Load ejection / recovery mechanism with clutch function

Abstract

The embodiment of the invention provides a load ejection / recovery mechanism with a clutch function, relates to the technical field of satellites, and can greatly reduce loss of kinetic energy of an effective load caused by torque of a transmission mechanism and a motor. According to the invention, when the payload is catapulted, most parts of the transmission are not connected with the payload, the tether and the spool, so that the kinetic energy loss of the transmission mechanism to the payload catapulting is reduced to a greater extent. And due to the locking function of the ejection recovery mechanism, when the clutch mechanism is combined, the rotation of the motor can be stably and reliably transmitted. Meanwhile, due to the design of a movable pin on the clutch mechanism, when the payload is ejected and decelerated, reverse flying caused by excessive impact on the payload can be avoided. Through the design of the whole ejection and recovery mechanism, payload ejection and recovery can be completed by controlling a single motor, and the loss of kinetic energy of the payload caused by the torque of the transmission mechanism and the motor is reduced.

Description

Technical Field

[0001] The present invention relates to the field of satellite technology, and in particular to a load ejection / recovery mechanism with a clutch function. Background Art

[0002] With the development of space exploration technology, tethered satellites, as a new type of space vehicle, have received widespread attention. In the research and improvement of tethered satellites, some technicians have adopted a space mesh capture mechanism, the ejection principle and winding method used by which require the rotation drive of a motor. There are also some schemes, which are FLOYD deployers used on their satellites, that is, ejection mechanisms, which also function to eject space payloads, but the wiring method used makes it have greater friction and kinetic energy loss. Others have used a classic "winding" tether ejection mechanism, which is similar to the tether storage method, but most of the resistance generated by the parts related to the spool in its mechanism when ejecting the payload will be transferred to the payload, resulting in a waste of kinetic energy.

[0003] In short, the ejection and recovery mechanism currently used for tethered satellites has shortcomings. How to reduce the resistance experienced by the payload during the ejection phase, thereby reducing or even avoiding the loss of kinetic energy of the payload caused by the transmission mechanism and the motor's own torque, has become a topic that needs to be studied. Summary of the invention

[0004] An embodiment of the present invention provides a load ejection / recovery mechanism with a clutch function, which is a load ejection and recovery mechanism that can reduce the resistance experienced by the effective load during the ejection phase, and can greatly reduce the loss of kinetic energy of the effective load caused by the transmission mechanism and the motor's own torque.

[0005] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0006] A load ejection / recovery mechanism with a clutch function, comprising:

[0007] The frame cover plate (1) covers the frame (5), the frame cover plate (1) and the frame (5) form a hexahedron structure, and a bobbin (2) and a motor (4) are installed in the internal space of the hexahedron; a transmission frame baffle plate (9) is fixed on the side of the frame (5) and is parallel to the frame cover plate (1); a transmission frame (7) and a worm shaft fixing frame (8) are fixedly installed on the transmission frame baffle plate (9), and a transmission frame gear frame (6) is fixedly installed on the transmission frame (7); a displacement gear (10), a transmission frame bobbin coupling gear (31), a motor bobbin transmission gear (30) and a motor gear (28) are sequentially installed on the transmission frame gear frame (6), and the displacement gear (10) is meshed with a displacement rack (11) on the frame (5); a screw gear (15) and a screw bobbin transmission gear (33) are fixedly installed on the transmission frame gear frame (6) The screw shaft transmission gear (33) is meshed with the transmission frame shaft coupling a (32); one end of the shaft (2) passes through a mounting hole provided in the frame (5) and is connected to the transmission frame shaft coupling a (32); the transmission shaft of the motor (4) passes through another mounting hole provided in the side of the frame (5) and is connected to the motor coupling (27); the motor coupling (27) is coaxially fixed with the motor gear (28); the transmission frame motor coupling (29) is coaxially fixed with the motor gear (28); an ejection mechanism fixing plate (21) is arranged on the front of the frame (5); an ejection sleeve (20) is vertically mounted on the ejection mechanism fixing plate (21); an ejection sleeve guide cover (19) is mounted on the end of the ejection sleeve (20); and the ejection sleeve (20) is connected to the transmission frame unlocking actuating rod (18).

