A separation and unlocking device driven by shape memory alloy

Abstract

The present application discloses a shape memory alloy driven separation and unlocking device, which belongs to the field of aerospace. The first and second sub-nuts of the device are clamped in the shell, with a driving elastic member arranged between them. After docking, a bolt hole can be formed and the driving elastic member is in a compressed state; the end face of the second sub-nut facing away from the bolt hole is provided with a recessed hole; the first end of the locking structure is provided with a protrusion, the first end abuts against the end face of the second sub-nut facing away from the bolt hole, and the second end is clamped on the shell and can rotate relative to the shell so that the protrusion is clamped into or out of the recessed hole; one end of the limiting pin radially passes through the second sub-nut and is clamped in the locking structure, and the other end is connected to the shape memory alloy wire; the end of the shape memory alloy wire facing away from the limiting pin passes through the first sub-nut and then extends out of the shell. The shape memory alloy driven separation and unlocking device of the present application is easy to separate the bolt and nut, does not generate impact force, does not emit smoke and dust, and can be reused, which is economical.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a separation and unlocking device driven by a shape memory alloy. Background Art

[0002] The separation mechanisms commonly used on satellites and rockets typically utilize pyrotechnic unlocking devices. These devices are typically used for the separation of large satellites. To unlock, the gunpowder in the gunpowder chamber is ignited, which in turn blasts the bolts to unlock the satellite and rocket. This unlocking method offers the advantage of high locking force, but it also suffers from the problem of excessive impact force and difficulty controlling the unlocking process. However, satellites often carry delicate instruments, which are often significantly impacted by impact forces. Components near the separation mechanism may shatter and fail. Furthermore, these pyrotechnic unlocking devices are not reusable, emit smoke, and are less economical. Summary of the Invention

[0003] The embodiments of the present application provide a shape memory alloy-driven separation and unlocking device to solve the problems of existing separation mechanisms used for satellites and rockets, such as large impact force, non-reusability, smoke and dust emission, and poor economic efficiency.

[0004] An embodiment of the present invention provides a shape memory alloy driven separation and unlocking device, comprising a shell, a first sub-nut, a second sub-nut, a shape memory alloy wire, a limiting pin, a driving elastic member and a locking structure; the first sub-nut and the second sub-nut are clamped in the shell, and the driving elastic member is arranged between them, and a bolt hole can be formed after docking, and the driving elastic member is in a compressed state; the end face of the second sub-nut facing away from the bolt hole is provided with a concave hole; the first end of the locking structure is provided with a protrusion, the first end abuts against the end face of the second sub-nut facing away from the bolt hole, and the second end is clamped on the shell and can rotate relative to the shell so that the protrusion is clamped in or out of the concave hole; one end of the limiting pin radially passes through the second sub-nut and is clamped in the locking structure, and the other end is connected to the shape memory alloy wire; the end of the shape memory alloy wire facing away from the limiting pin passes through the first sub-nut and then extends out of the shell.

[0005] In one possible implementation, the locking structure includes a locking wheel, a bearing, a torsion member and a rotating shaft; one end of the limiting pin radially passes through the second sub-nut and is locked in the locking wheel; the locking wheel is sleeved on the bearing, and the protrusion is provided on the end face; the bearing is sleeved on one end of the rotating shaft; the other end of the rotating shaft is clamped on the housing; the torsion member is sleeved on the rotating shaft between the bearing and the housing, and can drive the rotating shaft to rotate relative to the housing.

[0006] In one possible implementation, the shape memory alloy-driven separation and unlocking device also includes a reset shaft and a reset elastic member; the reset elastic member is arranged between the first sub-nut and the second sub-nut, and its two ends respectively abut against the end faces of the first sub-nut and the limit pin; an arc-shaped through groove is provided on the shell; one end of the reset shaft is connected to the locking structure, and the other end is passed through the arc-shaped through groove.

[0007] In a possible implementation, the protrusion includes at least two hemispheres; at least two of the hemispheres are arranged in a ring array around the center line of the locking structure; the concave hole includes at least two sub-holes, and each hemisphere is adapted to one of the sub-holes.

