An EMA-based and pyrotechnic device emergency separation heterogeneous redundant ejection mechanism

Abstract

The present invention provides an EMA-based emergency separation heterogeneous redundant throwing mechanism for initiators, comprising: a hook pin shaft mechanism installed at the end of an actuating mechanism, a servo mechanism connected to the actuating mechanism through a gear assembly, a servo motor connected to an electromagnetic brake, and a sensor installed on the electromagnetic brake; the pin in the hook pin shaft mechanism is installed on a convex structure of a load, and the hook tongue in the hook pin shaft mechanism hooks the pin to connect the load and the platform; the electromagnetic brake is controlled to release the braking of the servo motor, the servo motor starts and outputs a rotational motion, drives the gear assembly to transmit power to a planetary roller screw pair in the actuating mechanism, and the actuating mechanism pushes the hook tongue to disengage from the pin; when a failure occurs, the igniter accepts an emergency separation current signal and explodes, cuts the safety pin, and enables the actuating mechanism to push the hook tongue to disengage from the pin. The present invention realizes redundant design and fault-tolerant design at the mechanism level, improves the reliability of mechanism application, and ensures the power density of the device.

Description

Technical Field

[0001] The present invention relates to an emergency separation heterogeneous redundant throwing mechanism, belonging to the field of electromechanical separation. Background Art

[0002] The main function of the separation mechanism is to realize the separation and throwing functions of two connected components. Existing separation mechanism types include hook type, bolt and nut type, claw type, electromagnetic suction type, etc. Among them, the hook tongue type is particularly suitable for occasions composed of gravity loads and can complete reliable locking by using its own gravity. The driving sources of the separation mechanism are divided into pneumatic, hydraulic, electromechanical, and functional materials. Among them, the electromechanical system driving the separation mechanism to complete the unlocking function has been gradually widely used. The main reasons are the high control accuracy, fast response, environmental protection, and maintenance-free characteristics of the electromechanical system. However, there are still reliability problems in the application of the electromechanical servo system to the separation mechanism. The fault-tolerant design of servo motors, drivers, and control algorithms is relatively mature, but it is difficult and highly complex to achieve redundant design from the structural / mechanical level of the driving source. The cold backup unlocking time is long, and it is not easy to improve reliability, resulting in a significant increase in the volume and weight of the overall device. How to ensure reliable separation or emergency separation on the basis of the overall power density of the separation mechanism and the driving source has become a focus issue. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: The present invention provides an emergency separation heterogeneous redundant throwing mechanism based on EMA and pyrotechnics, which realizes redundant design and fault-tolerant design from the mechanical level, improves the reliability of the mechanism application, ensures the power density of the device, and at the same time realizes convenient installation and pre-tightening adjustment, and can complete reliable locking by using its own gravity, and is particularly suitable for occasions composed of gravity loads.

[0004] The technical solution adopted by the present invention is: An emergency separation heterogeneous redundant throwing mechanism based on EMA and pyrotechnics, comprising: a gear assembly, a servo motor, an electromagnetic brake, an igniter, a safety pin, an actuating mechanism, a sensor, and a hook pin shaft mechanism;

[0005] The end of the actuating mechanism is provided with a hook pin shaft mechanism, the servo mechanism is connected to the actuating mechanism through the gear assembly, the servo motor is connected to the electromagnetic brake, and the sensor is installed on the electromagnetic brake;

[0006] The pin in the hook pin shaft mechanism is installed on the convex structure on the load, the convex structure on the load is matched with the groove structure on the platform, and the hook tongue in the hook pin shaft mechanism hooks the pin to connect the load and the platform;

[0007] Control the electromagnetic brake to release the braking of the servo motor, start the servo motor and output a rotational motion, drive the gear assembly to transmit the power to the planetary roller screw pair in the actuating mechanism, and the actuating mechanism pushes the hook tongue to disengage from the pin to separate the load and the platform;

[0008] When a failure occurs, the igniter receives an emergency separation current signal and detonates, cutting the safety pin, causing the actuating mechanism to push the hook tongue away from the pin shaft, separating the load from the platform.