[0008] Specifically, before ejection, the ejection sleeve locking pin (24) clamps the ejection sleeve locking rod (17) to make it fixedly connected to the ejection mechanism fixing plate (21), and the ejection mechanism spring (54) is compressed to store energy in preparation for ejecting the payload; during ejection, the motor (4) shaft rotates to drive the gear on the transmission frame (7) to rotate, and at this time, the displacement gear (10) is meshed with the displacement rack (11), and the rotation of the displacement gear (10) drives the transmission frame (7) to move inward as a whole, and the ejection sleeve unlocking rod (2 5) also moves together with the transmission frame (7); when the transmission frame (7) moves 5 mm, the ejection sleeve unlocking rod (25) pushes the ejection sleeve locking pin (24) to move upward, and when the ejection sleeve locking pin (24) is disengaged from the ejection sleeve locking rod (17), the ejection sleeve (20) is unlocked; when the ejection sleeve (20) is unlocked, the compressed ejection mechanism spring (54) generates a restoring force and pushes the ejection sleeve (20) to accelerate in the ejection direction, and the payload is ejected at this time.

[0009] Furthermore, under the radial limitation of the ejection base (53), when the ejection sleeve (20) reaches the maximum stroke, since the diameter of the ejection base limiting cover (55) is larger than the aperture at the end of the ejection sleeve (20), the ejection base limiting cover (55) prevents the ejection sleeve (20) from moving forward, and the ejection sleeve (20) no longer moves forward, and the accelerated ejection process of the payload ends at this time.

[0010] Specifically, the transmission frame (7) is connected to the frame (5) through four bearings at the bottom, so that the transmission frame (7) can move inward and outward along one direction on the frame (5); the rotation of the driving shaft of the motor (4) is transmitted to the displacement gear (10) through the transmission frame shaft coupling gear (31), the motor shaft transmission gear (30), the motor gear (28) and the worm gear (51) on the transmission frame (7); the displacement gear (10) is meshed with the displacement rack (11) on the frame (5); when the displacement gear (10) rotates, the entire transmission frame (7) can be driven to move.

[0011] Furthermore, before the effective load starts to decelerate during the ejection phase, the transmission frame (7) is disengaged from the spool (2) until the effective load starts to decelerate;

[0012] When the payload needs to be decelerated, the motor (4) continues to rotate to move the transmission frame (7) to the innermost position. The transmission frame (7) moves inward so that the coupling of the transmission frame (7) and the coupling of the bobbin (2) are combined; the locking pin on the bobbin coupling at the end of the transmission frame (7) can move axially, and there is a return spring on the back of the locking pin. When the coupling begins to combine, but the speed difference between the two ends is too large, the locking pin cannot be pressed into the hole of the bobbin end coupling at this time, avoiding forced insertion into the hole and causing impact. When the speed difference between the two ends decreases, the locking pin can be inserted into the hole of the bobbin end coupling with less impact. For example: at the end of the payload ejection stage, when the payload needs to be decelerated, the transmission frame (7) moves inward so that the transmission frame (7) and the coupling on the bobbin (2) are combined, and the couplings on both sides are transmitted by the engagement of the four round head pins and circular grooves on them. As the transmission frame (7) moves inward, its coupling will rotate together. At the same time, as the payload is flying outward at this time, the traction tether drives the spool (2) to rotate, and its coupling also rotates. The rotation speed of the coupling at the transmission frame (7) end and the rotation speed of the coupling at the spool (2) end are almost never completely equal, and there will inevitably be a certain speed difference. If the round head pin on the coupling is fixed, this speed difference will cause the couplings at both ends to produce an impact when biting, which may cause the tether between the payload and the mechanism to suddenly straighten, and the payload will move in the opposite direction due to the elasticity of the tether. To avoid this situation, the round pin on the coupling at the transmission frame (7) end is designed to be axially movable and has an elastic gasket on its back. When the speed difference between the couplings at both ends is too large, the round pin is pushed inward after the couplings begin to engage. This process will also have a certain deceleration effect on the end of the spool (2). When the speed difference is reduced to a certain extent, the coupling can be fully engaged, and then the spool (2) and the effective load are decelerated, which can effectively prevent the effective load from flying backwards due to impact.

