An electric drive lock hook type connection and unlocking mechanism

Abstract

The present invention relates to an electric drive hook-type connection and unlocking mechanism for connecting two connected parts placed one above the other; it includes a hook, an unlocking component, a capturing component, and a motor drive component; the lower surface of the lower connected part is connected to the capturing component, the upper surface of the upper connected part is equipped with the unlocking component, and the hook sequentially passes through the unlocking component, the upper and lower connected parts, and the capturing component to achieve the connection function. The unlocking component is used to cooperate with the hook to achieve geometric constraints during locking and provide an unlocking method in the form of a two-stage lever. The capturing component is used to provide a pre-tightening force when the hook is locked and to capture the hook after unlocking; the motor drive component is used to provide an unlocking external force for the unlocking component.

Description

Technical Field

[0001] The present invention provides an electric drive latch-type connection and unlocking mechanism, which is a point-type separation mechanism and can be used for inter-stage separation, fairing separation, payload separation, etc. of launch vehicles. Background Art

[0002] The future development direction of launch vehicles is mainly towards reusable, heavy-lift, human lunar landing and commercial launches. In addition to realizing the launch function, it is also necessary to realize a number of new functions such as reliable separation, reuse, landing area control, commercial launch, and multi-satellite deployment to effectively support tasks such as large-scale constellation plans, human lunar exploration, human Mars exploration, and the Earth-Moon space economic circle.

[0003] During the flight of the rocket, the rocket needs to perform multiple separation actions such as booster separation, first-stage and second-stage separation, second-stage and third-stage separation, fairing separation, and payload separation. Each separation action needs to be realized through a corresponding pyrotechnic separation device or separation mechanism. Its main function is to reliably connect the two bodies to be separated before the separation action; when receiving the separation command, it can quickly unlock the two bodies.

[0004] Products that achieve separation based on pyrotechnic energy are generally called pyrotechnic separation devices and are widely used in current launch vehicles. A pyrotechnic separation device uses the energy generated by gunpowder combustion or explosion to provide the energy for mechanism separation. It has the advantages of high energy density, fast action speed, compact structure, simple composition, small weight and volume. However, there are also problems such as related products can only be used once, are difficult to reuse, their performance cannot be detected or measured, poor safety, and high requirements for the use, maintenance and management environment. When working, the impact on related structures, instruments and equipment is large. Harmful gases are also generated during gunpowder combustion or explosion. The one-time use characteristic of pyrotechnic separation devices makes it difficult to detect and measure their separation functions, and the control of pyrotechnic energy dispersion is also a difficult problem in realizing the stability and reliability of separation performance control.

[0005] With the continuous improvement of the requirements for reusable, detectable, safe and low-impact of launch vehicles, the pyrotechnic separation device has been difficult to meet the development needs of reusable, detectable, highly reliable and commercial launch vehicles. The non-pyrotechnic connection and unlocking mechanism has become an important carrier for the future development of launch vehicle separation technology due to its advantages such as repeated testing and stable and controllable separation energy. The connection and unlocking mechanism driven by an electric motor can achieve a relatively high movement speed and accuracy, while having a small volume, excellent comprehensive performance and relatively small output power. Commonly used drive motors mainly include torque motors, stepper motors, linear motors, servo motors, etc. The mechanical characteristics of the torque motor are relatively soft. It can adjust the speed or even stall according to the load torque. It has a large speed regulation range, small torque fluctuation, strong overload capacity and fast response. The output performance of the stepper motor strictly corresponds to the input pulse, but its output speed and torque are limited. The linear motor can save a certain transmission link and improve the transmission accuracy and dynamic response performance of the mechanism, but the control is relatively difficult. The servo motor adopts closed-loop control, with high output speed and position accuracy, fast response and strong overload resistance.

[0006] In view of the development requirements of high reliability, low impact, detectable and testable for aerospace connection and unlocking mechanisms, a point-type separation mechanism, an electric drive hook-type connection and unlocking mechanism is proposed, which can be used for stage separation, fairing separation, payload separation, etc. of launch vehicles. Summary of the Invention

[0007] The technical problem solved by the present invention is to provide an electric drive hook-type connection and unlocking mechanism, which can be used for stage separation, fairing separation, payload separation, etc. of launch vehicles, and has the advantages of strong bearing capacity, high reliability, detectable and testable, and low separation impact.