[0009] Furthermore, the hook pin shaft mechanism further includes a rotating shaft, an adjusting nut, a support, and a tension spring; the support is installed at the assembly hole on the platform, a rotating shaft mounting seat is provided on the support, and the hook tongue is installed on the rotating shaft mounting seat through the rotating shaft; one end of the tension spring is connected to the support, and the other end is connected to the hook tongue; an adjusting nut is installed on the hook tongue, and the hook tongue keeps the adjusting nut pressed against the support under the pulling force of the tension spring;

[0010] When the load is connected to the platform, rotate the hook tongue around the rotating shaft to lift the hook tongue, ensure that the convex structure of the load matches the concave structure of the platform, release the hook tongue, and make it move under the pulling force of the tension spring to clamp the pin shaft. Under its own gravity, the load makes the hook tongue tightly clamped with the pin shaft; rotate the adjusting nut to further press the support, and adjust the hook tongue to fit and wedge the outer bevel angle of the convex part of the load with the inner bevel angle of the concave part of the platform.

[0011] Furthermore, the actuating mechanism includes a push rod, a sealing cover, an actuating cylinder, a lead screw nut, a lead screw, an actuating housing, rollers, and bearings;

[0012] The actuating housing is arranged inside the platform, one end is inserted into the assembly hole in the platform and is connected to the end face of the support in a matching manner, and the other end is installed with a bearing and a gear assembly installation area; the actuating cylinder is installed in the inner cavity of the actuating housing, one end is installed with a lead screw nut, and the other end is installed with a sealing cover. The actuating cylinder can reciprocate linearly relative to the actuating housing; the push rod is installed in the actuating cylinder, one end is inserted into the through hole on the support, and the other end is provided with a blind hole. The push rod reciprocates linearly relative to the installation holes of the support and the sealing cover; the lead screw is installed in the lead screw nut, and rollers are installed between the lead screw and the lead screw nut to form a planetary roller screw pair; one end of the lead screw extends out from the central hole of the inner partition of the actuating cylinder and aligns with the blind hole at the end of the push rod, and the other end of the lead screw is installed in the bearing.

[0013] Furthermore, the actuating mechanism further includes a spring; the end of the push rod with the blind hole is provided with an annular convex structure, and radial holes and axial holes that communicate with each other are respectively provided on the side and end face of the annular convex structure. The radial hole communicates with the igniter installed on the side wall of the actuating cylinder, and the axial hole faces the contact step surface inside the actuating cylinder. The safety pin is installed on the inner side wall of the actuating cylinder. The annular convex structure on the push rod and the actuating cylinder form a limit under the constraint of the safety pin. The installation cavity between the push rod, the igniter, the actuating cylinder, and the lead screw forms a sealed cavity, and the side wall of the actuating housing is provided with an igniter sliding groove; the push rod is sleeved with a spring, which is located between the sealing cover and the annular convex structure at the end of the push rod. When the push rod cuts the safety pin and moves, the spring buffers the forced unlocking movement of the push rod.

[0014] When a failure occurs and the actuator cannot extend, the igniter receives an emergency separation current signal, activates its propellant charge to cause deflagration, generates high-pressure gas acting on the sealed cavity composed of the push rod, actuator, and lead screw, cuts the safety pin, and pushes the push rod to make the adjusting nut and the hook tongue rotate clockwise around the rotating shaft, disengaging the tight connection between the hook tongue and the pin shaft. At the same time, the push rod is buffered under the compression of the spring to complete the emergency separation and throwing function between the platform and the load.

[0015] Furthermore, there is a gap between the protruding end of the push rod and the adjusting nut to avoid direct contact between the adjusting nut and the push rod. When the push rod is not working, it is in a retracted state.

[0016] Furthermore, a second sealing ring is provided between the push rod and the support, and a first sealing ring is provided between the push rod and the sealing cover to form a linear sealing state.

