Repeatable clamping jaw type locking and releasing mechanism

Abstract

The invention relates to a repeatable clamping jaw type locking and releasing mechanism, and belongs to the technical field of spacecraft docking. Comprising an active end and a passive end; wherein the driving end is of a cylinder structure which is vertically arranged in the axial direction; the passive end is butted with the top end of the active end; the passive end is locked and released through the active end; the lead screw is driven by the motor to enable the clamping jaw to be opened or closed, repeated locking and releasing are achieved, the mechanical lead screw clamping jaw design is adopted, during releasing, the clamping jaw is slowly closed, the driven end is always tightly attached to the clamping jaw, and vibration impact is small during separating. The active locking driving capacity is achieved, and driving force can be provided for butt joint and locking of electric connectors, information connectors, gas-liquid connectors and the like; the device has the advantages of being repeatable, simple in structure, low in impact and high in connecting and fixing reliability. The device can work under severe conditions of extreme vibration, high temperature, vacuum and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft docking and relates to a repeatable claw-type locking and releasing mechanism. Background Art

[0002] The locking and releasing technology between spacecraft or spacecraft components is widely used in space as a key technology for on-orbit maintenance, service and support. Currently, most of the locking and releasing devices that are widely used are based on the working principle of pyrotechnic explosion. They have the advantages of strong load-bearing capacity, simple structure, and rapid separation. They are widely used in the aerospace field and are relatively mature stand-alone products. However, there are insurmountable shortcomings in pyrotechnic locking and separation devices, such as strong vibration and impact during unlocking and separation, which may cause damage to attached products such as electronic components, more additional pollutants after unlocking, and their structure cannot be reused, which cannot meet the needs of on-orbit maintenance and service.

[0003] Memory alloy locking and separation devices have been able to replace some pyrotechnic locking mechanisms due to their advantages of being pollution-free and resettable. However, their low driving force, low reliability, and long response time still limit their use. Electromagnetic locking and separation devices are more suitable for flexible docking situations due to the characteristics of their working principles. However, due to the limitations of their working principles, locking or unlocking failures may occur. In addition, the electric drive controls the magnetic force conversion, resulting in a more complex structure. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a repeatable claw-type locking and releasing mechanism, which has the characteristics of repeatability, simple structure, low impact, and high connection and fixing reliability; and can also work under harsh conditions such as extreme vibration, high temperature, and vacuum.

[0005] The solution of the present invention is:

[0006] A repeatable claw-type lock-release mechanism comprises an active end and a passive end;

[0007] Among them, the active end is an axially vertically placed column structure; the passive end is connected to the top of the active end; and the locking and releasing of the passive end are achieved through the active end.

[0008] In the above-mentioned repeatable claw-type lock-release mechanism, the active end includes a separation spring, a motor, a pull rod head, two inclined blocks, two torsion springs, two shafts, a U-shaped piece, a disc spring top plate, a disc spring, a countersunk screw, a disc spring plate, a lead screw, a nut, a reduction gear and a frame;

[0009] The frame is a hollow rectangular structure placed axially and vertically; the motor is installed on the side wall of the frame; the nut is coaxially arranged in the inner cavity of the frame; the reduction gear is axially and vertically arranged at the bottom of the frame; the reduction gear realizes the rotation transmission between the motor output shaft and the nut; the screw extends from the top to the nut; the top of the screw is a groove structure; the disc spring plate is placed at the bottom of the groove at the top of the screw; the disc spring is axially and vertically arranged on the upper surface of the disc spring plate; the disc spring top plate is placed horizontally on the top of the disc spring; the U-shaped piece is placed on the top of the disc spring top plate; the pull rod head and the screw Coaxial, and the pull rod head passes through the U-shaped part, the disc spring top plate, the disc spring and the upper surface of the disc spring plate from top to bottom in sequence; the pull rod head and the disc spring plate are connected by countersunk screws; the two axes are symmetrically arranged on both sides of the pull rod head and are located above the U-shaped part; an inclined block is correspondingly installed on each axis; each inclined block has a built-in torsion spring; the inclined block can rotate around the axis under the action of the torsion spring; the separation spring is arranged at the opening at the top of the frame; the hollow part in the middle of the U-shaped part passes through the pull rod head and the inclined block and is placed on the separation spring; the lead screw and the disc spring top plate are connected by bolts.