[0008] The technical solution adopted by the present invention is: an electric drive hook-type connection and unlocking mechanism for connecting two connected parts placed up and down; it includes a hook, an unlocking component, a capturing component, and an electric motor drive component;

[0009] The lower surface of the lower connected part is connected with the capturing component, the upper surface of the upper connected part is installed with the unlocking component, and the hook passes through the unlocking component, the upper and lower connected parts and the capturing component in sequence to achieve the connection function. The unlocking component is used to cooperate with the hook to realize the geometric constraint during locking and provide an unlocking method in the form of a two-stage lever. The capturing component is used to provide the pre-tightening force when the hook is locked and realize the capture of the hook after unlocking; the electric motor drive component is used to provide the unlocking external force for the unlocking component.

[0010] Preferably, the hook is a rod-shaped part, one end has a thread feature for connecting with the capturing component, and the other end has two inclined plane features, and the geometric constraint is realized through the surface contact of the two inclined planes with the unlocking component.

[0011] Preferably, the unlocking component includes a lock base, a lock handle, a convex blocking shaft, and a rocker arm;

[0012] An inclined surface for cooperating with the lock hook is provided inside the lock base. The lock handle is installed on the lock base. The lock handle includes a cylindrical structure and a lock handle arm. The cylindrical structure is axially provided with an inclined surface for cooperating with the lock hook. One end of the lock handle arm is fixedly connected to the end of the cylindrical structure and can rotate relative to the lock base. An arc surface is provided at the end of the other end of the lock handle arm. The arc surface is in contact with and limited by the arc surface of the convex blocking shaft. The convex blocking shaft is supported and installed on the lock base through a bearing; the convex blocking shaft is fixedly connected to the rocker arm. Through the cooperation of the lock handle, the convex blocking shaft, and the rocker arm, the pressing and limiting of the lock hook are realized.

[0013] Preferably, a groove is provided on the rocker arm, which cooperates with a spring and a steel ball installed on the lock base to play a role in limiting the rocker arm. When the mechanism is in a connected state and no external force provides an unlocking force, the spring and the steel ball on the lock base limit the rocker arm to prevent accidental unlocking.

[0014] Preferably, the inclined surface of the lock handle and the lock handle arm form a pair of levers. The length of the inclined surface is less than the length of the lock handle arm. The radius of the convex blocking shaft and the rocker arm form a second pair of levers. The radius is less than the length of the rocker arm. The force arm ratio of each stage of the lever ranges from 4 to 10.

[0015] Preferably, the capturing component includes a capturing base, a compression spring, a ball gasket, and a nut;

[0016] The capturing base is a cylindrical barrel-shaped structure with a central through hole and an outward-turning flange. The central through hole is used to pass through the lock hook; it is fixed to the bottom surface of the connected part through the outward-turning flange. The bottom of the cylindrical barrel is in spherical contact with the ball gasket, and the connection angle of the lock hook is adaptively adjusted through spherical contact; the nut at the outer end of the ball gasket is screwed to the lock hook, and a pre-tightening force acting on the lock hook is applied by screwing the nut; the compression spring sleeved on the outer wall of the cylindrical barrel is compressed between the capturing base and the ball gasket by the nut and the ball gasket.

[0017] Preferably, the motor drive component includes a motor base, a motor, a cam, a mounting shaft, a needle bearing, and a pull rod;

[0018] The motor is installed above the lock base through the motor base. The motor shaft of the motor is fixedly connected to the cam. The cam is in surface contact with the needle bearing. The needle bearing is connected to the pull rod through the mounting shaft. The mounting shaft is fixedly connected to the pull rod by screwing. The needle bearing can rotate around the mounting shaft; the end of the pull rod hooks the rocker arm. By the operation of the motor, the motor shaft drives the cam to rotate. The cam pushes the needle bearing and then drives the pull rod to drive the rocker arm to swing, releasing the restriction of the rocker arm and the convex blocking shaft on the lock handle, and realizing the unlocking of the mechanism.