[0008] In one possible implementation, the shape memory alloy-driven separation and unlocking device also includes a winding column group; the end surface of the first sub-nut facing away from the bolt hole is recessed inward to form a cavity; the winding column group is arranged in the cavity, and one end is fixed to the bottom surface of the cavity; the end of the shape memory alloy wire facing away from the limit pin passes through the first sub-nut, then bypasses the winding column group, and then extends out of the shell.

[0009] In a possible implementation, the driving elastic member includes four elastic sub-members arranged in a rectangular array.

[0010] In a possible implementation, surfaces of the second sub-nut that are in contact with the top surface and the bottom surface of the housing are respectively provided with radial through grooves.

[0011] In a possible implementation, surfaces of the second sub-nut adjacent to the side surfaces of the shell are respectively provided with protrusions, and the protrusions abut against the inner wall of the shell.

[0012] In one possible implementation, the limit pin includes a disc and a first cylinder; the two surfaces of the disc are respectively connected to the shape memory alloy wire and the end face of the first cylinder; the second sub-nut is provided with a first through hole and a second through hole connected in sequence, and the diameter of the first through hole is larger than the diameter of the second through hole; after the first cylinder passes through the first through hole, it is clamped in the second through hole, and the disc is clamped in the first through hole.

[0013] In a possible implementation, the limiting pin further includes a second column; the second column is provided with a radial through hole; and the shape memory alloy wire is passed through the through hole.

[0014] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0015] An embodiment of the present invention provides a shape memory alloy driven separation and unlocking device, which includes a housing, a first sub-nut, a second sub-nut, a shape memory alloy wire, a limiting pin, a driving elastic member, and a locking structure. The first sub-nut and the second sub-nut are clamped in the housing, with the driving elastic member arranged between them. After docking, a bolt hole can be formed and the driving elastic member is placed in a compressed state. The end face of the second sub-nut facing away from the bolt hole is provided with a recessed hole. The first end of the locking structure is provided with a protrusion, the first end abuts against the end face of the second sub-nut facing away from the bolt hole, and the second end is clamped on the housing and can rotate relative to the housing so that the protrusion is engaged with or withdrawn from the recessed hole. One end of the limiting pin radially passes through the second sub-nut and is then clamped in the locking structure, and the other end is connected to the shape memory alloy wire. The end of the shape memory alloy wire facing away from the limiting pin passes through the first sub-nut and then extends out of the housing.

[0016] In an embodiment of the present invention, a shape memory alloy-driven separation and unlocking device is provided. A first sub-nut and a second sub-nut are clamped within a housing, and a first end of a locking structure abuts against an end face of the second sub-nut facing away from the bolt hole, so that the first sub-nut and the second sub-nut are butted together to form a bolt hole. A bolt is then placed within the bolt hole to achieve a threaded connection between the bolt and the bolt hole. When the first sub-nut and the second sub-nut need to be separated to allow the bolt to be removed from the bolt hole, the shape memory alloy wire is heated, causing it to contract. Since one end of a limiting pin radially passes through the second sub-nut and is clamped in the locking structure, while the other end is connected to the shape memory alloy wire, the contraction of the shape memory alloy wire drives the limiting pin to move, exiting the locking structure. The locking structure releases the locking constraint and rotates relative to the housing by a preset angle. At the same time, the compressed driving elastic member disposed between the first and second sub-nuts releases its elastic force, pushing the second sub-nut away from the first sub-nut, causing the protrusion at the first end of the locking structure to engage with the recessed hole provided on the end face of the second sub-nut. This creates a distance equal to the depth of the recessed hole between the second sub-nut and the first sub-nut, thereby facilitating the bolt's removal from the bolt hole. The shape memory alloy-driven separation and unlocking device of the present invention facilitates the separation of the bolt and nut, generates no impact force, emits no smoke, and is reusable, resulting in high economic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are 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.

