A repeatable clicker lock release mechanism

Abstract

This invention relates to a repeatable chuck-type locking and releasing mechanism, belonging to the field of spacecraft docking technology. It includes an active end and a passive end; the active end is an axially vertically placed cylindrical structure; the passive end docks with the top of the active end; the active end locks and releases the passive end; a motor drives a lead screw to open or close the chuck, achieving repeatable locking and releasing. Employing a mechanical lead screw chuck design, during release, the chuck closes slowly, while the passive end remains firmly against the chuck, resulting in minimal vibration and impact during separation. It possesses active locking drive capability, providing driving force for docking and locking of electrical, information, and gas-liquid interfaces. This invention features repeatability, simple structure, low impact, and high reliability of connection and fixation; it can also operate under harsh conditions such as extreme vibration, high temperature, and vacuum.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft docking technology and relates to a repeatable claw-type locking and releasing mechanism. Background Technology

[0002] Locking and releasing technology between spacecraft or spacecraft components is a key technology for on-orbit maintenance, servicing, and support, and is widely used in space. Currently, most commonly used locking and releasing devices are based on the working principle of pyrotechnic explosions. They have advantages such as high load-bearing capacity, simple structure, and rapid separation, and are widely used and relatively mature single-unit products in the aerospace field. However, pyrotechnic locking and separating devices have insurmountable drawbacks, such as strong vibrations and impacts during unlocking and separation, which may damage additional components such as electronic components; the generation of additional contaminants after unlocking; and the non-reusability of their structure. These shortcomings prevent them from meeting the needs of on-orbit maintenance and servicing.

[0003] Shape memory alloy locking and releasing devices, with their advantages of being pollution-free and resetting, have replaced some pyrotechnic locking mechanisms. However, their low driving force, low reliability, and long response time still limit their applications. Electromagnetic locking and releasing devices, due to their working principle, are more suitable for flexible docking applications. However, due to the limitations of their working principle, locking or unlocking failures can occur. In addition, the electric drive control of magnetic force conversion leads to a more complex structure. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a repeatable chuck-type locking and releasing mechanism, which has the characteristics of repeatability, simple structure, low impact, and high reliability of connection and fixation; it 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 locking and releasing mechanism includes an active end and a passive end;

[0007] The active end is a vertically placed column structure; the passive end is connected to the top of the active end; the active end is used to lock and release the passive end.

[0008] In the aforementioned repeatable chuck-type locking and releasing mechanism, the active end includes a separation spring, a motor, a pull rod head, two wedges, two torsion springs, two shafts, a U-shaped component, a disc spring top plate, a disc spring, a countersunk screw, a disc spring plate, a lead screw, a lead nut, a reduction gear, and a frame.

[0009] The frame is a hollow cuboid structure placed vertically in the axial direction; the motor is mounted on the side wall of the frame; the lead screw nut is coaxially arranged in the inner cavity of the frame; the reduction gear is vertically arranged in the axial direction at the bottom of the frame; the reduction gear realizes the rotational transmission between the motor output shaft and the lead screw nut; the lead screw extends downward into the lead screw nut from the top; the top of the lead screw has a groove structure; the disc spring plate is placed at the bottom of the groove at the top of the lead screw; the disc spring is vertically arranged in the axial direction on the upper surface of the disc spring plate; the disc spring top plate is placed horizontally on top of the disc spring; the U-shaped part is placed on top of the disc spring top plate; the pull rod head and the lead screw... The components are coaxial, with the pull rod head passing through the U-shaped part, the disc spring top plate, and the disc spring contacting the upper surface of the disc spring plate from top to bottom. The pull rod head and the disc spring plate are connected by countersunk screws. Two axes are symmetrically arranged on both sides of the pull rod head and located above the U-shaped part. One wedge is installed on each axis. Each wedge has a built-in torsion spring, allowing the wedge to rotate around the axis under the action of the torsion spring. The release spring is located 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 wedge and is placed on the release spring. The lead screw is connected to the disc spring top plate by bolts.

[0010] In the aforementioned repeatable pawl-type locking and releasing mechanism, the reduction gear includes two meshing gears; both gears are axially vertically arranged; one gear is fitted with the output shaft of the motor; the other gear is fitted onto the axial bottom of the nut, thereby transmitting the rotation of the motor to the nut.

[0011] In the aforementioned repeatable chuck-type locking and releasing mechanism, the lead screw and the lead nut are threaded together, so that as the lead nut rotates, the lead screw moves in a vertical direction relative to the lead nut.