[0010] In the above-mentioned repeatable claw-type locking and releasing mechanism, the reduction gear includes two gears meshing with each other; the two gears are both axially vertically arranged; one of the gears is fitted with the output shaft of the motor; and the other gear is mounted on the axial bottom of the nut to transmit the rotation of the motor to the nut.

[0011] In the above-mentioned repeatable claw-type lock-release mechanism, the lead screw cooperates with the thread of the nut, so that as the nut rotates, the lead screw performs translational movement relative to the nut in the vertical direction.

[0012] In the above-mentioned repeatable claw-type locking and releasing mechanism, the top of the lead screw is an inverted triangular structure; the inclined surfaces of the two inclined blocks correspond to the inclined edges on both sides of the top of the lead screw.

[0013] In the above-mentioned repeatable claw-type lock-release mechanism, the passive end is a cone structure placed axially vertically; a through hole is arranged inside the passive end, and the bottom end of the through hole is a cone structure.

[0014] In the above-mentioned repeatable claw-type locking and releasing mechanism, the process of locking the active end to the passive end is:

[0015] The motor drives the lead screw to move downward along the nut through the reduction gear; the pull rod head is connected to the lead screw, disc spring top plate, disc spring and disc spring plate through a countersunk screw, so that the pull rod head also moves downward; the top of the pull rod head squeezes the inclined blocks on both sides; the inclined blocks remain vertical under the restoring force of the torsion spring; under the continued squeezing of the pull rod head, the two inclined blocks rotate to both sides around the axis respectively, and the inclined blocks and the inner wall of the tapered through hole at the bottom of the passive end are fitted and clamped; as the lead screw and the pull rod head continue to move downward, the passive end presses the U-shaped part; the U-shaped part compresses the separation spring; when the passive end reaches the top groove of the frame, the lead screw continues to move downward, the disc spring plate compresses the disc spring, and the locking process is completed.

[0016] In the above-mentioned repeatable claw-type lock-release mechanism, the process of unlocking the passive end by the active end is opposite to the locking process; when the pull rod head moves upward, the restoring force of the torsion spring pushes the two inclined blocks to rotate around the axis to restore the vertical state, and the passive end is separated from the active end.

[0017] In the above-mentioned repeatable claw-type locking and releasing mechanism, the matching threads of the lead screw and the nut adopt single-start trapezoidal threads, which are self-locking; the lead screw material is 40Cr; the thread center diameter is 14-15mm; the external thread major diameter is 18-22mm, the external thread center diameter is 17-19mm, and the pitch is 3.5-4.5mm.

[0018] In the above-mentioned repeatable claw-type locking and releasing mechanism, the disc spring is an inverted disc structure; the outer diameter D of the disc spring is 38-42 mm; the inner hole diameter d is 20-21 mm; the overall thickness H is 3-4 mm; and the side wall thickness t is 2-2.5 mm.

[0019] The beneficial effects of the present invention compared with the prior art are:

[0020] (1) The present invention drives the lead screw by a motor to open or close the claw, thereby achieving repeatable locking and releasing. The lead screw claw design of a mechanical type is adopted. When releasing, the claw closes slowly, and the passive end is always close to the claw, so that the vibration impact is small when separating;

[0021] (2) The present invention has been precisely designed and optimized to provide reliable connection and fixing functions. It can withstand large loads and maintain stable connections in harsh environments such as vibration and impact, thereby improving the reliability and safety of the entire system;

[0022] (3) The present invention enables easy disassembly and assembly. This is very important for equipment maintenance, replacement of parts, and system upgrades and modifications. The reusability and adjustability of the locking mechanism can improve maintenance efficiency;

