking contact area, and improves the locking reliability. At the same time, it greatly improves the positioning accuracy of the passive end interface and the rigidity of the mechanism in the entire locking state.

[0014] 3. By adopting multiple parallel or segmented designs for the shaft segments in the transmission components of the mechanism, the number of effective support sections and the section modulus of bending of the key shafts are greatly increased, which effectively suppresses the bending deformation and fracture risk of the shafts under ultra-high loads, and ensures the structural integrity and operational reliability of the mechanism under extreme working conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the invention. Figure 2 This is a schematic diagram of the transmission linkage mechanism of the present invention; Figure 3 This is a schematic diagram of the locking state structure of the mechanism of the present invention; Figure 4 This is a schematic diagram of the separated structure of the mechanism of the present invention; Figure 5 This is a three-dimensional structural diagram of the overall locking state of the mechanism of the present invention; Figure 6 This is a three-dimensional structural diagram of the overall separated state of the mechanism of the present invention.

[0016] 1-1 Passive end interface; 1-2 Rocket end connector; 1-3 Locking claw; 1-4 Hinge shaft; 1-5 Steel wire rope; 2. Transmission linkage mechanism; 2-1 First rotating shaft; 2-2 First connecting rod; 2-3 Second rotating shaft; 2-4 Second connecting rod; 2-5 Third rotating shaft; 2-6 Fourth rotating shaft; 2-7 Third connecting rod; 2-8 Fifth rotating shaft; 2-9 Torsion spring. Detailed Implementation

[0017] The following will be combined with the appendix Figure 1-6 The technical solutions in the embodiments are described clearly and completely.