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

[0013] In the aforementioned repeatable chuck-type locking and releasing mechanism, the passive end is a cone structure placed vertically in the axial direction; the passive end has a through hole inside, and the bottom end of the through hole is a cone-shaped structure.

[0014] In the aforementioned repeatable chuck-type locking and releasing mechanism, the process of the active end locking the passive end is as follows:

[0015] The motor drives the lead screw to move downward along the lead screw nut via a reduction gear; the pull rod head is connected to the lead screw, disc spring top plate, disc spring, and disc spring plate via a countersunk screw, causing the pull rod head to also move downward; the top of the pull rod head presses against the two inclined blocks on both sides; the inclined blocks remain vertical under the restoring force of the torsion spring; under the continued pressing of the pull rod head, the two inclined blocks rotate around the axis to both sides respectively, and the inclined blocks fit and lock against the inner wall of the tapered through hole at the bottom of the driven end; as the lead screw and pull rod head continue to move downward, the driven end presses against the U-shaped part; the U-shaped part compresses the release spring; when the driven end reaches the slot at the top of the frame, the lead screw continues to move downward, and the disc spring plate compresses the disc spring, completing the locking process.

[0016] In the aforementioned repeatable pawl-type locking and releasing mechanism, the process of unlocking the active end to the passive end is the reverse of the locking process; when the lever head moves upward, the torsion spring's restoring force pushes the two inclined blocks to rotate around the axis to restore the vertical state, and the passive end separates from the active end.

[0017] In the aforementioned repeatable chuck-type locking and releasing mechanism, the threaded connection between the lead screw and the nut is a single-start trapezoidal thread, which has self-locking properties; the lead screw material is 40Cr; the thread pitch diameter is 14-15mm; the external thread major diameter is 18-22mm, the external thread pitch diameter is 17-19mm, and the thread pitch is 3.5-4.5mm.

[0018] In the aforementioned repeatable pawl-type locking and releasing mechanism, the disc spring has an inverted disc-shaped structure; the outer diameter D of the disc spring is 38-42mm; the inner diameter d is 20-21mm; the overall thickness H is 3-4mm; and the sidewall thickness t is 2-2.5mm.

[0019] The advantages of this invention compared to the prior art are:

[0020] (1) The present invention uses a motor to drive a screw to open or close the chuck, thereby achieving repeated locking and releasing. It adopts a mechanical screw chuck design. When releasing, the chuck closes slowly, and the passive end is always in close contact with the chuck, resulting in less vibration and impact when separating.

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

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

[0023] (4) This invention is made of high-strength materials, possessing high strength and rigidity, while minimizing its own weight. By reducing the weight of the locking mechanism, the load capacity and fuel efficiency of the entire system can be improved. It features simple structure, easy layout, strong adaptability, and good performance. Attached Figure Description

[0024] Figure 1 This is a front view of the repeatable claw-type locking and releasing mechanism of the present invention;

[0025] Figure 2 This is a schematic diagram of the reusable claw-type locking and releasing mechanism of the present invention;

[0026] Figure 3 This is a cross-sectional view of the unlocked state of the repeatable claw-type locking and releasing mechanism of the present invention;

[0027] Figure 4 This is a cross-sectional view of the locking state of the repeatable claw-type locking and releasing mechanism of the present invention;

[0028] Figure 5 This is a schematic diagram of the disc spring structure of the present invention. Detailed Implementation

[0029] The present invention will be further described below with reference to the embodiments.

[0030] This invention provides a repeatable chuck-type locking and releasing mechanism. A motor drives a lead screw to open or close the chuck, achieving repeatable locking and releasing. Employing a mechanical lead screw and chuck design, the chuck closes slowly during release, with the passive end remaining firmly against the chuck, minimizing vibration and impact during separation. It possesses active locking drive capability, providing driving force for docking and locking of electrical, information, and pneumatic / hydraulic interfaces.

[0031] Repeatable claw-type locking and releasing 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 columnar structure placed vertically in the axial direction; the passive end 102 is connected to the top end of the active end 101; the active end 101 is used to lock and release the passive end 102.