[0019] Preferably, the motor drive assembly further includes a guide rail base and a linear guide rail; the guide rail base is fixedly connected to the lock seat, one side of the linear guide rail is mounted on the guide rail base, and the other side of the linear guide rail is connected to the bearing of the pull rod; when the pull rod is driven by the motor, it is ensured that the pull rod moves linearly and the resistance is reduced.

[0020] Preferably, the contacts between the cam and the needle roller bearing, and between the pull rod and the rocker arm are all rolling frictions.

[0021] Preferably, there are two identical sets of the motor and the cam, which is a redundant design. Any one set can work to achieve unlocking and release, and they do not affect each other's work.

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

[0023] Adopting the unlocking principle of the lock hook type connection, the limit of the lock hook is realized by the pressing of the inclined surface between the lock hook and the lock handle, forming a lever between the inclined surface of the lock handle and the lock handle arm, a lever between the radius of the convex stop shaft and the rocker arm. Through the action of the two-stage lever, the unlocking force is greatly reduced, the stable locking of the lock hook can be realized, and the mechanism unlocking can also be completed with a smaller unlocking force. The redundant design of the motor drive assembly provides the unlocking force. Any one set can work to achieve unlocking and release, and they do not affect each other's work, improving the reliability of the mechanism and ensuring the unlocking work under the condition of a single unit failure. The whole set of mechanism is driven by the motor, and has the advantages of being detectable, low separation impact, and high reliability. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the composition of the electric drive lock hook type connection unlocking mechanism

[0025] Figure 2 It is a schematic diagram of the lock hook

[0026] Figure 3 It is a schematic diagram of the unlocking assembly

[0027] Figure 4 It is a schematic diagram of the unlocking state of the unlocking assembly

[0028] Figure 5 It is a schematic diagram of the composition of the capture assembly

[0029] Figure 6 It is a schematic diagram of the motor drive assembly Detailed Embodiments

[0030] The present invention will be further described below in conjunction with the embodiments.

[0031] An electric drive lock hook type connection unlocking mechanism, characterized in that: it includes a lock hook 1, an unlocking assembly 2, a capture assembly 3, and a motor drive assembly 4, as Figure 1 shown.

[0032] Figure 2 The locking hook, which is a rod-shaped part, has a threaded feature at one end for connecting with the capture component, and two bevel features at the other end. Geometric constraint is achieved through the surface contact between the two bevels and the surface of the unlocking component. The connection function of the present invention is realized by the locking hook. The locking hook is a rod-shaped part with a threaded feature at one end, which is connected to the lock cap and located on one side of the connected part. The other end has a hook-shaped feature and is constrained by the lock handle, located on the other side of the connected part. The configuration feature at one end of the locking hook has a bevel, which converts the connection force into pressure on the bevel, reducing the force value. A two-stage lever is formed by the locking hook - lock handle and the convex stop shaft - rocker arm. The unlocking force is reduced through the lever action, enabling the mechanism to be unlocked with a smaller unlocking force. The design requirements of strong connection and weak unlocking are achieved.