[0018] Figure 1 Schematic diagram of the explosion of the shape memory alloy driven separation and unlocking device provided in the embodiment of the present application Figure 1;

[0019] Figure 2 Schematic diagram of the explosion of the shape memory alloy driven separation and unlocking device provided in the embodiment of the present application Figure 2 ;

[0020] Figure 3 Schematic diagram of the structure of the shape memory alloy driven separation and unlocking device provided in the embodiment of the present application Figure 1 ;

[0021] Figure 4 Schematic diagram of the structure of the shape memory alloy driven separation and unlocking device provided in the embodiment of the present application Figure 2 ;

[0022] Figure 5 A cross-sectional view of a shape memory alloy-driven separation and unlocking device provided in an embodiment of the present application.

[0023] Figure markings: 1-shell; 11-outer shell; 111-arc-shaped through groove; 12-end cover; 2-first sub-nut; 3-second sub-nut; 31-sub-hole; 32-radial through groove; 33-bump; 4-limiting pin; 41-first cylinder; 42-disc; 43-second cylinder; 5-driving elastic member; 51-elastic sub-member; 6-locking structure; 61-hemisphere; 62-locking wheel; 63-bearing; 64-torsion member; 65-rotating shaft; 66-fixing bolt; 7-reset shaft; 8-reset elastic member; 9-winding group; 91-winding; 10-reset shaft. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, 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 a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0026] Please refer to Figures 1 to 5 As shown, the embodiment of the present invention provides a separation and unlocking device driven by a shape memory alloy, comprising a housing 1, a first sub-nut 2, a second sub-nut 3, a shape memory alloy wire, a limit pin 4, a driving elastic member 5 and a locking structure 6. Figure 1 As shown, the housing 1 comprises an outer shell 11 with an opening and an end cover 12. The outer shell 11 is a hexahedron. Four corners of the outer shell 11 and the end cover 12 are provided with mounting seats to facilitate the matching installation of the outer shell 11 and the end cover 12.

[0027] Shape memory alloys (SMAs) are materials composed of two or more metallic elements that exhibit a shape memory effect (SME) through thermoelasticity, martensitic transformation, and its reversal. Shape memory alloys offer the best shape memory properties among shape memory materials. The shape memory alloy wire used in this application maintains its natural length when cooled and contracts when heated.

[0028] The first sub-nut 2 and the second sub-nut 3 are clamped in the housing 1, with a driving elastic member 5 arranged between them. After docking, a bolt hole can be formed and the driving elastic member 5 is placed in a compressed state. The end face of the second sub-nut 3 facing away from the bolt hole is provided with a recessed hole. The first end of the locking structure 6 is provided with a protrusion, the first end abuts against the end face of the second sub-nut 3 facing away from the bolt hole, and the second end is clamped on the housing 1 and can rotate relative to the housing 1 so that the protrusion is clamped into or out of the recessed hole. One end of the limit pin 4 radially passes through the second sub-nut 3 and is clamped in the locking structure 6, and the other end is connected to the shape memory alloy wire. The end of the shape memory alloy wire facing away from the limit pin 4 passes through the first sub-nut 2 and then extends out of the housing 1.

[0029] In the shape memory alloy-driven separation and unlocking device provided in an embodiment of the present invention, the first sub-nut 2 and the second sub-nut 3 are clamped in the housing 1, and the first end of the locking structure 6 abuts against the end face of the second sub-nut 3 facing away from the bolt hole, so that the first sub-nut 2 and the second sub-nut 3 are connected to form a bolt hole. The bolt is set in the bolt hole to achieve a threaded connection between the bolt and the bolt hole. When the first sub-nut 2 and the second sub-nut 3 need to be separated to allow the bolt to be removed from the bolt hole, the shape memory alloy wire is heated, causing the shape memory alloy wire to contract. Since one end of the limit pin 4 radially passes through the second sub-nut 3 and is clamped in the locking structure 6, and the other end is connected to the shape memory alloy wire, the shape memory alloy wire contracts and drives the limit pin 4 to move, exiting the locking structure 6. The locking structure 6 releases the locking constraint and rotates a preset angle relative to the housing 1. At the same time, the compressed driving elastic member 5 disposed between the first sub-nut 2 and the second sub-nut 3 releases its elastic force, pushing the second sub-nut 3 away from the first sub-nut 2, causing the protrusion at the first end of the locking structure 6 to engage with the recessed hole provided on the end face of the second sub-nut 3. This creates a distance equal to the depth of the recessed hole between the second sub-nut 3 and the first sub-nut 2, thereby facilitating the bolt's removal from the bolt hole. The shape memory alloy-driven separation and unlocking device of the present invention facilitates the separation of the bolt and nut, generates no impact force, emits no smoke, and is reusable, resulting in high economic efficiency.