[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 inclined 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 lead nut 311, a reduction gear 314, and a frame 315. The frame 315 is a hollow cuboid structure placed vertically in the axial direction; the motor 202 is installed on the side wall of the frame 315; the lead screw nut 311 is coaxially arranged in the inner cavity of the frame 315; the reduction gear 314 is vertically arranged in the axial direction at the bottom of the frame 315; the reduction gear 314 realizes the rotational transmission between the output shaft of the motor 202 and the lead screw nut 311; the lead screw 310 extends downward from the top into the lead screw nut 311; the top of the lead screw 310 has a groove structure; 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 vertically arranged in the axial direction on the upper surface of the disc spring plate 309; the disc spring top plate 306 is horizontally placed on top of the disc spring 307; the U-shaped part 305 is placed on 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, and 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 above the U-shaped part 305. One inclined block 302 is installed on each shaft 304. Each inclined block 302 has a torsion spring 303 inside. The inclined block 302 rotates around the shaft 304 under the action of the torsion spring 303. The release spring 201 is set 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 release spring 201. The lead screw 310 is connected to the disc spring top plate 306 by bolts.

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

[0034] The lead screw 310 is threadedly engaged with the lead nut 311, so that as the lead nut 311 rotates, the lead screw 310 translates relative to the lead nut 311 in the vertical direction.

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

[0036] The passive end 102 is a cone structure placed vertically in the axis; the passive end 102 has a through hole inside, 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] Motor 202 drives lead screw 310 to move downward along lead screw nut 311 via reduction gear 314; pull rod head 301 is connected to lead screw 310, disc spring top plate 306, disc spring 307 and disc spring plate 309 via countersunk screw 308, causing pull rod head 301 to also move downward; the top of pull rod head 301 presses against the two inclined blocks 302 on both sides; the inclined blocks 302 remain vertical under the restoring force of torsion spring 303; under the continued pressing of pull rod head 301, the two inclined blocks 302... 02 rotates around axis 304 to both sides, and the inclined block 302 fits and clamps against 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 against 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.

[0039] like Figure 4 As shown, the process of unlocking the passive end 102 by the active end 101 is the opposite of the locking process; when the lever head 301 moves upward, 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 separates from the active end 101.

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

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

[0042] Example

[0043] Positional relationship of the components of the repeatable chuck-type locking and releasing 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. Next is the 305U component, which is placed on the 201 release spring. Below that is the chamber composed of the 306 disc spring top plate and the 309 disc spring plate, which contains a disc spring to ensure the preload of the device. The 308 countersunk screw passes through the 307 disc spring and connects to the 301 pull rod head. Next are the 310 lead screw and the 311 nut.

[0045] Connection relationship of the components of this invention:

[0046] Two 302 inclined blocks rotate around a small shaft and have built-in torsion springs, which can ensure that the 302 inclined blocks automatically close and open when the 301 pull rod head moves up and down, realizing the locking and releasing of the device. The 305U part has a hollow center and passes through the 301 pull rod head and the 302 inclined 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 lead screw nut is connected to the reducer, and the reducer is connected to the 202 motor.

[0047] The adjustable parameters of the lead screw involved in this invention are selected using the following strategy:

[0048] Based on the technical requirement of 10000N axial preload, a single-start trapezoidal thread is adopted, and the helix has self-locking properties. The screw material is selected as 40Cr, yielding: σ s =785MPa. σ can be manually determined. p =157MPa. Calculate the thread pitch diameter based on wear resistance:

[0049]

[0050] To improve the rigidity of the lead screw, according to GB / T 5796.3-2005, a trapezoidal thread with a major diameter d = 20 mm, a pitch diameter d2 = 18 mm, and a pitch P = 4 mm is selected, with medium precision.

[0051] Its self-locking property is calculated as follows:

[0052] For a single-start thread, the lead S = P = 4mm, therefore the thread helix angle is:

[0053]

[0054] For bronze, f = 0.08 to 0.1. Taking 0.08, we can obtain (30° sawtooth thread, α = 30°).

[0055]

[0056] Since λ < β', it is self-locking.

[0057] When using the device described in this invention, the selection of disc springs is as follows: Based on a single locking force of 10000N, the size of the selected single disc spring is as follows: Figure 5 As shown in Table 1, the specifications are as follows. A linear combination of disc springs can be selected as the suitable configuration for this device.

[0058] Table 1. Statistics of Disc Spring Specifications Used by This Organization (Unit: mm)

[0059]

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

[0061] Different locking and pre-tightening requirements for different satellites can be achieved by changing the parameters of the lead screw and disc spring. During locking, due to the large pre-tightening force, the selected lead screw must have self-locking properties to ensure that the device can lock even when the motor stops, thus reducing power consumption.

[0062] This invention uses a motor to drive a lead screw to open or close the chuck, enabling repeated locking and releasing. It employs a mechanical lead screw and chuck design, in which the chuck closes slowly during release, with the passive end always in close contact with the chuck, resulting in minimal vibration and impact during separation.

