Clamping and releasing device

Abstract

The present invention provides a compression release device, comprising: a shell, a pushing mechanism, a self-locking mechanism, a triggering and tightening mechanism, and a claw mechanism. The released body is mounted on the top of the shell and is clamped by the retracted claw mechanism. The bottom of the pushing mechanism is mounted on the bottom plate of the shell through a thruster, and the top of the pushing mechanism is connected to the self-locking mechanism through a linkage rod. The triggering and tightening mechanism is mounted on at least one side of the pushing mechanism, and is used to extend after being triggered to press the pushing mechanism in a pre-tightened position, or retract after being triggered to release the pressure on the pushing mechanism. The claw mechanism is arranged on the side of the triggering and tightening mechanism away from the thruster, and is connected to the self-locking mechanism by an action rod. The self-locking mechanism is configured to self-lock when it is parallel to the action rod, and release the self-locking when the parallel state is broken; the compression release device of the present invention does not need to be triggered and released by pyrotechnics, so it can be repeatedly tested and used, greatly improving reliability.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a compression release device. Background Art

[0002] Spacecraft are equipped with numerous release mechanisms for connecting and separating fixed and detachable structures, such as during rocket-satellite separation and the compression and release of solar panels and antennas. These release mechanisms are typically locked until reaching the intended orbit, at which point they separate. Currently, the most commonly used release mechanism is a pyrotechnic release, which generates significant energy by exploding or burning gunpowder, breaking the connecting pin and releasing the device. Pyrotechnic releases have a significant impact and cannot be retested or reused. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention proposes a clamping and releasing device based on a claw, a rolling bearing assembly, and a mortise and tenon structure, which is convenient, reliable and reusable.

[0004] The present invention provides a compression release device, which comprises at least: a shell, a pushing mechanism, a self-locking mechanism, a triggering and tightening mechanism and a claw mechanism; the released body is mounted on the top of the shell and is tightened by the retracted claw mechanism; the bottom of the pushing mechanism is mounted on the bottom plate of the shell through a thruster, and the top of the pushing mechanism is connected to the self-locking mechanism through a linkage rod; the triggering and tightening mechanism is mounted on at least one side of the pushing mechanism, and is used to extend after being triggered to press the pushing mechanism in a pre-tightened position or retract after being triggered to release the compression of the pushing mechanism; the claw mechanism is arranged on the side of the triggering and tightening mechanism away from the thruster, and the claw mechanism is provided with an action rod, the other end of the action rod is connected to the The self-locking mechanism is connected; the self-locking mechanism is configured to self-lock when parallel to the actuating rod and release the self-locking mechanism when the parallel state is broken; after the pushing mechanism presses the thruster to the pre-tightened position and the self-locking mechanism locks the clamping action of the claw mechanism, the triggering and tightening mechanism extends and presses the pushing mechanism to prevent the pushing mechanism from being pushed up by the thruster; after the triggering and tightening mechanism releases the pressure on the pushing mechanism and the thruster, the thruster can push the pushing mechanism and the self-locking mechanism away from the bottom plate of the housing, thereby breaking the parallel state between the self-locking mechanism and the actuating rod, and the claw mechanism is unlocked and opened away from the released object. The claw mechanism is unlocked and opened away from the released object, and the self-locking mechanism is also used to accelerate the separation of the released object.

[0005] In one embodiment, the self-locking mechanism includes a fixed plate and a moving plate; one end of the fixed plate in the first direction is fixedly connected to the linkage rod, and the other end is rotatably connected to the first end of the moving plate. The second end of the moving plate is rotatably connected to the action rod; when the gripper mechanism is locked, the fixed plate, the moving plate, and the action rod are arranged in parallel, and the second end of the moving plate is close to the linkage rod, and the first end of the moving plate is far from the linkage rod; the linkage rod drives the fixed plate to move under the drive of the pushing mechanism, so that the fixed plate, the moving plate, and the action rod move relative to each other to release the parallel locked state.

[0006] In one embodiment, the pushing mechanism includes a trigger rod and spring thrust rods arranged on both sides of the trigger rod in the second direction. The trigger rod is pressed by the trigger pressing mechanism; the bottom of the spring thrust rod is fixedly connected to the thruster, and its top is fixedly connected to the top of the trigger rod through the linkage rod; the trigger rod, the spring thrust rod, and the fixed plate move synchronously through the linkage rod.