[0017] Furthermore, the servo motor includes a motor rotor shaft, a motor housing, a motor stator, and a motor end cover; one end of the motor housing is installed on the actuator housing, both ends of the motor rotor shaft are installed in the motor housing through bearings, one end of the motor rotor shaft is inserted into the actuator housing, the motor stator is installed on the motor housing, the motor rotor is installed on the motor rotor shaft, the other end of the motor housing is installed with the motor end cover, and the other end of the motor rotor shaft extends out from the central hole of the motor end cover.

[0018] Furthermore, the gear assembly includes a reduction gearbox end cover, a lead screw gear, an intermediate gear, a motor gear, and a gear shaft; the lead screw gear is installed at one end of the lead screw extending out of the bearing, the gear shaft is installed in the gear assembly installation area at the end of the actuator housing, the intermediate gear is installed on the gear shaft, the intermediate gear is externally meshed with the lead screw gear, the motor gear is externally meshed with the intermediate gear, the motor gear is installed at the end of the motor rotor shaft, and the reduction gearbox end cover is installed at the end of the actuator housing to cover the gear assembly installation area.

[0019] Furthermore, the electromagnetic brake includes a brake stator and a brake rotor; the brake stator is fixed to the motor end cover, the brake rotor is fixed on the motor rotor shaft, the brake stator and the brake rotor are in a power-off suction state, and after being powered on, the brake stator and the brake rotor are disconnected;

[0020] The electromagnetic brake makes the brake stator and the brake rotor disengage by controlling the current. The servo motor starts and outputs a rotational motion, driving the gear assembly to transmit power to the planetary roller screw pair. The lead screw rotates to make the screw nut push the actuator to extend. The actuator and the push rod jointly perform an extending motion, pushing the adjusting nut and the hook tongue to rotate around the rotating shaft, disengaging the connection between the hook tongue and the pin shaft, and separating the load and the platform.

[0021] Further, the sensor includes a sensor rotor, a sensor stator, and a sensor end cover; the sensor rotor is installed at the end of the motor rotor shaft and is located on one side of the brake rotor, the sensor stator is fixed inside the electromagnetic brake housing, and the sensor end cover is installed at the end of the electromagnetic brake housing; the sensor is used to detect the rotation angle and speed of the servo motor and feedback them to the controller for output position control of the servo motor.

[0022] The advantages of the present invention compared with the prior art are as follows:

[0023] (1) The proposed EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism of the present invention adopts a hook tongue connection mechanism and an inclined plane positioning structure, which can be reliably locked by its own gravity and is particularly suitable for occasions composed of gravity loads.

[0024] (2) Regarding the problem of low reliability of the electromechanical principle separation mechanism, the proposed EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism of the present invention uses EMA as the main driving source, and utilizes the characteristics of high explosion and small volume of pyrotechnics as the emergency unit to achieve redundant design and fault-tolerant design at the mechanism level, improving the reliability of the mechanism application and ensuring the power density of the device.

[0025] (3) The proposed EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism of the present invention can be applied to occasions such as the separation of launch vehicles, the separation of mooring platforms, and the opening and closing of hatch doors, and has broad application prospects. Description of the Drawings

[0026] Figure 1 is the internal composition sectional view of the EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism provided by the embodiment of the present invention;

[0027] Figure 2 is the external view schematic diagram of the EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism provided by the embodiment of the present invention;

[0028] Figure 3 is the overall installation state diagram of the EMA and pyrotechnic emergency separation heterogeneous redundant throwing mechanism provided by the embodiment of the present invention;

[0029] Figure 4 is the external shape structure diagram of the load provided by the embodiment of the present invention;

[0030] Figure 5 is the external shape structure diagram of the platform provided by the embodiment of the present invention. Detailed Embodiments

[0031] The present invention will be described in conjunction with the accompanying drawings.