[0018] Specific implementation method one: as follows Figure 1As shown, the mechanism consists of a rocket end connector 1-2 and a passive end interface 1-1. The rocket end connector 1-2 is installed on the rocket's final stage, and the passive end interface 1-1 is connected to the satellite payload via bolts. This allows the entire mechanism to be installed between the rocket's final stage and the satellite payload, simultaneously forming the structural base and functional integration platform of the entire locking and separation mechanism. It provides installation reference and space for each component, bears and transmits locking preload, and limits the mechanism's movement trajectory. During rocket launch, the locking mechanism can firmly lock the satellite payload. When the rocket reaches the designated orbit, the separation mechanism can be driven to unlock and release the satellite payload under command, allowing it to enter the designated orbit. like Figure 2 As shown, the left and right sides of the mechanism are symmetrical, and the passive end interface 1-1 is arranged symmetrically around it. The mechanism is mainly composed of rocket end connecting seat 1-2, locking claw 1-3, hinge shaft 1-4, drive device and transmission linkage mechanism 2. The locking claw 1-3 is a key component of the mechanism's execution end. It is symmetrically installed on both sides of the passive end interface 1-1. In the initial connection and locking state, after the cylinder connected to the end of the wire rope 1-5 no longer provides locking force, the locking claw 1-3 rotates around the hinge shaft 1-4 through the action of the transmission linkage mechanism 2, opening to both sides and realizing the separation of the mechanism from the passive end interface 1-1. There are 5 discontinuous contact surfaces between the passive end interface 1-1 and the locking claw 1-3, which are equivalent to 5 contact surfaces. The two achieve reliable constraint of the passive end interface 1-1 through the cooperation of the cylindrical surfaces. Compared with the single-sided locking end, this structure can optimize the load distribution on the passive end interface 1-1 and the locking claw 1-3, reduce local stress, improve the reliability of locking, and completely restrict the degree of freedom of the passive end interface 1-1, thereby improving the positioning accuracy of the passive end interface 1-1 and the overall rigidity of the mechanism. like Figures 3-6 As shown, the transmission linkage mechanism 2 is a three-bar linkage, mainly composed of a first rotating shaft 2-1, a first connecting rod 2-2, a second rotating shaft 2-3, a second connecting rod 2-4, a third rotating shaft 2-5, a fourth rotating shaft 2-6, a third connecting rod 2-7, a fifth rotating shaft 2-8, and a torsion spring 2-9. The transmission linkage mechanism 2 achieves force amplification and direction conversion through linkage transmission, maintains stable constraint in the locked state, and quickly unlocks in the disengaged state. Furthermore, the transmission linkage mechanism 2 emphasizes impact resistance and rigidity, making it suitable for high-load conditions in aerospace environments. The third link 2-7 is fixedly connected to the rocket end connecting seat 1-2 via the fourth pivot 2-6. The fourth pivot 2-6 is a fixed fulcrum, and the third link 2-7 can rotate around the fourth pivot 2-6. The fourth pivot 2-6 serves as the reference point for the entire mechanism, ensuring the stability of the movement trajectory of the third link 2-7. During locking and disengagement, the position of the fourth pivot 2-6 remains unchanged to provide fulcrum support. The third link 2-7 is connected to the second link 2-4 via the third pivot 2-5; the third pivot 2-5 is a pivot that allows the second link 2-4 and the third link 2-7 to rotate relative to each other; when the third link 2-7 rotates around the fourth pivot 2-6, it drives the second link 2-4 to move through the third pivot 2-5; thus realizing the transmission of force and the change of direction; The second link 2-4 is connected to the first link 2-2 via the second pivot 2-3. The second pivot 2-3 is limited by the rocket end connecting seat 1-2 and can only move up and down, thus restricting the movement of the second link 2-4. The second pivot 2-3 serves as a movable axis, being pulled down when locked and moved up when disengaged. The second link 2-4 transmits its motion to the first link 2-2 through the second pivot 2-3, achieving a lever-assisted force amplification effect. The first link 2-2 is connected to the locking claw 1-3 via the first rotating shaft 2-1. The first rotating shaft 2-1 is a hinge point, allowing the locking claw 1-3 to rotate around the first rotating shaft 2-1. When the first link 2-2 moves, it drives the locking claw 1-3 to open or close via the first rotating shaft 2-1. The rotation of the locking claw 1-3 directly controls the locking or disengaging with the passive end interface 1-1. The locking claw 1-3 itself is mounted on the rocket end connecting seat 1-2 via the hinge shaft 1-4. The transmission link mechanism 2 drives the locking claw 1-3 via the first rotating shaft 2-1. The fifth rotating shaft 2-8 is bound to the wire rope 1-5. The other end of the wire rope 1-5 is connected to the cylinder. The fifth rotating shaft 2-8 is the input point of the transmission linkage mechanism 2. When the cylinder provides tension, the wire rope 1-5 pulls the fifth rotating shaft 2-8, thereby driving the entire linkage system to move. When separated, the cylinder releases the tension, the fifth rotating shaft 2-8 loses tension, and the transmission linkage mechanism 2 resets with the assistance of the torsion spring 2-9. Torsion spring 2-9 is mounted on the fourth rotating shaft 2-6 and is associated with the third connecting rod 2-7 to provide torque assistance. During the separation process, when the cylinder pull disappears, the elastic force of torsion spring 2-9 helps the third connecting rod 2-7 to rotate quickly, thereby accelerating the unlocking action and ensuring reliable separation. The first link 2-2 adopts a parallel design and is connected by a common shaft, such as the second shaft 2-3, to form a multi-support structure. This increases the number of effective support sections of the shaft, reduces the maximum bending moment within a single span, and improves bending strength and overall stiffness. For example, the lower end of the second link 2-4 is also connected to the third link 2-7 through two sections to increase the contact surface. When locked, the steel wire rope 1-5 is pulled by the cylinder, and the entire mechanism is in a fully locked state. When the pull provided by the cylinder to the steel wire rope 1-5 disappears, the pull of the steel wire rope 1-5 on the fifth rotating shaft 2-8 disappears. At the same time, with the assistance of the torsion spring 2-9, the third connecting rod 2-7 rotates around the fourth rotating shaft 2-6. The first connecting rod 2-2 and the second connecting rod 2-4, and the second connecting rod 2-4 and the third connecting rod 2-7 are all connected by rotating shafts. When the third connecting rod 2-7 rotates, it will drive the second connecting rod 2-4 and the first connecting rod 2-2 to move, which will further drive the locking claw 1-3 to rotate, thus completing the unlocking. The two sets of eight first links 2-2 restrict the degrees of freedom of the moving mechanism while reducing the maximum bending moment within a single span by increasing the number of shaft sections, thus reducing the risk of shaft bending deformation or even breakage. The lower end of the second link 2-4 is also connected to the third link 2-7 through two structural sections, which increases the contact surface while ensuring the integrity of the link, and significantly improves the bending strength of each shaft node and the rigidity of the overall mechanism.