[0007] In one embodiment, the trigger pressing mechanism includes a pressing body and a trigger cylinder; the bottom of the pressing body is installed on the bottom plate through the trigger cylinder, and its top is provided with an inclined surface facing the gripper mechanism. An inclined panel for cooperating with the inclined surface is provided inside the housing; when the trigger cylinder is in the cylinder extension state, the pressing body can be pressed against the trigger rod by the trigger cylinder and the inclined panel.

[0008] In one embodiment, a roller assembly is provided at the position where the pressing body presses the trigger rod; the roller assembly includes a fixed roller and a moving roller; there are two fixed rollers, which are respectively installed at both ends in the height direction on one side of the pressing body for pressing the trigger rod, and are used to reduce the moving resistance of the pressing body to the trigger rod when releasing the released body; the pressing body is continuously provided with a first rolling groove and a second rolling groove between the two fixed rollers, and the moving roller is movably arranged in the first rolling groove or the second rolling groove; wherein the depth of the first rolling groove is less than that of the second rolling groove; when the moving roller moves to the first rolling groove, it can press and limit the trigger rod. When the trigger cylinder drives the pressing body to retract, the moving roller rolls from the first rolling groove to the second rolling groove, thereby releasing the pressing on the trigger rod.

[0009] In any of the above embodiments, the gripper mechanism has a clamping end and a rotating end. The rotating end is rotatably installed between the front cover plate and the rear cover plate of the housing, and the clamping end can rotate around the rotating end to clamp or release the released body.

[0010] In one embodiment, the gripper mechanism includes an inner pre-tightening rod, an outer pre-tightening rod, and a pressing wheel; one end of the inner pre-tightening rod is rotatably installed between the front cover plate and the rear cover plate through a fixed rotating shaft, and the other end is connected to the outer pre-tightening rod; the pressing wheel is installed at one end of the outer pre-tightening rod away from the inner pre-tightening rod through a moving rotating shaft for gripping or releasing the object to be released; wherein, the axial direction of the pressing wheel is parallel to the axial direction of the fixed rotating shaft; the pressing wheel grips the object to be released before release and can disengage from the object to be released in a rolling manner during release.

[0011] In one embodiment, the inner pre-tightening rod and the outer pre-tightening rod are connected by mortise and tenon joints; a pressing block is installed between the inner pre-tightening rod and the outer pre-tightening rod, and the inner pre-tightening rod, the pressing block, and the outer pre-tightening rod are fixed by passing a pressing nail through them.

[0012] In one embodiment, the pressing and releasing device of the present invention further includes a limiting rod and a side fixing block; one end of the limiting rod is connected to the outside of the gripper mechanism and near the position of the fixed rotating shaft through the side fixing block for realizing the synchronous movement of the limiting rod and the gripper mechanism; the other end of the limiting rod passes through the first limiting hole of the housing; when the gripper mechanism is opened, the limiting rod rotates synchronously with the gripper mechanism through the side fixing block until the limiting rod rotates to engage with the first limiting hole, and the limiting hole restricts the further movement of the limiting rod with the gripper mechanism.

[0013] In one embodiment, the thruster is a spring thruster; the spring thruster includes a spring base, a spring, and a spring thrust cover; the spring base is fixedly connected to the bottom plate of the housing, one end of the spring is installed on the spring base, and the other end is connected to the inner wall of the spring thrust cover. The top of the outside of the spring thrust cover is connected to the bottom of the spring thrust rod.

[0014] Compared with the prior art, the beneficial effects of the pressing and releasing device in the embodiment of the present invention at least include one of the following:

[0015] A space pressing and releasing device proposed by the present invention, different from the traditional mechanism, does not require the use of pyrotechnics to trigger the release, so it can be repeatedly tested and used. The design of removing ball bearings and rolling bars can greatly improve the anti-vibration ability of the device. The release method using the opening of the gripper reduces the release impact and can make the attitude of the object to be released more controllable.

[0016] The pre-tightening method proposed in the embodiment of the present invention innovatively adopts an improved design similar to "mortise and tenon", and a pre-tightening structure is cleverly arranged on the gripper mechanism, which ensures the pre-tightening function and is convenient for assembly operation.

[0017] All the load-bearing kinematic pairs in the embodiment of the present invention are rolling friction (rolling friction coefficient is about 0.001, and sliding friction coefficient is generally greater than 0.1), which greatly reduces the friction resistance and resistance torque of the kinematic pairs and increases the reliability and life of the kinematic pairs.