[0023] (4) The present invention is made of high-strength materials, has high strength and rigidity, and reduces its own weight as much as possible. By reducing the weight of the locking mechanism, the load capacity and fuel efficiency of the entire system can be improved. It has the characteristics of simple structure, easy layout, strong adaptability and good effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view of the repeatable claw-type lock-release mechanism of the present invention;

[0025] Figure 2 It is an overall schematic diagram of the repeatable claw-type lock-release mechanism of the present invention;

[0026] Figure 3 It is a cross-sectional view of the unlocked state of the repeatable claw-type lock-release mechanism of the present invention;

[0027] Figure 4 It is a cross-sectional view of the locked state of the repeatable claw-type lock-release mechanism of the present invention;

[0028] Figure 5 It is a schematic diagram of the disc spring structure of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the embodiments.

[0030] The present invention provides a repeatable claw-type locking and releasing mechanism, which opens or closes the claws through a motor-driven lead screw to achieve repeatable locking and releasing. The mechanical lead screw claw design is adopted. When releasing, the claws close slowly, and the passive end is always close to the claws, so the vibration impact is small when separated. It has active locking driving capability and can provide driving force for the docking and locking of electrical, information, gas-liquid and other interfaces.

[0031] Repeatable claw-type lock release mechanism, such as Figure 1 As shown, it specifically includes an active end 101 and a passive end 102. The active end 101 is a column structure placed vertically in an axial direction; the passive end 102 is butted with the top of the active end 101; and the passive end 102 is locked and released through the active end 101.

[0032] like Figures 2 to 3As shown, the active end 101 includes a separation spring 201, a motor 202, a pull rod head 301, two bevel blocks 302, two torsion springs 303, two shafts 304, a U-shaped part 305, a disc spring top plate 306, a disc spring 307, a countersunk screw 308, a disc spring plate 309, a lead screw 310, a nut 311, a reduction gear 314 and a frame 315. Among them, the frame 315 is a hollow rectangular structure placed axially vertically; the motor 202 is installed on the side wall of the frame 315; the nut 311 is coaxially arranged in the inner cavity of the frame 315; the reduction gear 314 is axially vertically arranged at the bottom of the frame 315; the reduction gear 314 realizes the rotation transmission between the output shaft of the motor 202 and the nut 311; the screw 310 extends from the top to the nut 311 downward; the top of the screw 310 is a groove structure; the disc spring plate 309 is placed at the bottom of the groove at the top of the screw 310; the disc spring 307 is axially vertically arranged on the upper surface of the disc spring plate 309; the disc spring top plate 306 is horizontally placed on the top of the disc spring 307; the U-shaped piece 305 is placed on the top of the disc spring top plate 306; the pull rod head 301 is coaxial with the screw 310, and The pull rod head 301 passes through the U-shaped part 305, the disc spring top plate 306, the disc spring 307 and contacts the upper surface of the disc spring plate 309 from top to bottom; the pull rod head 301 and the disc spring plate 309 are connected by countersunk screws 308; the two shafts 304 are symmetrically arranged on both sides of the pull rod head 301 and are located above the U-shaped part 305; a corresponding inclined block 302 is installed on each shaft 304; each inclined block 302 has a built-in torsion spring 303; the inclined block 302 is realized to rotate around the shaft 304 under the action of the torsion spring 303; the separation spring 201 is arranged at the opening at the top of the frame 315; the hollow part in the middle of the U-shaped part 305 passes through the pull rod head 301 and the inclined block 302 and is placed on the separation spring 201; the screw 310 is connected to the disc spring top plate 306 by bolts.

[0033] The reduction gear 314 of the present invention includes two gears meshing with each other; the two gears are both axially arranged vertically; one of the gears is fitted with the output shaft of the motor 202; and the other gear is mounted on the axial bottom of the nut 311 to transmit the rotation of the motor 202 to the nut 311.

[0034] The lead screw 310 is threadably matched with the nut 311 , so that as the nut 311 rotates, the lead screw 310 performs translational motion relative to the nut 311 in the vertical direction.