[0030] Reference Figures 1 to 3 and Figure 5 As shown, the locking structure 6 includes a locking wheel 62, a bearing 63, a torsion member 64 and a rotating shaft 65. One end of the limiting pin 4 passes through the second sub-nut 3 in the radial direction and is locked in the locking wheel 62. Figure 1 and Figure 2 As shown, a locking hole is provided on the locking wheel 62, and one end of the limiting pin 4 radially passes through the second sub-nut 3 and is locked in the locking hole. The locking wheel 62 is sleeved on the bearing 63, and a protrusion is provided on the end face. The bearing 63 is sleeved on one end of the rotating shaft 65. The other end of the rotating shaft 65 is clamped on the shell 1. The torsion member 64 is sleeved on the rotating shaft 65 between the bearing 63 and the shell 1, and can drive the rotating shaft 65 to rotate relative to the shell 1. The torsion member 64 can be a torsion spring, and its two ends are respectively fixed to the shell 11 and the locking wheel 62. As shown Figure 5 As shown, the locking structure 6 also includes a fixing bolt 66. A threaded blind hole is provided at one end of the rotating shaft 65. One end of the rotating shaft 65 is locked in the through hole on the shell 1 and then the fixing bolt 66 is screwed in to lock the other end of the rotating shaft 65 on the shell 1.

[0031] In the locking structure 6 provided in the embodiment of the present invention, when the stop pin 4 exits the locking hole, releasing the locking constraint on the locking wheel 62, the torsion member 64, which is mounted on the rotating shaft 65 between the bearing 63 and the housing 1, releases the torsional force, which can drive the rotating shaft 65 to rotate relative to the housing 1. Because the bearing 63 is mounted on one end of the rotating shaft 65, the locking wheel 62 is mounted on the bearing 63, so that the rotating shaft 65 can drive the locking wheel 62 to rotate (when rotated 15 degrees), and the protrusion provided on the locking wheel 62 engages the recessed hole on the end surface of the second sub-nut 3. The locking structure 6 provided in the embodiment of the present invention is simple in structure and easy to implement.

[0032] Please refer to Figures 1 to 5 As shown, the shape memory alloy driven separation and unlocking device further includes a reset shaft 10 and a reset elastic member 8. The reset elastic member 8 is arranged between the first sub-nut 2 and the second sub-nut 3, with its two ends respectively resting against the end surfaces of the first sub-nut 2 and the limit pin 4. The reset elastic member 8 can be a spring. Figure 5 As shown, the threaded end face of the first sub-nut 2 is provided with a blind hole, with one end of the reset elastic member 8 resting against the bottom surface of the blind hole. An arcuate through-slot 111 is provided in the housing 1. One end of the reset shaft 10 is connected to the retaining structure 6, and the other end is inserted into the arcuate through-slot 111. When the retaining structure 6 includes a retaining wheel 62, one end of the reset shaft 10 is fixed to the lower end of the retaining wheel 62.