[0018] Those skilled in the art will recognize additional features and advantages upon reading the detailed description and upon viewing the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the compression and release device according to an embodiment of the present invention.

[0021] Figure 2 It is a structural diagram of the pushing mechanism, triggering and tightening mechanism and self-locking mechanism of an embodiment of the present invention.

[0022] Figure 3 2 is a schematic diagram of the overall structure of the self-locking mechanism of an embodiment of the present invention.

[0023] Figure 4 Schematic diagram of the detailed structure of the self-locking mechanism of an embodiment of the present invention.

[0024] Figure 5 Schematic diagram of a tightening body and a roller assembly according to an embodiment of the present invention.

[0025] Figure 6 2 is a cross-sectional view of a claw mechanism according to an embodiment of the present invention.

[0026] Figure 7 Schematic diagram of the open state of the compression release device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purposes, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are used to illustrate the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or areas in the drawings may be enlarged for other structural components or areas to facilitate understanding of the embodiments of the present invention.

[0028] The directional words appearing in the following description refer to the directions shown in the drawings and do not limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0029] In addition, the terms "include", "comprising", "having" or any other variations thereof are intended to cover non-exclusive inclusion, so that a structure or component comprising a series of elements includes not only those elements, but also other mechanical elements not explicitly listed or inherent in the structure or component. In the absence of more limitations, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the article or device comprising the elements.

[0030] Spatially relative terms such as "below," "beneath," "under," "low," "above," "on," "high," and the like are used to facilitate description to explain the positioning of one element relative to a second element, indicating that these terms are intended to encompass different orientations of the device in addition to orientations different from those shown in the figures. In addition, for example, "one element is above / below another element" can mean that the two elements are in direct contact or that there are other elements between the two elements. Furthermore, terms such as "first," "second," and the like are also used to describe various elements, regions, portions, and the like, and should not be considered limiting. Similar terms are used throughout the description to represent similar elements.

[0031] For those skilled in the art, the present invention can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by showing examples of the present invention.

[0032] See also Figure 1 、 Figure 2 and Figure 3 The present invention provides a compression release device, which comprises at least a housing 1, a pushing mechanism 2, a self-locking mechanism 3, a triggering and tightening mechanism 4 and a claw mechanism 5. The object to be released 100 is mounted on the top of the housing 1 and is held tightly by the retracted claw mechanism 5 (e.g. Figure 1)。The bottom of the pushing mechanism 2 is installed on the bottom plate of the housing 1 through the thruster 6, and the top of the pushing mechanism 2 is connected to the self-locking mechanism 3 through the linkage rod 7, so as to realize the synchronous movement of the pushing mechanism 2 and the self-locking mechanism 3. The trigger tightening mechanism 4 for controlling the action of the pushing mechanism 2 is installed on at least one side of the pushing mechanism 2, and is used to press the pushing mechanism 2 against the pre-tightening position after being triggered, or to retract after being triggered to release the pressing on the pushing mechanism 2. In order to increase the overall stability, the trigger tightening mechanism 4 can be arranged on both sides of the pushing mechanism 2, and the gripper mechanism 5 can also be symmetrically provided with two (as Figure 1 shown).

[0033] The gripper mechanism 5 is arranged on the side of the trigger tightening mechanism 4 away from the pushing mechanism 2. When it is tightened, it is used to hold the released object, and when it is opened, it is used to release the released object 100. In order to prevent the gripper mechanism from accidentally opening in a harsh vibration environment, the self-locking mechanism can be used for locking. Specifically, an action rod 51 is provided on the side of the gripper mechanism 5 close to the trigger tightening mechanism 4, and the other end of the action rod 51 is connected to the self-locking mechanism 3. Among them, the self-locking mechanism 3 is configured to self-lock when it is parallel to the action rod 51, and to release the self-locking when the parallel state is destroyed.

[0034] That is to say, when the pushing mechanism 2 presses the thruster 6 to the pre-tightening position to make the thruster 6 deform and store energy, and after adjusting the action rod 51 of the gripper mechanism 5 and the self-locking mechanism 3 to the parallel self-locking position, the trigger tightening mechanism 4 is used to extend and press the pushing mechanism 2 to limit the pushing mechanism 2 from being lifted by the thruster 6, so as to continuously maintain the parallel self-locking state of the self-locking mechanism 3 and the action rod 51. As long as the self-locking mechanism 3 and the action rod 51 remain in a parallel state, the gripper mechanism 5 will be locked. Once the parallel state is destroyed, the gripper mechanism 5 will be immediately unlocked, opened and release the released object 100.