[0063] This invention, through precise design and optimization, provides reliable connection and fixation functions. It can withstand large loads and maintain a stable connection under harsh environments such as vibration and impact, thereby improving the reliability and safety of the entire system.

[0064] This invention enables simple disassembly and assembly. This is crucial for equipment maintenance, parts replacement, and system upgrades and modifications. The reusability and adjustability of the locking mechanism improve maintenance efficiency.

[0065] This invention is manufactured using high-strength materials, possessing high strength and rigidity while minimizing its own weight. By reducing the weight of the locking mechanism, the load-bearing capacity and fuel efficiency of the entire system can be improved. It features simple structure, easy layout, strong adaptability, and good performance.

[0066] Although the present invention has been disclosed above with reference to 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 solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A repeatable claw-type locking and releasing mechanism, characterized in that: It includes an active end (101) and a passive end (102); Among them, the active end (101) is a column structure placed vertically in the axis; the passive end (102) is connected to the top of the active end (101); the active end (101) is used to lock and release the passive end (102); The active end (101) includes a release spring (201), a motor (202), a pull rod head (301), two wedges (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 lead nut (311), a reduction gear (314), and a frame (315). The frame (315) is a hollow cuboid structure placed vertically in the axial direction; the motor (202) is installed on the side wall of the frame (315); the lead screw nut (311) is coaxially arranged in the inner cavity of the frame (315); the reduction gear (314) is vertically arranged at the bottom of the frame (315); the reduction gear (314) realizes the rotational transmission between the output shaft of the motor (202) and the lead screw nut (311); the lead screw (310) extends downward from the top. The lead screw (311) has a groove at the top; 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 vertically mounted on the upper surface of the disc spring plate (309); the disc spring top plate (306) is horizontally placed on top of the disc spring (307); the U-shaped piece (305) is placed on 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) Passing through the U-shaped part (305), the disc spring top plate (306), and the disc spring (307) from top to bottom, the rod head (301) contacts the upper surface of the disc spring plate (309); the 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 rod head (301) and located above the U-shaped part (305); one wedge (302) is installed on each shaft (304). Each inclined block (302) has a built-in torsion spring (303); the inclined block (302) rotates around the axis (304) under the action of the torsion spring (303); the separation spring (201) is set 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 lead screw (310) is connected to the disc spring top plate (306) by bolts.

2. The repeatable claw-type locking and releasing mechanism according to claim 1, characterized in that: The reduction gear (314) includes two meshing gears; both gears are axially vertically arranged; one gear is fitted with the output shaft of the motor (202); the other gear is fitted on the bottom of the axial direction of the nut (311) to realize the transmission of the rotation of the motor (202) to the nut (311).

3. The repeatable claw-type locking and releasing mechanism according to claim 1, characterized in that: The lead screw (310) is threadedly engaged with the nut (311) to achieve a vertical translational motion of the lead screw (310) relative to the nut (311) as the nut (311) rotates.

4. The repeatable claw-type locking and releasing mechanism according to claim 3, characterized in that: The top of the lead screw (310) is an inverted triangular structure; the inclined surfaces of the two inclined blocks (302) correspond to the inclined sides on both sides of the top of the lead screw (310).

5. A repeatable claw-type locking and releasing mechanism according to claim 4, characterized in that: The passive end (102) is a cone structure placed vertically in the axial direction; the passive end (102) has a through hole inside, and the bottom end of the through hole is a cone structure.

6. A repeatable claw-type locking and releasing mechanism according to claim 5, 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) via the reduction gear (314); the pull 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) via the countersunk screw (308), causing the pull rod head (301) to also move downward; the top of the pull rod head (301) presses against the two inclined blocks (302); the inclined blocks (302) remain vertical under the restoring force of the torsion spring (303); under the continued pressing of the pull rod head (301), the two inclined blocks... (302) Rotate around the shaft (304) to both sides respectively, and the inclined block (302) and the inner wall of the tapered through hole at the bottom of the passive end (102) are fitted and locked; 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) to complete the locking process.

7. A repeatable claw-type locking and releasing mechanism according to claim 6, characterized in that: The process of unlocking the active end (101) to the passive end (102) is the opposite of the locking process; when the lever head (301) moves upward, 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) separates from the active end (101).

8. A repeatable claw-type locking and releasing mechanism according to claim 3, characterized in that: The screw (310) and the nut (311) are fitted with a single-start trapezoidal thread, which has self-locking properties; the screw material is 40Cr; the thread pitch diameter is 14-15mm; the external thread major diameter is 18-22mm, the external thread pitch diameter is 17-19mm, and the pitch is 3.5-4.5mm.

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

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