[0033] In practice, in order to reuse the shape memory alloy-driven separation and unlocking device, the shape memory alloy-driven separation and unlocking device needs to be reset. When the shape memory alloy wire contracts, the reset elastic member 8 is compressed. When the shape memory alloy-driven separation and unlocking device needs to be reset, the shape memory alloy wire is stopped from being heated, and the shape memory alloy wire no longer contracts. At this time, since the two ends of the reset elastic member 8 respectively abut against the end faces of the first sub-nut 2 and the limit pin 4, the reset elastic member 8 releases the compression force and pushes the limit pin 4 out again. At the same time, the reset shaft 10 is moved to rotate the locking structure 6 in the opposite direction, and the reset shaft 10 moves along the arc-shaped through groove 111, so that the protrusion set at the first end of the locking structure 6 exits the concave hole set on the end face of the second sub-nut 3 and abuts against the end face of the second sub-nut 3. The front end of the limit pin 4 again radially passes through the second sub-nut 3 and is locked in the locking structure 6, completing the reset of the shape memory alloy-driven separation and unlocking device. The structure for resetting the shape memory alloy-driven separation and unlocking device provided in the embodiment of the present application is simple and easy to implement.

[0034] like Figure 5As shown, the protrusion includes at least two hemispheres 61, with the figure showing a schematic diagram of a structure with four hemispheres 61. The at least two hemispheres 61 are arranged in a circular array around the centerline of the retaining structure 6. The recessed hole includes at least two sub-holes 31, with each hemisphere 61 fitting into a sub-hole 31, meaning that the sub-holes 31 are also hemispherical in shape. The hemispherical protrusion has a simple structure and facilitates the protrusion's engagement and withdrawal from the recessed hole.

[0035] like Figures 1 to 3 and Figure 5 As shown, the shape memory alloy-driven release and unlocking device also includes a winding assembly 9. The end surface of the first sub-nut 2, facing away from the bolt hole, is recessed inward to form a cavity. The winding assembly 9 is disposed within the cavity, with one end fixed to the bottom surface of the cavity. The end of the shape memory alloy wire, facing away from the stop pin 4, passes through the first sub-nut 2, then around the winding assembly 9, and then extends out of the housing 1.

[0036] In practice, the shape memory alloy wire needs to reach a certain amount of contraction to pull the limit pin 4. The arrangement of the winding column group 9 allows the shape memory alloy wire to be wound around the winding column group 9, thereby extending the length of the shape memory alloy wire and making the shape memory alloy wire located inside the housing 1 less susceptible to damage. Figure 1 and Figure 2 The figure shows a schematic diagram of the structure of the winding group 9 including four windings 91. After the shape memory alloy wire is passed through the end of the limit pin 4, it is divided into two strands, and each strand is wound around two windings 91 respectively.

[0037] like Figure 1 As shown, the driving elastic member 5 includes four elastic sub-members 51 arranged in a rectangular array, so that the driving elastic member 5 can push the first sub-nut 2 more evenly when releasing the elastic force. The elastic sub-members 51 can be springs, and the surfaces of the first sub-nut 2 and the second sub-nut 3 that connect them are respectively provided with blind holes to retain the elastic sub-members 51.

[0038] like Figure 1 and Figure 2 As shown, radial grooves 32 are provided on the surfaces of the second sub-nut 3 that contact the top and bottom surfaces of the housing 1. Protrusions 33 are provided on the surfaces of the second sub-nut 3 that are adjacent to the side surfaces of the housing 1. These protrusions 33 abut against the inner wall of the housing 1. This reduces the contact area between the first sub-nut 2 and the housing 1, lowering the friction between the two and thus the force required to push the first sub-nut 2.

[0039] like Figure 1 、 Figure 2 and Figure 5As shown, the limit pin 4 includes a disc 42 and a first cylinder 41. The two surfaces of the disc 42 are respectively connected to the shape memory alloy wire and the end face of the first cylinder 41. The second sub-nut 3 is provided with a first through hole and a second through hole connected in sequence, and the diameter of the first through hole is larger than the diameter of the second through hole. After the first cylinder 41 passes through the first through hole, it is clamped in the second through hole, and the disc 42 is clamped in the first through hole. The limit pin 4 provided in the embodiment of the present invention has a simple structure, and it is easy to realize that the limit pin 4 extends or retracts into the second sub-nut 3.