[0033] Figure 3 The unlocking component consists of a lock seat 2-1, a lock handle 2-2, a convex stop shaft 2-3, a rocker arm 2-4, a pin 2-5, a spring 2-6, a steel ball 2-7, a bearing 2-8, a pin 2-9, a bushing 2-10, etc. One end of the locking hook with a thread is connected to the connected part on one side, and the other end with a bevel is connected to the connected part on the other side. When the locking hook mechanism is in the connected state, the two bevels of the locking hook head, one bevel contacts and presses against the corresponding bevel of the lock seat, and the other bevel contacts and presses against the bevel of the lock handle. One end of the lock handle has a cylindrical feature and is provided with a bevel for pressing against the locking hook head. The lock handle cylinder can rotate around the axis. Another part of the lock handle, the lock handle arm, has a long-arm feature and an end with an arc surface feature, which contacts the arc surface of the convex stop shaft. There is a bearing support between the convex stop shaft and the lock seat, which can reduce the friction of the convex stop shaft rotation and the unlocking resistance. The convex stop shaft and the rocker arm are fixedly connected by a pin. The end of the rocker arm is connected with two bushings through a pin 2, which can reduce the friction force when the rocker arm contacts other parts. When the connected parts on both sides are connected by the locking hook mechanism, the force acting on the locking hook is a pulling force. Through the contact and pressing between the bevel of the lock seat and the bevel of the lock handle and the bevel of the locking hook head, the locking hook is tightened and limited. The lock handle and the convex stop shaft are limited by the contact of the arc surface. Since the convex stop shaft and the rocker arm are fixedly connected, the pressing and limiting of the lock handle are realized through the cooperation of the lock handle, the convex stop shaft, and the rocker arm, achieving the connection function of the locking hook type connection unlocking mechanism. There is a groove on the rocker arm, which cooperates with the spring and the steel ball installed on the lock seat to play a role in limiting the rocker arm. When the mechanism is in the connected state and there is no external force providing an unlocking force, the spring and the steel ball on the lock seat limit the rocker arm, enabling the mechanism to have the ability to withstand the vibration environment during flight and preventing accidental unlocking.

[0034] Figure 4The unlocking assembly is in the unlocked state. When unlocking is required, the rocker arm rotates under external force. This drives the cam shaft to rotate. When it rotates to a certain angle, the constraint between the cam shaft and the lock handle is released, allowing the lock handle to rotate without restraint. The lock handle rotates, releasing the constraint on the lock hook, allowing the lock hook to disengage from the other side of the mating surface under external force, unlocking the mechanism. The lock hook and lock handle are compressed by an inclined surface. According to trigonometric functions, the component of the tension acting on the lock hook transmitted to the lock handle is reduced compared to the tension on the lock hook. The inclined surface of the lock handle and the lock handle arm form a pair of levers, with the inclined surface being shorter and the lock handle arm being longer, further reducing the unlocking force through leverage. The lock handle and the cam shaft form an arc-shaped contact surface. A second pair of levers is formed between the cam shaft radius and the rocker arm, with a smaller radius and a longer rocker arm. This two-stage lever action significantly reduces the unlocking force. The ratio of the lever arm of each stage can be set between 4 and 10 as needed. The two-stage lever allows the lock hook to be compressed and released with an unlocking force that is a few tenths of the connecting tension.

[0035] Figure 5 It is a capture component, consisting of a capture base 3-1, a compression spring 3-2, a ball gasket 3-3, a nut 3-4, and a protective cover 3-5. After the mechanism is unlocked, the lock hook loses its constraint and needs to be removed from the separation surface between the two connected parts to achieve separation between the two connected parts, and also to capture the lock hook so that it does not become redundant. The capture base is fixed to the connected part on one side, and the capture base and the ball gasket are in spherical contact. The angle of the lock hook connection can be adaptively adjusted through the spherical contact to ensure that the connection force acting on the lock hook is transmitted to the ball gasket and the capture base without causing any installation inconsistencies such as jamming. The nut at the upper end of the ball gasket is threaded with the lock hook, and the compression spring sleeved on the cylindrical outer wall of the capture base is compressed between the capture base and the ball gasket by the nut and the ball gasket. After the unlocking component unlocks the lock hook, the compression pushes the ball gasket, nut and lock hook to move toward the side of the capture component, providing a release force for the lock hook, thereby achieving the capture of the lock hook after unlocking. When the lock hook mechanism is in the connected state, the inclined surface of the lock hook head is constrained by the lock seat and the lock handle, limiting its axial movement, and applying a pre-tightening force on the lock hook by screwing the nut.