[0035] like Figure 3 As shown, the top of the lead screw 310 is an inverted triangle structure; the inclined surfaces of the two inclined blocks 302 correspond to the inclined edges on both sides of the top of the lead screw 310 .

[0036] The passive end 102 is a cone structure placed vertically in the axial direction; a through hole is provided inside the passive end 102, and the bottom end of the through hole is a cone structure.

[0037] like Figure 3 As shown, the process of locking the active end 101 to the passive end 102 is as follows:

[0038] The motor 202 drives the lead screw 310 to move downward along the nut 311 through the reduction gear 314; the rod head 301 is connected to the lead screw 310, the disc spring top plate 306, the disc spring 307 and the disc spring plate 309 through the countersunk screw 308, so that the rod head 301 also moves downward; the top of the rod head 301 squeezes the inclined blocks 302 on both sides; the inclined blocks 302 remain vertical under the restoring force of the torsion spring 303; under the continued squeezing of the rod head 301, the two inclined blocks 302 are 02 rotates to both sides around the axis 304, and the inclined block 302 is fitted and clamped with the inner wall of the tapered through hole at the bottom of the passive end 102; as the screw 310 and the pull rod head 301 continue to move downward, the passive end 102 presses the U-shaped part 305; the U-shaped part 305 compresses the separation spring 201; when the passive end 102 reaches the top groove of the frame 315, the screw 310 continues to move downward, and the disc spring plate 309 compresses the disc spring 307 to complete the locking process.

[0039] like Figure 4 As shown, the process of unlocking the passive end 102 by the active end 101 is opposite to the locking process; when the pull rod head 301 moves upward, the restoring force of the torsion spring 303 pushes the two inclined blocks 302 to rotate around the axis 304 to restore the vertical state, and the passive end 102 is separated from the active end 101.

[0040] In the present invention, the mating threads of the lead screw 310 and the nut 311 are single-start trapezoidal threads with self-locking properties; the lead screw material is 40Cr; the thread median diameter is 14-15mm; the external thread major diameter is 18-22mm, the external thread median diameter is 17-19mm, and the pitch is 3.5-4.5mm.

[0041] like Figure 5 As shown, the disc spring 307 is an inverted disc structure; the outer diameter D of the disc spring 307 is 38-42 mm; the inner hole diameter d is 20-21 mm; the overall thickness H is 3-4 mm; and the side wall thickness t is 2-2.5 mm.

[0042] Example

[0043] Positional relationship of components of repeatable claw lock release mechanism:

[0044] The main body is designed as the active end. When unlocking, the two 302 inclined blocks are close to the two sides of the 301 pull rod head, followed by the 305U part below, which is placed on the 201 separation spring. Next is the chamber composed of the 306 disc spring top plate and the 309 disc spring plate. The disc spring is built in to ensure the preload requirement of the device. The 308 countersunk screw passes through the 307 disc spring and is connected to the 301 pull rod head, followed by the 310 lead screw and the 311 nut.

[0045] The connection relationship of the components of the present invention is as follows:

[0046] The two 302 oblique blocks rotate around the small axis and have built-in torsion springs, which can ensure that when the 301 pull rod head moves up and down, the 302 oblique blocks automatically close and open, thereby realizing the locking and release of the device. The 305U part is hollowed out in the middle and passes through the 301 pull rod head and the 302 oblique blocks and is placed on the 201 separation spring. The 308 countersunk screw passes through the 309 disc spring plate, the 307 disc spring and the 306 disc spring top plate, and is connected to the 301 pull rod head. The 310 lead screw is connected to the 306 disc spring top plate by bolts. The lower end of the 311 nut is connected to the reducer, and the reducer is connected to the 202 motor.

[0047] The screw rod of the present invention can be adjusted by the following parameters:

[0048] According to the technical requirement of 10000N axial preload, a single-start trapezoidal thread is used, and the spiral has self-locking properties. The screw rod material is 40Cr, and we can get: s =785MPa. Manually available p =157MPa. Calculate the thread diameter based on wear resistance:

[0049]

[0050] In order to make the screw have better rigidity, according to GB / T 5796.3-2005, a trapezoidal thread with a major diameter of external thread d=20mm, a middle diameter of external thread d2=18mm, a pitch P=4mm and medium precision is adopted.