[0032] As Figures 1 to 5As shown in the figure, a heterogeneous redundant ejection mechanism based on EMA and pyrotechnics for emergency separation includes: a gear assembly, a servo motor, an electromagnetic brake, an igniter 10, a safety pin 11, an actuating mechanism, a sensor, and a hook pin shaft mechanism; the end of the actuating mechanism is installed with the hook pin shaft mechanism, the servo mechanism is connected to the actuating mechanism through the gear assembly, the servo motor is connected to the electromagnetic brake, and the sensor is installed on the electromagnetic brake; the pin shaft 3 in the hook pin shaft mechanism is installed on the convex structure of the load 2, and the convex structure on the load 2 is matched with the groove structure on the platform 1. The hook tongue 4 in the hook pin shaft mechanism hooks the pin shaft 3 to connect the load 2 and the platform 1.

[0033] The hook pin shaft mechanism includes a pin shaft 3, a hook tongue 4, a rotating shaft 5, an adjusting nut 6, a support 7, and a tension spring 35; the ejection mechanism device is located at the intermediate joint position between the platform 1 and the load 2. The ejection mechanism installs its square flange in the square seat hole of the platform 1 through a screw assembly 36; the side of the platform 1 is provided with a groove-shaped mating interface, and the inside of the groove is provided with an inner bevel. The side of the load 2 is provided with a convex-shaped mating interface, and the outside of the convex is provided with an outer bevel. When the two are reliably connected, the groove and the convex fit together, and the inner bevel and the outer bevel fit and wedge tightly; in the middle part of the convex shape of the load 2, there is also a pin shaft 3. When the platform 1 and the load 2 are reliably connected, the pin shaft 3 can contact the hook tongue 4 and achieve the load-bearing function. The load 2 causes the hook tongue 4 to have a tendency to rotate counterclockwise around the rotating shaft 5 under its own gravity. Due to the limiting effect of the adjusting nut 6 and the support 7, the hook tongue 4 is not easily separated from the pin shaft 3.

[0034] The support 7 is installed at the assembly hole on the platform 1. A rotating shaft mounting seat is provided on the support 7. The hook tongue 4 is installed on the rotating shaft mounting seat through the rotating shaft 5; one end of the tension spring 35 is connected to the support 7, and the other end is connected to the hook tongue 4; the adjusting nut 6 is installed on the hook tongue 4; before connection, the hook tongue 4 maintains a slightly pressed state between the adjusting nut 6 and the support 7 under the tension of the tension spring 35. Manually rotate the hook tongue 4 clockwise around the rotating shaft 5 by a certain angle to lift the hook tongue 4 and ensure that the convex structure of the load 2 is matched with the groove structure of the platform 1, and then release the hook tongue 4 to make it move counterclockwise under the tension of the tension spring 35 to clamp the pin shaft 3.

[0035] The hook tongue 4 is provided with an internal thread, and the adjusting nut 6 is provided with an external thread. The two can be thread-connected, and the outer surface of the adjusting nut 6 is a polygonal structure, which can use tools such as a wrench to rotate and adjust the connection distance between the hook tongue 4 and the adjusting nut 6 to ensure that the hook tongue 4 tightly clamps the pin shaft 3 to form a pre-tightened state, and its pre-tightening force is much smaller than the linear load of the push rod 8.

[0036] The actuating mechanism includes a push rod 8, a sealing cover 9, an actuating cylinder 12, a spring 13, a lead screw nut 14, a lead screw 15, an actuating housing 16, rollers 17 and a bearing 18; the actuating housing 16 is arranged in the platform 1, one end is inserted into the assembly hole in the platform 1 and then is connected with the end face of the support 7 in a mating manner, and the other end is provided with a bearing 18 and a gear assembly installation area; the actuating cylinder 12 is installed in the inner cavity of the actuating housing 16, one end is installed with the lead screw nut 14, and the other end is installed with the sealing cover 9. The actuating cylinder 12 can perform a reciprocating linear motion relative to the actuating housing 16; the push rod 8 is installed in the actuating cylinder 12, one end is inserted into the through hole on the support 7, and the other end is provided with a blind hole. The push rod 8 performs a reciprocating linear motion relative to the installation holes of the support 7 and the sealing cover 9; the lead screw 15 is installed in the lead screw nut 14, and the rollers 17 are installed between the lead screw 15 and the lead screw nut 14 to form a planetary roller screw pair; one end of the lead screw 15 extends out from the central hole of the inner partition of the actuating cylinder 12 and aligns with the blind hole at the end of the push rod 8, and the other end of the lead screw 15 is installed in the bearing 18.