[0036] Figure 6It is a motor drive assembly, which consists of a motor base 4-1, a motor 4-2, a cam 4-3, a mounting shaft 4-4, a needle bearing 4-5, a guide rail base 4-6, a linear guide rail 4-7, and a pull rod 4-8. When the connection unlocking mechanism is in the connected state, the rocker arm of the unlocking assembly cannot rotate under the restriction of the spring ball. The cam is in surface contact with the needle bearing. The needle bearing is connected to the pull rod through the mounting shaft. The mounting shaft is screwed and fixed to the pull rod. The needle bearing can rotate around the mounting shaft. When unlocking is required, the motor works, the motor shaft drives the cam to rotate, the cam pushes the needle bearing and then drives the pull rod to move towards the distal end of the rocker arm. Linear guide rails are installed on both sides of the pull rod to ensure that the pull rod moves in a straight line and reduce the resistance. The end of the pull rod hooks on one end of the rocker arm, driving the rocker arm to swing, releasing the restriction of the rocker arm and the convex blocking shaft on the lock handle, and realizing the unlocking of the mechanism. In the motor drive assembly, the contacts between the cam and the needle bearing, and between the pull rod and the rocker arm are all rolling frictions, which can reduce friction and improve the transmission efficiency, so as to reduce the motor power. The present invention uses a motor to provide the unlocking driving force. In the drive assembly, rolling friction methods such as cams and needle shafts are adopted to reduce friction, improve the transmission efficiency, and reduce the requirement for the motor power. The motor and the cam mechanism are two sets that are the same on the left and right, which is a redundant design. Any set of them works, and unlocking and releasing can be realized. Their mutual actions do not affect each other, improving the reliability.

[0037] During implementation and assembly, first connect the capture assembly with the lock hook. Pass the lock hook through the capture base, and sleeved the compression spring and the ball gasket on the lock hook. Use a nut to screw one end of the lock hook, and do not install the protective cover temporarily, do not apply the tightening torque, and connect the capture assembly with one side of the connected part.

[0038] For the assembly of the motor drive assembly, the linear guide rail is screwed on the guide rail base, the needle bearing is sleeved on the mounting shaft, and the mounting shaft is screwed to the pull rod. The pull rod is screwed on the linear guide rail to realize the linear movement of the pull rod along the guide rail. The motor is installed on the motor base, the motor base is screwed to the guide rail base, and the motor shaft passes through the hole on the cam to realize the connection between the motor and the cam. The motor shaft can drive the cam to rotate.

[0039] For the assembly of the unlocking assembly, the lock handle and the lock seat are installed so that the lock handle can rotate around the shaft. Place the spring and the steel ball in the floor hole of the lock seat, and connect the rocker arm to the convex blocking shaft through the shaft pin. The convex blocking shaft is installed in the lock seat through the bearing. The rocker arm presses the spring and the steel ball, and the steel ball presses in the groove of the rocker arm. Install the shaft sleeve at one end of the rocker arm through the shaft pin 2-9, and the convex blocking shaft is in arc surface contact with one end of the lock handle arm.

[0040] For the assembly of the motor drive assembly and the unlocking assembly, one end of the pull rod hooks one end of the rocker arm mounting shaft sleeve. Both the guide rail base and the motor base are screwed to the lock seat. And fix the lock seat to one side of the connected part.

[0041] Finally, insert the locking hook into the unlocking component, rotate the locking handle so that the inclined surface of the locking handle cooperates with the inclined surface of the locking seat to press the hook head of the locking hook, screw the nut at one end of the capturing component to apply a pre-tightening force on the locking hook, and screw the protective cover to the capturing base to complete the installation.

[0042] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0043] The parts not detailed in the present invention belong to the common general knowledge of those skilled in the art.