[0019] Workflow: The satellite is mounted on the locking and separating mechanism via the passive end interface 1-1. During ground testing, the cylinder actuates, causing it to pull the transmission linkage mechanism 2 via the steel wire rope 1-5. This causes the transmission linkage mechanism 2 to pass the dead point position, driving the locking claws 1-3 on both sides of the rocket end connector 1-2 to rotate inward around the hinge shaft 1-4, firmly locking the passive end interface 1-1. At this time, the transmission linkage mechanism 2 is in a self-locking state. Even if the cylinder pull is released, the transmission linkage mechanism 2 can still remain locked. This process can be repeated multiple times to verify the function and reliability of the locking and separating mechanism. During rocket launch, the rocket experiences various harsh mechanical environments. During this period, the locking and separation mechanism, with its high rigidity and strength mechanical structure, securely fixes the satellite to the rocket's final stage. The self-locking characteristic of the transmission linkage mechanism 2 ensures that the locking state remains absolutely reliable throughout the entire flight without the need for continuous power supply from the cylinder. After the rocket reaches its designated orbit, a separation signal is issued from the ground. The cylinders exhaust air, releasing the tension on the steel cable 1-5. At this point, under the slight auxiliary force of the pre-compressed torsion spring 2-9, the transmission linkage mechanism 2 disengages from its mechanical dead position. The transmission linkage mechanism 2 then engages in a linkage, rapidly driving the locking claws 1-3 on both sides of the rocket end connector 1-2 to rotate outwards around the hinge shaft 1-4 and open. The passive end interface 1-1 and the satellite connected to it, under the pre-stored separation force such as spring thrust or inertia, smoothly and reliably separate from the rocket's final stage and enter the target orbit. The entire separation process involves minimal impact and generates no contaminants.

[0020] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation, characterized in that, It includes a rocket end connector (1-2) and a passive end interface (1-1). The rocket end connector (1-2) is installed on the last stage of the rocket, and the passive end interface (1-1) is connected to the satellite payload by bolts. Two locking claws (1-3) are symmetrically mounted on the rocket end connector (1-2) via a hinge shaft (1-4). Each locking claw (1-3) has a locking groove that mates with the passive end interface (1-1). Includes a drive unit and a transmission linkage mechanism (2), wherein the transmission linkage mechanism (2) is connected between the drive unit and the locking claw (1-3); The transmission linkage mechanism (2) is configured such that when the driving device provides locking force, the transmission linkage mechanism (2) can move to and stabilize at the mechanical dead point position or the self-locking position, thereby locking the locking claw (1-3) to lock the passive end interface (1-1); when the locking force is released, the transmission linkage mechanism (2) disengages from the dead point position or the self-locking position under the action of the reset element, and drives the locking claw (1-3) to open, thereby achieving separation.

2. The pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 1, characterized in that, The drive unit includes a cylinder and a wire rope (1-5), with one end of the wire rope (1-5) connected to the cylinder and the other end of the wire rope (1-5) connected to the transmission linkage mechanism (2).

3. The pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 1, characterized in that, The transmission linkage mechanism (2) is a three-bar linkage mechanism. The transmission linkage mechanism (2) includes a first link (2-2), a second link (2-4) and a third link (2-7). The third link (2-7) is hinged to the rocket end connecting seat (1-2) through a fixed shaft (2-6). The fixed shaft (2-6) is the fixed fulcrum of the transmission linkage mechanism (2). The third link (2-7) is hinged to the second link (2-4) through a third rotating shaft (2-5). The second link (2-4) is hinged to the first link (2-2) through a second rotating shaft (2-3). The first link (2-2) is hinged to the locking claw (1-3) through a first rotating shaft (2-1). The transmission linkage mechanism (2) also includes a fifth rotating shaft (2-8) and a torsion spring (2-9). The fifth rotating shaft (2-8) is connected to the wire rope (1-5) of the drive device. The torsion spring (1-5) is sleeved on the fixed shaft (2-6) and associated with the third link (2-7). The first link (2-2) and the second link (2-4) both adopt a parallel multi-link design.

4. The pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 1, characterized in that, The reset element is a torsion spring (2-9) sleeved on the fixed shaft (2-6).

5. A pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 1, characterized in that, The locking groove of the locking claw (1-3) and the mating surface of the passive end interface (1-1) are multiple discontinuous cylindrical surfaces, which are used to distribute the locking force to multiple contact areas and optimize the load distribution.

6. A pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 5, characterized in that, The number of discontinuous cylindrical surfaces is five.

7. A pneumatically driven hook-lock type locking and separation mechanism for star-rocket separation according to claim 1, characterized in that, The entire structure is arranged symmetrically around the passive end interface (1-1).

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