[0051] Calculate its self-locking property:

[0052] Single-start thread, so the lead S = P = 4mm, then the thread lead angle is:

[0053]

[0054] Bronze f = 0.08 ~ 0.1, take 0.08, we can get (30° serrated thread, α = 30°)

[0055]

[0056] λ<β', so it is self-locking.

[0057] When using the device described in the present invention, the disc spring is selected as follows: according to the calculation that a single locking provides a force of 10000N, the size of the single disc spring selected is as follows: Figure 5 The specifications are shown in Table 1. The disc spring combination suitable for this device can be selected as an in-line combination.

[0058] Table 1 Statistical table of disc spring specifications selected by this mechanism (dimension unit: mm)

[0059]

[0060] When the disc spring is deformed by 75%, the corresponding deformation is 0.675×2=1.35mm and the preload force is 13kN. According to the simplified calculation based on the linear relationship, the corresponding deformation is 1.03mm when the preload force is 10000N.

[0061] The different locking and pre-tightening requirements of different satellites can be achieved by changing the parameters of the lead screw and disc spring. When locking, due to the large pre-tightening force, the selected lead screw must have self-locking properties, thereby ensuring that the device can be locked when the motor stops, reducing power consumption.

[0062] The present invention drives the lead screw by a motor to open or close the claws, thereby achieving repeatable locking and releasing. A mechanical lead screw claw design is adopted. When releasing, the claws close slowly, and the passive end is always close to the claws, so that the vibration impact is small when separating.

[0063] The present invention is precisely designed and optimized to provide reliable connection and fixing functions, can withstand large loads, and maintain stable connections in harsh environments such as vibration and impact, thereby improving the reliability and safety of the entire system.

[0064] The present invention realizes simple disassembly and assembly. This is very important for equipment maintenance, replacement of parts and system upgrade and transformation. The reusability and adjustability of the locking mechanism can improve maintenance efficiency.

[0065] The invention is made of high-strength materials, has high strength and rigidity, and reduces its own weight as much as possible. By reducing the weight of the locking mechanism, the load capacity and fuel efficiency of the entire system can be improved. It has the characteristics of simple structure, easy layout, strong adaptability and good effect.

[0066] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may 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 modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A repeatable claw-type lock-release mechanism, characterized in that: It includes an active end (101) and a passive end (102); The active end (101) is a columnar structure placed vertically in an axial direction; the passive end (102) is butt-jointed with the top end of the active end (101); and the passive end (102) is locked and released through the active end (101).

2. A repeatable claw-type lock-release mechanism according to claim 1, characterized in that: The active end (101) comprises a separation spring (201), a motor (202), a pull rod head (301), two inclined blocks (302), two torsion springs (303), two shafts (304), a U-shaped member (305), a disc spring top plate (306), a disc spring (307), a countersunk screw (308), a disc spring plate (309), a lead screw (310), a nut (311), a reduction gear (314) and a frame (315); The frame (315) is a hollow rectangular parallelepiped structure placed axially and vertically; the motor (202) is installed on the side wall of the frame (315); the nut (311) is coaxially arranged in the inner cavity of the frame (315); the reduction gear (314) is axially and vertically arranged at the bottom of the frame (315); the reduction gear (314) realizes the rotation transmission between the output shaft of the motor (202) and the nut (311); the lead screw (310) extends downward from the top The nut (311) is a groove structure at the top of the lead screw (310); the disc spring plate (309) is placed at the bottom of the groove at the top of the lead screw (310); the disc spring (307) is axially and vertically arranged on the upper surface of the disc spring plate (309); the disc spring top plate (306) is horizontally placed on the top of the disc spring (307); the U-shaped member (305) is placed on the top of the disc spring top plate (306); the pull rod head (301) is coaxial with the lead screw (310), and the pull rod head (301) passes through the U-shaped part (305), the disc spring top plate (306), the disc spring (307) from top to bottom and contacts the upper surface of the disc spring plate (309); the pull rod head (301) and the disc spring plate (309) are connected by countersunk screws (308); two shafts (304) are symmetrically arranged on both sides of the pull rod head (301) and are located above the U-shaped part (305); each shaft (304) is correspondingly installed with a bevel block (302) ; Each inclined block (302) has a built-in torsion spring (303); the inclined block (302) is rotated around the axis (304) under the action of the torsion spring (303); the separation spring (201) is arranged at the opening at the top of the frame (315); the hollow part in the middle of the U-shaped member (305) passes through the pull rod head (301) and the inclined block (302) and is placed on the separation spring (201); the lead screw (310) is connected to the disc spring top plate (306) by bolts.