Claims

1. An electric drive lock hook type connection and unlocking mechanism is used to connect two connected parts placed one above the other; characterized in that: It includes a locking hook, an unlocking component, a capturing component, and a motor driving component; The lower surface of the lower connected part connects the capturing component, and the upper surface of the upper connected part mounts the unlocking component. The locking hook sequentially passes through the unlocking component, the upper and lower connected parts, and the capturing component to achieve the connection function. The unlocking component is used to cooperate with the locking hook to achieve geometric constraints during locking and provides an unlocking method in the form of a two-stage lever. The capturing component is used to provide a pre-tightening force when the locking hook is locked and to capture the locking hook after unlocking; the motor driving component is used to provide an unlocking external force for the unlocking component; The locking hook is a rod-shaped part with a threaded feature at one end for connecting with the capturing component and two inclined surface features at the other end to achieve geometric constraints through surface contact between the two inclined surfaces and the unlocking component; The unlocking component includes a lock seat, a lock handle, a convex blocking shaft, and a rocker arm; The inside of the lock seat is provided with an inclined surface for cooperating with the locking hook. The lock handle is installed on the lock seat. The lock handle includes a cylindrical structure and a lock handle arm. The cylindrical structure is provided with an inclined surface for cooperating with the locking hook along the axial direction. One end of the lock handle arm is fixedly connected to the end of the cylindrical structure and can rotate relative to the lock seat. The end of the other end of the lock handle arm is provided with an arc surface, which is in contact with and limited by the arc surface of the convex blocking shaft. The convex blocking shaft is supported and installed on the lock seat through a bearing; the convex blocking shaft is fixedly connected to the rocker arm, and through the cooperation of the lock handle, the convex blocking shaft, and the rocker arm, the pressing and limiting of the locking hook are achieved; The capturing component includes a capturing base, a compression spring, a ball gasket, and a nut; The capturing base is a cylindrical barrel-shaped structure with a central through hole and an outward-turned flange. The central through hole is used to pass through the locking hook; it is fixed to the bottom surface of the connected part through the outward-turned flange. The bottom of the cylindrical barrel is in spherical contact with the ball gasket, and the connection angle of the locking hook is adaptively adjusted through spherical contact; the nut at the outer end of the ball gasket is screwed to the locking hook, and a pre-tightening force acting on the locking hook is applied by screwing the nut; the compression spring sleeved on the outer wall of the cylindrical barrel is compressed between the capturing base and the ball gasket by the nut and the ball gasket; The motor driving component includes a motor seat, a motor, a cam, a mounting shaft, a needle bearing, and a pull rod; The motor is installed above the lock seat through the motor seat. The motor shaft of the motor is fixedly connected to the cam. The cam is in surface contact with the needle bearing. The needle bearing is connected to the pull rod through the mounting shaft. The mounting shaft is screwed and fixedly connected to the pull rod. The needle bearing can rotate around the mounting shaft; the end of the pull rod hooks the rocker arm. Through the operation of the motor, the motor shaft drives the cam to rotate, the cam pushes the needle bearing, and then drives the pull rod to drive the rocker arm to swing, releasing the restriction of the rocker arm and the convex blocking shaft on the lock handle and realizing the unlocking of the mechanism.

2. The mechanism according to claim 1, characterized in that: The rocker arm is provided with a groove, which cooperates with the spring and the steel ball installed on the lock seat to play a role in limiting the rocker arm. When the mechanism is in the connected state and there is no external force providing an unlocking force, the spring and the steel ball on the lock seat limit the rocker arm to prevent accidental unlocking.

3. The mechanism according to claim 1, characterized in that: The inclined surface of the lock handle and the lock handle arm form a pair of levers. The length of the inclined surface is less than the length of the lock handle arm. The radius of the convex blocking shaft and the rocker arm form a second pair of levers. The radius is less than the length of the rocker arm. The force arm ratio of each pair of levers ranges from 4 to 10.

4. The mechanism according to claim 1, wherein: It also includes a guide rail base and a linear guide rail; the guide rail base is fixedly connected to the lock base, one side of the linear guide rail is installed on the guide rail base, and the other side of the linear guide rail is connected to the bearing of the pull rod; when the pull rod is driven by the motor, it ensures that the pull rod moves linearly and reduces resistance.

5. The mechanism according to claim 1, characterized in that: The contacts between the cam and the needle roller bearing, and between the pull rod and the rocker arm are both rolling frictions.

6. The mechanism according to claim 1, characterized in that: There are two identical sets of the motor and the cam, which is a redundant design. Any one set can work to achieve unlocking and release, and they do not affect each other's work.

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