[0037] One end of the push rod 8 with the blind hole is provided with an annular convex structure, and radial holes and axial holes are respectively arranged on the side surface and the end surface of the annular convex structure. The two holes communicate with each other. The radial hole communicates with the igniter 10 installed on the side wall of the actuating cylinder 12. The axial hole faces the contact table step of the actuating cylinder 12. The safety pin 11 is installed on the inner side wall of the actuating cylinder 12. The push rod 8 and the actuating cylinder 12 form a limit under the constraint of the safety pin 11. The installation cavity among the push rod 8, the igniter 10, the actuating cylinder 12 and the lead screw 15 forms a sealed cavity. The side wall of the actuating housing 16 is provided with an igniter sliding groove; there is a gap between the pushing end of the push rod 8 and the adjusting nut 6 to avoid direct contact between the adjusting nut 6 and it. When the push rod 8 does not work, it is in a retracted state.

[0038] The push rod 8 performs a reciprocating linear motion relative to the installation holes of the support 7 and the sealing cover 9, and is provided with two second sealing rings 34 and a first sealing ring 33. Under the assembly of the screw component 36, a linear sealing state is formed to avoid the leakage of high-pressure gas generated by the gunpowder; the push rod 8 is sleeved with a spring 13, which is located between the sealing cover 9 and the annular convex structure at the end of the push rod 8. When the push rod 8 cuts the safety pin 11 and moves, it can buffer its forced unlocking motion.

[0039] The servo motor includes a motor rotor shaft 24, a motor housing 25, a motor stator 26 and a motor end cover 27; one end of the motor housing 25 is installed on the actuating housing 16. Both ends of the motor rotor shaft 24 are installed in the motor housing 25 through bearings. One end of the motor rotor shaft 24 is inserted into the actuating housing 16. The motor stator 26 is installed on the motor housing 25. The motor rotor is installed on the motor rotor shaft 24. The other end of the motor housing 25 is installed with the motor end cover 27. The other end of the motor rotor shaft 24 extends out from the central hole of the motor end cover 27.

[0040] The sensor includes a sensor rotor 30, a sensor stator 31, and a sensor end cover 32. The sensor rotor 30 is installed at the end of the motor rotor shaft 24, on one side of the brake rotor 29. The sensor stator 31 is fixed inside the electromagnetic brake housing, and the sensor end cover 32 is installed at the end of the electromagnetic brake housing. The sensor is used to detect the rotation angle and speed of the servo motor and feedback them to the controller for output position control of the servo motor.

[0041] The electromagnetic brake includes a brake stator 28 and a brake rotor 29. The electromagnetic brake is provided with a brake stator 28 and a brake rotor 29. The brake stator 28 is fixed to the motor end cover 27 by a screw assembly 36, and the brake rotor 29 is fixed to the motor rotor shaft 24. The brake stator 28 and the brake rotor 29 are in a power-off suction state and disconnect after being energized. The gear assembly includes a reducer end cover 23, a lead screw gear 19, an intermediate gear 20, a motor gear 21, and a gear shaft 22. The motor rotor shaft 24 is coaxially installed with the motor gear 21. The motor gear 21 meshes with the intermediate gear 20 for external meshing transmission. The intermediate gear 20 is installed on the gear shaft 22 and is supported at both ends by bearings 18. The intermediate gear 20 meshes with the lead screw gear 19 for external meshing transmission. The lead screw gear 19, the intermediate gear 20, the motor gear 21, and the gear shaft 22 form a gear assembly. The reducer end cover 23 is installed on the side of the actuating housing 16 by a screw assembly 36. The lead screw nut 14, the lead screw 15, and the rollers 17 form a planetary roller screw pair assembly, which can convert the rotary motion of the motor into the linear motion of the nut. The outer circular flange of the lead screw nut 14 is connected to the flange of the actuating cylinder 12 by a screw assembly 36. The actuating cylinder 12 is installed inside the actuating housing 16 and can move linearly in a reciprocating manner.