3. A repeatable claw-type lock-release mechanism according to claim 2, characterized in that: The reduction gear (314) includes two gears meshing with each other; the two gears are both axially arranged vertically; one of the gears is fitted with the output shaft of the motor (202); and the other gear is sleeved on the axial bottom of the nut (311) to transmit the rotation of the motor (202) to the nut (311).

4. A repeatable claw-type lock-release mechanism according to claim 2, characterized in that: The lead screw (310) is threadably matched with the nut (311), so that as the nut (311) rotates, the lead screw (310) performs translational movement relative to the nut (311) in a vertical direction.

5. A repeatable claw-type lock-release mechanism according to claim 4, characterized in that: The top of the lead screw (310) is an inverted triangle structure; the inclined surfaces of the two inclined blocks (302) correspond to the inclined edges on both sides of the top of the lead screw (310).

6. A repeatable claw-type lock-release mechanism according to claim 5, characterized in that: The passive end (102) is a cone structure placed axially vertically; a through hole is provided inside the passive end (102), and the bottom end of the through hole is a cone structure.

7. A repeatable claw-type lock-release mechanism according to claim 6, characterized in that: The process of locking the active end (101) to the passive end (102) is as follows: The motor (202) drives the lead screw (310) to move downward along the nut (311) through the reduction gear (314); the rod head (301) is connected to the lead screw (310), the disc spring top plate (306), the disc spring (307) and the disc spring plate (309) through the countersunk screw (308), so that the rod head (301) also moves downward; the top of the rod head (301) squeezes the inclined blocks (302) on both sides; the inclined blocks (302) remain vertical under the reset force of the torsion spring (303); under the continued squeezing of the rod head (301), the two inclined blocks (302) rotates to both sides around the axis (304), and the inclined block (302) is fitted and clamped with the inner wall of the tapered through hole at the bottom of the passive end (102); as the lead screw (310) and the pull rod head (301) continue to move downward, the passive end (102) presses the U-shaped part (305); the U-shaped part (305) compresses the separation spring (201); when the passive end (102) reaches the top groove of the frame (315), the lead screw (310) continues to move downward, and the disc spring plate (309) compresses the disc spring (307), completing the locking process.

8. A repeatable claw-type lock-release mechanism according to claim 7, characterized in that: The process of unlocking the passive end (102) by the active end (101) is opposite to the locking process; when the pull rod head (301) moves upward, the restoring force of the torsion spring (303) pushes the two inclined blocks (302) to rotate around the axis (304) to restore the vertical state, and the passive end (102) is separated from the active end (101).

9. A repeatable claw-type lock-release mechanism according to claim 4, characterized in that: The mating threads of the lead screw (310) and the nut (311) are single-start trapezoidal threads with self-locking properties; the lead screw material is 40Cr; the thread median diameter is 14-15mm; the external thread major diameter is 18-22mm, the external thread median diameter is 17-19mm, and the thread pitch is 3.5-4.5mm.

10. The repeatable claw-type lock-release mechanism according to claim 1, characterized in that: The disc spring (307) is an inverted disc-shaped structure; the outer diameter D of the disc spring (307) is 38-42 mm; the inner hole diameter d is 20-21 mm; the overall thickness H is 3-4 mm; and the side wall thickness t is 2-2.5 mm.

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