[0040] Further, if Figure 1 、 Figure 2 and Figure 5 As shown, the stop pin 4 further includes a second column 43. The second column 43 is provided with a radial through-hole. The shape memory alloy wire is passed through the through-hole. The provision of the second column 43 not only facilitates the connection of the shape memory alloy wire with the stop pin 4, but also facilitates the manufacture of the stop pin 4.

[0041] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0042] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A shape memory alloy driven separation and unlocking device, characterized in that: It includes a shell, a first sub-nut, a second sub-nut, a shape memory alloy wire, a limit pin, a driving elastic member and a locking structure; The first sub-nut and the second sub-nut are clamped in the housing, with the driving elastic member disposed therebetween. After docking, a bolt hole can be formed, and the driving elastic member is placed in a compressed state. The end surface of the second sub-nut facing away from the bolt hole is provided with a concave hole; The first end of the locking structure is provided with a protrusion, the first end abuts against the end surface of the second sub-nut facing away from the bolt hole, and the second end is locked on the housing and can rotate relative to the housing so that the protrusion is locked into or out of the recessed hole; One end of the limiting pin radially passes through the second sub-nut and is then locked in the locking structure, and the other end is connected to the shape memory alloy wire; One end of the shape memory alloy wire facing away from the limiting pin passes through the first sub-nut and then extends out of the shell.

2. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The locking structure includes a locking wheel, a bearing, a torsion member and a rotating shaft; One end of the limiting pin passes through the second sub-nut in the radial direction and is then clamped on the clamping wheel; The locking wheel is sleeved on the bearing, and the protrusion is provided on the end surface; The bearing is sleeved on one end of the rotating shaft; The other end of the rotating shaft is clamped on the housing; The torsion member is sleeved on the rotating shaft between the bearing and the housing, and can drive the rotating shaft to rotate relative to the housing.

3. The shape memory alloy driven separation and unlocking device according to claim 1 or 2, characterized in that: It also includes a reset shaft and a reset elastic member; The resetting elastic member is arranged between the first sub-nut and the second sub-nut, with two ends respectively abutting against the end surfaces of the first sub-nut and the limiting pin; The shell is provided with an arc-shaped through groove; One end of the reset shaft is connected to the locking structure, and the other end is inserted into the arc-shaped through groove.

4. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The protrusion includes at least two hemispheres; At least two of the hemispheres are arranged in a ring array around the center line of the locking structure; The concave hole includes at least two sub-holes, and each hemisphere is adapted to one of the sub-holes.

5. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: Also includes a column winding set; The end surface of the first sub-nut facing away from the bolt hole is recessed inward to form a cavity; The winding assembly is arranged in the cavity, and one end is fixed to the bottom surface of the cavity; One end of the shape memory alloy wire facing away from the limiting pin passes through the first sub-nut, then goes around the winding column assembly, and then extends out of the shell.

6. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The driving elastic member includes four elastic sub-members arranged in a rectangular array.

7. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The surfaces of the second sub-nut that are in contact with the top surface and the bottom surface of the shell are respectively provided with radial through grooves.

8. The shape memory alloy driven separation and unlocking device according to claim 1 or 7, characterized in that: The surfaces of the second sub-nut adjacent to the side surfaces of the shell are respectively provided with protrusions, and the protrusions abut against the inner wall of the shell.

9. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The limiting pin includes a disc and a first cylinder; Two surfaces of the disk are connected to the shape memory alloy wire and the end surface of the first cylinder respectively; The second sub-nut is provided with a first through hole and a second through hole connected in sequence, and the diameter of the first through hole is larger than the diameter of the second through hole; After passing through the first through hole, the first column is clamped in the second through hole, and the disc is clamped in the first through hole.

10. The shape memory alloy driven separation and unlocking device according to claim 1, characterized in that: The limiting pin further includes a second cylinder; The second column is provided with a radial through hole; The shape memory alloy wire is passed through the through hole.

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