[0035] After the trigger tightening mechanism 4 releases the pushing mechanism 2, the pressing force applied to the pushing mechanism 2 and the thruster 6 disappears. Then, the thruster 6 can overcome the friction force to recover the deformation and lift the pushing mechanism 2 to move it away from the bottom plate of the housing 1. The pushing mechanism 2 drives the self-locking mechanism 3 to move synchronously through the linkage rod 7 to a non-parallel state with the action rod 51, so that the locking state of the self-locking mechanism 3 and the gripper mechanism 5 is destroyed, and the gripper mechanism 5 can open in the direction away from the released object 100. At the same time, when the self-locking mechanism 3 moves with the pushing mechanism 2 through the linkage rod 7, it can also assist in lifting the released object 100, so that the released object 100 accelerates to move away from the bottom plate of the housing 1, thereby accelerating the complete release of the released object 100.

[0036] See Figure 4, in one embodiment, the self-locking mechanism 3 includes fixing plates 31 and moving plates 32 symmetrically arranged on both sides of the linkage rod. One end of the fixing plate 31 in the first direction S1 is fixedly connected to the linkage rod 7, and the other end is rotatably connected to the first end of the moving plate 32. The second end of the moving plate 32 is rotatably connected to the actuating rod 51. Among them, the fixing plate 31 is perpendicular to the linkage rod 7. The fixing plate 31 is rotatably connected to the first end of the moving plate 32 through a first connecting shaft 321, and the second end of the moving plate 32 is rotatably connected to the actuating rod 51 through a second connecting shaft 322. It should be noted that the first connecting shaft 321 and the second connecting shaft 322 are parallel to the linkage rod 7.

[0037] When the gripper mechanism needs to be locked, the fixing plate 31, the moving plate 32 and the actuating rod 51 can be arranged in parallel, and the second end of the moving plate 32 is close to the linkage rod 7, and the first end of the moving plate 32 is far from the linkage rod 7. That is to say, in the locked state, the actuating rod 51, the moving plate 32 and the fixing plate 31 are parallel and partially overlap. When the linkage rod 7 moves away from the bottom plate along with the pushing mechanism, the parallel state of the fixing plate 31, the moving plate 32 and the actuating rod 51 is destroyed. At this time, the position of the gripper mechanism 5 is no longer locked by the fixing plate 31, the moving plate 32 and the actuating rod 51 and can be opened outwards.

[0038] See also Figure 1 , Figure 2 and Figure 4 , in one embodiment, the pushing mechanism 2 includes a trigger rod 21 and spring thrust rods 22 arranged on both sides of the trigger rod 21 in the second direction S2. The trigger rod 21 is pressed by the trigger tightening mechanism 4. The spring thrust rod 22 is arranged in parallel with the trigger rod 21. The bottom of the spring thrust rod 22 is fixedly connected to the thruster 6, and the top of the spring thrust rod 22 is fixedly connected to the top of the trigger rod 21 through the linkage rod 7. That is to say, the trigger rod 21 is connected to the spring thrust rod 22 and the fixing plate 31 of the self-locking mechanism through the linkage rod 7, and thus synchronous movement can be realized.

[0039] Specifically, after the spring thrust rod 22 presses the thruster 6 to the target position, the trigger tightening mechanism 4 can be used to press the trigger rod 21 to limit the movement of the trigger rod 21 in the direction away from the bottom plate of the housing. Furthermore, the corresponding movement of the spring thrust rod 22 and the fixing plate 31 is also limited. After the trigger tightening mechanism 4 releases the trigger rod 21, the movement of the trigger rod 21, the spring thrust rod 22 and the fixing plate 31 is no longer limited. Therefore, the spring thrust rod 22 can be lifted by the thruster 6 and drive the trigger rod 21 and the fixing plate 31 to move synchronously through the linkage rod 7, and thus the self-locking between the fixing plate 31 and the gripper mechanism can be released.

[0040] In one embodiment, the triggering tightening mechanism 4 includes a tightening body 41 and a triggering cylinder 42. The bottom of the tightening body 41 is mounted on the bottom plate of the housing 1 through the triggering cylinder 42, and its top is provided with an inclined surface facing the gripper mechanism 5. An inclined panel for cooperating with the inclined surface is provided inside the housing 1, and the inclined panel of the housing 1 can be used to press the tightening body 41 on both sides of the triggering rod 21, thereby restricting the movement of the triggering rod 21 in the third direction S3.