[0042] Working principle:

[0043] The payload throwing mechanism is installed at the intermediate joint position between the platform 1 and the payload 2 for reliable connection and quick separation between the two.

[0044] Reliable connection state: The payload throwing mechanism is fixedly installed on the platform 1 by a screw assembly. The hook tongue 4 keeps the adjusting nut 6 and the support 7 slightly pressed under the pulling force of the tension spring 35. When the payload 2 with a convex shape is connected to the platform 1 with a concave shape from bottom to top, manually rotate the hook tongue 4 clockwise around the rotating shaft 5 by a certain angle to lift the hook tongue 4 and ensure that the convex structure of the payload 2 matches the concave structure of the platform 1. Then release the hook tongue 4, and it will move counterclockwise under the pulling force of the tension spring 35 to catch the pin shaft 3. Under its own gravity, the payload 2 makes the connection between the hook tongue 4 and the pin shaft 3 tighter and tighter. Manually rotate the adjusting nut 6 to further press the support 7, so that the hook tongue 4 continues to rotate clockwise slightly to fit and wedge the outer bevel angle of the convex part of the payload 2 with the inner bevel angle of the concave part of the platform 1, forming a reliable connection state.

[0045] Quick separation state: The electromagnetic brake disengages the stator from the rotor by controlling the current. The servo motor starts and outputs a rotational motion, driving the gearbox to transmit power to the planetary roller screw pair. The fixed-axis rotation of the screw rod pushes the screw nut to extend the actuator 12. Under the step limitation, the actuator 12 and the push rod 8 move out together, thereby pushing the adjusting nut 6 and the hook tongue 4 to rotate clockwise around the rotating shaft 5, thus disengaging the tight connection between the hook tongue 4 and the pin shaft 3;

[0046] When any one of the servo motor, the gearbox, and the roller screw pair fails and cannot drive the actuator 12 to extend, the igniter 10 receives an emergency separation current signal, activates its propellant charge and undergoes deflagration, generating high-pressure gas acting on the sealed cavity composed of the push rod 8, the actuator 12, and the screw rod 15, cutting the safety pin 11, and pushing the push rod 8 to make the adjusting nut 6 and the hook tongue 4 rotate clockwise around the rotating shaft 5, disengaging the tight connection between the hook tongue 4 and the pin shaft 3. At the same time, the push rod 8 is buffered under the compression of the spring 13 to complete the emergency separation and load throwing function between the platform 1 and the load 2.

[0047] The parts not detailed in the present invention belong to the well-known technologies in the art.