[0041] Specifically, when the triggering cylinder 42 is in the cylinder extending state, the triggering cylinder 42 jacks up the tightening body 41, so that the inclined surface of the tightening body 41 is pressed against the inclined panel of the housing 1. The inclined panel can decompose the tightening force into equivalent component forces, and then can press the side surface of the tightening body 41 on both sides of the triggering rod 21 to restrict the movement of the triggering rod 21. When the triggering cylinder 42 changes to the cylinder retracting state, the triggering cylinder 42 drives the tightening body 41 to quickly retract, and the inclined surface of the tightening body 41 is separated from the inclined panel of the housing 1. Thus, the pressing force exerted by the tightening body 41 on the triggering rod 21 is significantly reduced, enabling the triggering rod 21 to overcome the sliding friction between it and the tightening body 41 and move in the direction away from the bottom plate of the housing 1 along with the spring thrust rod 22.

[0042] Further, also referring to Figure 1 、 Figure 2 and Figure 5 To reduce the sliding friction of the tightening body 41 on the triggering rod 21 in the cylinder retracting state of the triggering cylinder 42, a roller assembly 43 can be provided at the position of the tightening body 41 for pressing the triggering rod 21. In the cylinder extending state of the triggering cylinder 42, the inclined panel of the housing 1 presses the tightening body 41 and the roller assembly 43. Due to the large pressing force, the roller assembly 43 will not roll along the triggering rod 21. In the cylinder retracting state of the triggering cylinder 42, the tightening body 41 releases the triggering rod 21, and the triggering rod 21 can overcome the rolling friction between it and the roller assembly 43 and move in the direction away from the housing bottom plate along with the spring thrust rod 22. When the triggering rod 21 moves up and down (moves along the third direction S3), replacing sliding friction with rolling friction can make the mechanism move more smoothly and reliably.

[0043] Specifically, the roller assembly 43 includes a fixed roller 431 and a moving roller 432. There can be two fixed rollers 431, which are respectively installed at both ends in the height direction (the third direction S3) on the side of the tightening body 41 for pressing the triggering rod 21. The first rolling groove 433 and the second rolling groove 434 are continuously provided between the two fixed rollers on the tightening body. The moving roller 432 is movably arranged in the first rolling groove 433 or the second rolling groove 434. The first rolling groove 433 is arranged close to the bottom of the tightening body 41 (the bottom in the S3 direction), the second rolling groove 434 is arranged close to the top of the tightening body 41 (the top in the S3 direction), and the depth of the first rolling groove 433 is less than that of the second rolling groove 434.

[0044] As the trigger cylinder 42 drives the pressing body 41 to extend, the moving roller 432 can roll into the first rolling groove 433. Under the action of the component force of the inclined panel, the moving roller 432 can firmly press the trigger rod 21, and the fixed roller 431 assists in pressing on both sides of the trigger rod 21. When the trigger cylinder 42 drives the pressing body 41 to quickly retract, the pressing force on the trigger rod 21 suddenly decreases. Thus, the moving roller 432 can roll from the first rolling groove 433 to the second rolling groove 434. Since the groove depth of the second rolling groove 434 is greater than that of the first rolling groove 433, after the moving roller 432 rolls into the second rolling groove 434, it can move away from the trigger rod 21 and eliminate the pressing force applied thereto. Thus, the trigger rod 21 can smoothly and reliably move in the third direction S3 by overcoming the rolling friction force of the fixed roller 431.

[0045] In the pressing and releasing device according to the embodiment of the present invention, by combining the fixed roller and the moving roller, the trigger rod can be firmly pressed during installation, and the moving resistance of the trigger rod can be reduced when releasing the released object (the rolling friction coefficient is about 0.001, while the sliding friction coefficient is generally greater than 0.1). Therefore, the pressing and releasing device according to the embodiment of the present invention greatly reduces the friction resistance and resistance moment of the kinematic pair, and increases the reliability and service life of the kinematic pair.

[0046] See Figure 1 , in any one of the above embodiments, the pawl mechanism 5 can hold or release the released object in a rotational manner. For example, the pawl mechanism 5 has a holding end A and a rotating end B. The rotating end B is rotatably installed between the front cover plate and the rear cover plate of the housing 1, and the holding end A can rotate around the rotating end B to hold or release the released object.

[0047] In view of the fact that after the self-locking mechanism and the action rod are leveled, the position of the pawl mechanism will be immediately fixed, and at this time, the released object cannot be installed. Therefore, the holding end of the pawl mechanism should be installed on the rotating end after the released object is installed.

[0048] Therefore, also see Figure 1 and Figure 6 , in one embodiment, the pawl mechanism 5 includes an inner pre-tightening rod 52, an outer pre-tightening rod 53, and a pressing wheel 54. One end of the inner pre-tightening rod 52 is rotatably installed between the front cover plate and the rear cover plate of the housing 1 through a fixed rotating shaft, and the other end is connected to the outer pre-tightening rod 53. The end of the outer pre-tightening rod 53 away from the inner pre-tightening rod 52 is connected to the pressing wheel 54 through a moving rotating shaft. Wherein, the outer diameter of the pressing wheel 54 is matched with the pressing position of the released object 100, ensuring that the released object can be pressed before release and can quickly roll away along the released object 100 when opening outward with the fixed rotating shaft as the axis, thereby releasing the released object 100.

[0049] It should be noted that the axial direction of the pressing wheel 54 is parallel to the axial direction of the fixed rotating shaft, and the operating rod 51 is installed inside the inner pre-tightening rod 52. That is to say, when the self-locking mechanism is leveled with the operating rod, the position of the inner pre-tightening rod 52 is locked. After the released body 100 is installed on the top of the housing 1, the outer pre-tightening rod 53 is installed to hold the released body 100 tightly.

[0050] In the above embodiment, the inner pre-tightening rod 52 can be provided with a boss at a position close to the top pressing body of the fixed rotating shaft. This boss is used to fit with the side surface of the top pressing body in the cylinder extending state, which can further prevent the claw holding mechanism from being accidentally opened. When the top pressing body quickly retracts with the trigger cylinder, the side surface of the top pressing body moves away from this boss, and thus it cannot hinder the normal opening of the claw holding mechanism.

[0051] See also Figure 1 、 Figure 6 and Figure 7 In one embodiment, the inner pre-tightening rod 52 and the outer pre-tightening rod 53 are connected by mortise and tenon joints. A pressing block 55 is installed at the position where the inner pre-tightening rod 52 and the outer pre-tightening rod 53 are connected by mortise and tenon joints, and a pressing nail 56 is used to penetrate the inner pre-tightening rod 52, the pressing block 55 and the outer pre-tightening rod 53 and then lock them. Among them, for the pressing block 55 installed between the inner pre-tightening rod 52 and the outer pre-tightening rod 53, the side length of the side close to the inner pre-tightening rod 52 in the first direction S1 is greater than the side length of the side close to the outer pre-tightening rod 53. The advantage of such a setting is that the fixing force of the inner pre-tightening rod 52, the pressing block 55 and the outer pre-tightening rod 53 by the pressing nail 56 can be adjusted, and thus the pre-tightening force between the outer pre-tightening rod 53 and the inner pre-tightening rod 52 can be adjusted. That is to say, as the pressing nail 56 is tightened, the pressing force between the inner pre-tightening rod 52 and the outer pre-tightening rod 53 can be amplified, and the connection between the inner pre-tightening rod 52 and the outer pre-tightening rod 53 can also be made more firm and reliable.

[0052] See also Figure 2 and Figure 7 In one embodiment, the pressing and releasing device of the present invention further includes a limiting rod 8 and a side fixing block 9. One end of the limiting rod 8 is connected to the outside of the claw holding mechanism (inner pre-tightening rod) through the side fixing block 9, and the other end passes through the limiting hole 11 of the housing 1. It should be noted that the other end of the limiting rod 8 only passes through the limiting hole 11 and has no connection with each component.

[0053] When the claw holding mechanism is opened, the inner pre-tightening rod rotates outward with the fixed rotating shaft as the center and drives the limiting rod 8 to rotate synchronously through the side fixing block 9. In view of the fact that the other end of the limiting rod 8 is arranged in the limiting hole 11, therefore, the limiting hole 11 will finally limit the further rotation of the limiting rod 8 along with the claw holding mechanism, and at the same time, it will also pull the claw holding mechanism through the side fixing block 9 to prevent the claw holding mechanism from continuing to rotate and open (as Figure 7The state shown). That is to say, the aperture of the limit hole 11 determines the maximum angle of rotation of the limit rod 8 along with the gripper mechanism 9, and at the same time also affects the maximum angle of rotation when the gripper mechanism rotates and opens.

[0054] The compression and release device of the embodiment of the present invention can adjust the maximum opening angle of the gripper mechanism by changing the aperture of the limit hole.