Claims

1. An EMA-based and pyrotechnic emergency separation heterogeneous redundant ejection mechanism, characterized in that, Comprising: A gear assembly, a servo motor, an electromagnetic brake, an igniter (10), a safety pin (11), an actuating mechanism, a sensor, and a hook pin shaft mechanism; The end of the actuating mechanism is installed with the hook pin shaft mechanism. The servo motor is connected to the actuating mechanism through the gear assembly. The servo motor is connected to the electromagnetic brake, and the sensor is installed on the electromagnetic brake; The pin shaft (3) in the hook pin shaft mechanism is installed on the protruding structure on the load (2). The protruding structure on the load (2) cooperates with the groove structure on the platform (1). The hook tongue (4) in the hook pin shaft mechanism hooks the pin shaft (3) to connect the load (2) and the platform (1); Control the electromagnetic brake to release the braking of the servo motor. The servo motor starts and outputs a rotational motion, driving the gear assembly to transmit power to the planetary roller screw pair in the actuating mechanism. The actuating mechanism pushes the hook tongue (4) to disengage from the pin shaft (3) to separate the load (2) and the platform (1); When a failure occurs, the igniter (10) receives an emergency separation current signal and explodes, cutting the safety pin (11) so that the actuating mechanism pushes the hook tongue (4) to disengage from the pin shaft (3) to separate the load (2) and the platform (1); The actuating mechanism includes a push rod (8), a sealing cover (9), an actuating cylinder (12), a lead screw nut (14), a lead screw (15), an actuating housing (16), rollers (17), and bearings (18); The actuating housing (16) is arranged inside the platform (1). One end is inserted into the assembly hole in the platform (1) and then cooperatively connected with the end face of the support (7). The other end is installed with a bearing (18) and provided with a gear assembly installation area. The actuating cylinder (12) is installed in the inner cavity of the actuating housing (16). One end is installed with the lead screw nut (14), and the other end is installed with the sealing cover (9). The actuating cylinder (12) can reciprocate linearly relative to the actuating housing (16). The push rod (8) is installed in the actuating cylinder (12). One end is inserted into the through hole on the support (7), and the other end is provided with a blind hole. The push rod (8) reciprocates linearly relative to the installation holes of the support (7) and the sealing cover (9). The lead screw (15) is installed in the lead screw nut (14), and rollers (17) are installed between the lead screw (15) and the lead screw nut (14) to form a planetary roller screw pair. One end of the lead screw (15) extends out from the central hole of the inner partition of the actuating cylinder (12) and aligns with the blind hole at the end of the push rod (8). The other end of the lead screw (15) is installed in the bearing (18); The actuating mechanism further includes a spring (13); one end of the push rod (8) with a blind hole is provided with an annular convex structure, and a radial hole and an axial hole that communicate with each other are respectively provided on the side surface and the end surface of the annular convex structure. The radial hole communicates with an igniter (10) installed on the side wall of the actuating cylinder (12), and the axial hole faces the contact step surface inside the actuating cylinder (12). A safety pin (11) is installed on the inner side wall of the actuating cylinder (12). The annular convex structure on the push rod (8) forms a limit with the actuating cylinder (12) under the restraint of the safety pin (11). The installation cavity among the push rod (8), the igniter (10), the actuating cylinder (12) and the lead screw (15) forms a sealed cavity. The side wall of the actuating housing (16) is provided with an igniter sliding groove; the push rod (8) is sleeved with a spring (13) between the sealing cover (9) and the annular convex structure at the end of the push rod (8). When the push rod (8) cuts the safety pin (11) and moves, the spring (13) buffers the forced unlocking movement of the push rod (8). When a failure occurs and the actuating cylinder (12) cannot extend, the igniter (10) receives an emergency separation current signal, activates its propellant charge and explodes, generating high-pressure gas acting on the sealed cavity composed of the push rod (8), the actuating cylinder (12) and the lead screw (15), cuts the safety pin (11), and pushes the push rod (8) to make the adjusting nut (6) and the hook tongue (4) rotate clockwise around the rotating shaft (5), disengaging the tight connection between the hook tongue (4) and the pin shaft (3). At the same time, the push rod (8) is buffered under the compression of the spring (13), completing the emergency separation and payload ejection function between the platform (1) and the payload (2).

2. The one kind of EMA-based and pyrotechnic device emergency separation heterogeneous redundant throwing mechanism according to claim 1, characterized in that The hook pin shaft mechanism further includes a rotating shaft (5), an adjusting nut (6), a support (7), and a tension spring (35); the support (7) is installed at the assembly hole on the platform (1), and a rotating shaft mounting seat is provided on the support (7). The hook tongue (4) is installed on the rotating shaft mounting seat through the rotating shaft (5); one end of the tension spring (35) is connected to the support (7), and the other end is connected to the hook tongue (4); an adjusting nut (6) is installed on the hook tongue (4), and the hook tongue (4) keeps the adjusting nut (6) pressed against the support (7) under the pulling force of the tension spring (35). When the payload (2) is connected to the platform (1), rotate the hook tongue (4) around the rotating shaft (5) to lift the hook tongue (4), ensure that the convex structure of the payload (2) matches the groove structure of the platform (1), release the hook tongue (4) and make it move under the pulling force of the tension spring (35) to catch the pin shaft (3). The payload (2) makes the hook tongue (4) tightly clamped with the pin shaft (3) under its own gravity; rotate the adjusting nut (6) to further press the support (7), and adjust the hook tongue (4) to fit and wedge the outer bevel angle of the convex part of the payload (2) with the inner bevel angle of the groove of the platform (1).