[0055] In any of the above embodiments, the thruster can be a spring thruster. The spring thruster includes a spring base, a spring and a spring thrust cover. The bottom of the spring base is fixedly connected to the bottom plate of the housing 1, and the top is for installing the spring. One end of the spring is installed on the spring base, and the other end is connected to the inner wall of the spring thrust cover. The outer top of the spring thrust cover is connected to the bottom of the spring thrust rod.

[0056] When assembling the compression and release device of the embodiment of the present invention, first use the spring thrust rod to press the spring thruster to the pre-tightening position, so that the spring is compressed and deformed to store energy. Then, after adjusting the fixed plate of the self-locking mechanism and the action rod to be parallel, use the trigger cylinder to lift the top body so that it cooperates with the inclined panel of the housing to press the trigger rod, so that the positions of the self-locking mechanism and the spring thrust rod can be restricted through the linkage rod. Under the pre-tightening force of the housing and the pressure of the trigger cylinder, the moving roller is fixedly pressed between the top body and the trigger rod. The self-locking mechanism will continuously maintain the parallel self-locking state. At this time, the inner pre-tightening rod of the gripper mechanism is locked and cannot rotate around the fixed rotating shaft. After the released body is installed on the top of the housing, the outer pre-tightening rod is installed, and by adjusting the tightening force of the compression nail on the inner pre-tightening rod, the compression block and the outer pre-tightening rod, the pressing degree of the pressing wheel on the released body is adjusted.

[0057] When the mechanism receives the release signal, the trigger cylinder drives the top body to contract rapidly, driving the moving roller to roll along the trigger rod to the second rolling groove. The pressure on the trigger rod by the top body is greatly reduced, and the trigger rod is no longer locked. At this time, the elastic potential energy of the spring thruster can push the spring thrust rod and drive the trigger rod and the self-locking mechanism to move upward, breaking the parallel self-locking state of the self-locking mechanism and no longer restricting the gripper mechanism. The gripper mechanism releases the released body. At the same time, the released body is pushed upward and accelerated by the self-locking mechanism to complete the release action.

[0058] The above embodiments can be combined with each other and have corresponding technical effects.

[0059] The compression and release device of the present invention is used for the connection and separation between the fixed structure and the separation structure of the spacecraft. This mechanism does not need to use pyrotechnics to trigger the release, so it can be tested and used repeatedly, greatly improving the reliability. The design of removing the ball and roller can improve the anti-vibration ability of the device and better adapt to the changing launch conditions. Using the way of releasing by opening the gripper to reduce the release impact can make the attitude of the released object more controllable.

[0060] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pressing and releasing device, characterized in that, At least including: A housing, a pushing mechanism, a self-locking mechanism, a triggering and pressing mechanism, and a clamping jaw mechanism; The released object is installed on the top of the housing and is held tightly by the closed clamping jaw mechanism; The bottom of the pushing mechanism is installed on the bottom plate of the housing through a thruster, and the top of the pushing mechanism is connected to the self-locking mechanism through a linkage rod; The triggering and pressing mechanism is installed on at least one side of the pushing mechanism, and is used to extend after being triggered to press the pushing mechanism in the pre-tightening position or retract after being triggered to release the pressing on the pushing mechanism; The clamping jaw mechanism is arranged on the side of the triggering and pressing mechanism away from the thruster, and the clamping jaw mechanism is connected to the self-locking mechanism through an action rod; the self-locking mechanism is configured to self-lock when parallel to the action rod and release self-locking when the parallel state is destroyed; After the pushing mechanism presses the thruster to the pre-tightening position and the self-locking mechanism locks the clamping action of the clamping jaw mechanism, the triggering and pressing mechanism extends to press the pushing mechanism to limit the pushing up of the pushing mechanism by the thruster; After the triggering and pressing mechanism releases the pressing on the pushing mechanism and the thruster, the thruster can push the pushing mechanism and the self-locking mechanism to move away from the bottom plate of the housing. Furthermore, the parallel state between the self-locking mechanism and the action rod is destroyed, the clamping jaw mechanism is unlocked and opens in a direction away from the released object, and the self-locking mechanism is also used to push the released object to accelerate separation.

2. The pressing and releasing device according to claim 1, wherein, The self-locking mechanism includes a fixed plate and a moving plate; one end of the fixed plate in the first direction is fixedly connected to the linkage rod, and the other end is rotatably connected to the first end of the moving plate. The second end of the moving plate is rotatably connected to the action rod; When locking the clamping jaw mechanism, the fixed plate, the moving plate, and the action rod are arranged in parallel, and the second end of the moving plate is close to the linkage rod, and the first end of the moving plate is far from the linkage rod; the linkage rod drives the fixed plate to move under the drive of the pushing mechanism, so that the fixed plate, the moving plate, and the action rod move relative to each other to release the parallel locking state.

3. The pressing and releasing device according to claim 2, characterized in that, The pushing mechanism includes a trigger rod and spring thrust rods arranged on both sides of the second direction of the trigger rod. The trigger rod is for the triggering and pressing mechanism to press; The bottom of the spring thrust rod is fixedly connected to the thruster, and its top is fixedly connected to the top of the trigger rod through the linkage rod; the trigger rod, the spring thrust rod, and the fixed plate move synchronously through the linkage rod.

4. The pressing and releasing device according to claim 3, wherein, The triggering and pressing mechanism includes a pressing body and a trigger cylinder; the bottom of the pressing body is installed on the bottom plate through the trigger cylinder, and its top is provided with an inclined surface facing the clamping jaw mechanism. An inclined panel for cooperating with the inclined surface is provided on the inner side of the housing; When the trigger cylinder is in the cylinder extension state, the pressing body can be pressed on the trigger rod by the trigger cylinder and the inclined panel.

5. The pressing and releasing device according to claim 4, characterized in that, A roller assembly is provided at the position where the pressing body is used to press the trigger rod; The roller assembly includes a fixed roller and a movable roller; two fixed rollers are provided, each mounted on the two ends of the pressing body in the height direction for pressing the trigger rod, and for reducing the resistance of the pressing body to the movement of the trigger rod when releasing the released body; The pressing body is continuously provided with a first rolling groove and a second rolling groove between the two fixed rollers, and the movable roller is movably provided in the first rolling groove or the second rolling groove; wherein the depth of the first rolling groove is smaller than that of the second rolling groove; When the movable roller moves to the first rolling groove, the trigger rod can be pressed and limited. When the trigger cylinder drives the pressing body to retract, the movable roller rolls from the first rolling groove to the second rolling groove, thereby releasing the pressure on the trigger rod.

6. The pressing and releasing device according to any one of claims 3 to 5, characterized in that The clamping claw mechanism has a clamping end and a rotating end. The rotating end is rotatably installed between the front cover plate and the rear cover plate of the shell. The clamping end can rotate around the rotating end to clamp or release the object to be released.

7. The pressing and releasing device according to claim 6, wherein The claw mechanism includes an inner pre-tightening rod, an outer pre-tightening rod and a clamping wheel; One end of the inner pre-tightening rod is rotatably mounted between the front cover plate and the rear cover plate via a fixed rotating shaft, and the other end is connected to the outer pre-tightening rod; the pressure wheel is mounted on the end of the outer pre-tightening rod away from the inner pre-tightening rod via a movable rotating shaft, and is used to hold or release the object to be released; Wherein, the axial direction of the pressing wheel is parallel to the axial direction of the fixed rotating shaft; The clamping wheel holds the object to be released tightly before release, and can be separated from the object to be released in a rolling manner during release.

8. The pressing and releasing device according to claim 7, characterized in that, The inner pre-tightening rod and the outer pre-tightening rod are connected by mortise and tenon joints; a pressing block is installed between the inner pre-tightening rod and the outer pre-tightening rod, and a pressing nail is used to penetrate the inner pre-tightening rod, the pressing block and the outer pre-tightening rod to fix the three.

9. The pressing and releasing device according to claim 7, wherein, Also included are a limit rod and a side fixing block; One end of the limiting rod is connected to the outer side of the claw mechanism through a side fixing block, and the other end is arranged through the first limiting hole of the shell; The claw mechanism is opened, and the limiting rod rotates synchronously with the claw mechanism through the side fixing block until the limiting hole restricts the limiting rod from continuing to move with the claw mechanism.

10. The pressing and releasing device according to any one of claims 7 to 9, characterized in that, The thruster is a spring thruster; The spring thruster includes a spring base, a spring and a spring thrust cover; the bottom of the spring base is fixedly connected to the bottom plate of the shell, and the top is for installing the spring; one end of the spring is installed on the spring base, and the other end is connected to the inner wall of the spring thrust cover, and the outer top of the spring thrust cover is connected to the bottom of the spring thrust rod.

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