3. A kind of EMA-based and pyrotechnic device emergency separation heterogeneous redundant throwing mechanism according to claim 1, characterized in that, A gap is provided between the pushing end of the push rod (8) and the adjusting nut (6) to avoid direct contact between the adjusting nut (6) and the push rod (8). When the push rod (8) is not working, it is in a retracted state.

4. A heterogeneous redundant ejection mechanism based on EMA and explosive device emergency separation according to claim 1, characterized in that, A second sealing ring (34) is arranged between the push rod (8) and the support (7), and a first sealing ring (33) is arranged between the push rod (8) and the sealing cover (9), forming a linear sealing state.

5. A kind of EMA-based and pyrotechnic device emergency separation heterogeneous redundant ejection mechanism according to claim 1, characterized in that, The servo motor includes a motor rotor shaft (24), a motor housing (25), a motor stator (26), and a motor end cover (27); one end of the motor housing (25) is mounted on the actuating housing (16), both ends of the motor rotor shaft (24) are mounted in the motor housing (25) through bearings, one end of the motor rotor shaft (24) is inserted into the actuating housing (16), the motor stator (26) is mounted on the motor housing (25), the motor rotor is mounted on the motor rotor shaft (24), the other end of the motor housing (25) is mounted with the motor end cover (27), and the other end of the motor rotor shaft (24) extends out from the central hole of the motor end cover (27).

6. The heterogeneous redundant ejection mechanism based on EMA and explosive device emergency separation according to claim 5, characterized in that, The gear assembly includes a speed reducer end cover (23), a lead screw gear (19), an intermediate gear (20), a motor gear (21), and a gear shaft (22); the lead screw gear (19) is mounted on one end of the lead screw (15) extending out from the bearing (18), the gear shaft (22) is mounted in the gear assembly installation area at the end of the actuating housing (16), the intermediate gear (20) is mounted on the gear shaft (22), the intermediate gear (20) is externally meshed with the lead screw gear (19), the motor gear (21) is externally meshed with the intermediate gear (20), the motor gear (21) is mounted at the end of the motor rotor shaft (24), and the speed reducer end cover (23) is mounted at the end of the actuating housing (16) to cover the gear assembly installation area.

7. A kind of EMA-based and pyrotechnic device emergency separation heterogeneous redundant ejection mechanism according to claim 5, characterized in that, The electromagnetic brake includes a brake stator (28) and a brake rotor (29); the brake stator (28) is fixed to the motor end cover (27), the brake rotor (29) is fixed on the motor rotor shaft (24), the brake stator (28) and the brake rotor (29) are in a power-off suction state, and after being powered on, the brake stator (28) and the brake rotor (29) are disengaged; The electromagnetic brake makes the brake stator (28) and the brake rotor (29) disengage by controlling the current, the servo motor starts and outputs a rotational motion, drives the gear assembly to transmit power to the planetary roller screw pair, the lead screw (15) rotates to make the lead screw nut (14) push the actuating cylinder (12) to extend, the actuating cylinder (12) and the push rod (8) jointly perform an extending motion, push the adjusting nut (6) and the hook tongue (4) to rotate around the rotating shaft (5), disconnect the connection between the hook tongue (4) and the pin shaft (3), and separate the load (2) from the platform (1).

8. A kind of EMA-based emergency separation heterogeneous redundant ejection mechanism for initiating explosive devices according to claim 7, characterized in that, The sensor includes a sensor rotor (30), a sensor stator (31), and a sensor end cover (32); the sensor rotor (30) is mounted at the end of the motor rotor shaft (24), on one side of the brake rotor (29), the sensor stator (31) is fixed in the electromagnetic brake housing, and the sensor end cover (32) is mounted at the end of the electromagnetic brake housing; the sensor is used to detect the rotation angle and speed of the servo motor and feedback to the controller for output position control of the servo motor.

Images