[0013] Specifically, when the locking pin (46) on the transmission frame bobbin coupling is inserted into the hole of the bobbin end coupling, the transmission frame (7) is locked, for example Fig. 9As shown, the transmission rack wire shaft coupling b (44) is provided with a mounting hole, the transmission rack wire shaft coupling c (45) is provided with a mounting cavity, the mounting cavity is provided with a coupling upper locking pin reset spring (57), one end of the coupling upper locking pin reset spring (57) contacts the transmission rack wire shaft coupling upper locking pin (46), the other end of the coupling upper locking pin reset spring (57) contacts the fixing screw, and the fixing screw is screwed into the mounting hole; the surface of the transmission rack wire shaft coupling a (32) is provided with a fixing groove, so that the coupling upper locking pin reset spring (57) pushes the transmission rack wire shaft coupling upper locking pin (46) to be embedded in the fixing groove provided on the surface of the transmission rack wire shaft coupling a (32), so that the transmission frame (7) is locked. Among them, the locking and unlocking function: the mechanism has a total of three locations with locking and unlocking functions, respectively on the transmission frame (7), the ejection sleeve (20) and the wire shaft (2). The locking of the transmission frame (7) is completed when the coupling at the end of the transmission frame (7) and the coupling at the end of the bobbin (2) are completely combined, and the locking pin (46) on the coupling of the transmission frame bobbin is inserted into the hole of the coupling at the end of the bobbin (2). The locking function of the transmission frame (7) is to ensure that the rotation of the motor (4) can be stably transmitted to the end of the bobbin (2).

[0014] When the payload is recovered, the ejection sleeve (20) moves to the initial position, and the ejection sleeve locking rod (17) moves toward the ejection sleeve locking pin (24) until the payload is recovered in place, after which the ejection sleeve locking pin (24) blocks the ejection sleeve locking rod (17), and the ejection sleeve (20) is locked. The ejection sleeve (20) and the bobbin (2) are locked at the same time. For the ejection sleeve (20), when the payload is recovered, the ejection sleeve (20) is pushed to move to the initial position, and the ejection sleeve locking rod (17) moves toward the ejection sleeve locking pin (24). When the payload is recovered in place, the ejection sleeve locking pin (24) is pushed downward by its return spring to block the ejection sleeve locking rod (17), and the ejection sleeve (20) is locked.

[0015] When the ejection sleeve (20) moves to the initial position, the transmission frame unlocking actuating rod (18) pushes the transmission frame limit pin actuating rod (39) to rotate, and drives the bobbin (2) fixing rod to move; the bobbin (2) fixing rod has a protrusion at one end close to the bobbin (2), and when the effective load is recovered in place, the protrusion of the bobbin (2) fixing rod sticks to the disk at the edge of the bobbin (2), thereby fixing the bobbin (2) by friction, and the bobbin (2) is locked.

[0016] When the ejection sleeve (20) and the bobbin (2) are locked, the transmission frame unlocking actuating rod (18) on the ejection sleeve (20) pushes the transmission frame limit pin actuating rod (39) and the transmission frame limit pin (47) to actuate, thereby unlocking the transmission frame (7); when the effective load is ejected, the transmission frame (7) moves to drive the sleeve unlocking rod to move, thereby pushing the ejection sleeve locking pin (24) to move upward to unlock the ejection sleeve (20).

[0017] The embodiment of the present invention provides a load ejection / recovery mechanism with a clutch function. When ejecting a payload, most of the transmission parts will not be connected to the payload, tether and bobbin, which greatly reduces the loss of kinetic energy of the payload ejection caused by the transmission mechanism. In addition, the locking function of the ejection and recovery mechanism enables the rotation of the transmission motor to be stably and reliably transmitted when the clutch mechanism is engaged. At the same time, the movable pin design on the clutch mechanism can also avoid excessive impact on the payload and cause it to fly backwards when the payload is decelerated after ejection. The design of the entire ejection and recovery mechanism enables the payload ejection and recovery to be completed by controlling a single motor, reducing the loss of kinetic energy of the payload caused by the transmission mechanism and the motor's own torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 to Figure 5 An overall schematic diagram of a load ejection recovery mechanism provided by an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of a module of a load ejection recovery mechanism transmission frame (7) provided in an embodiment of the present invention;

[0021] Figure 7 A schematic diagram of an ejection module of a payload ejection recovery mechanism provided in an embodiment of the present invention;

[0022] Figure 8 A schematic diagram of a load ejection recovery mechanism framework (5) provided in an embodiment of the present invention;

[0023] Fig. 9 A partially enlarged half-section view of a bobbin end coupling provided by an embodiment of the present invention;

[0024] In the figure, 1-frame cover, 2-spool, 3-motor baffle, 4-motor, 5-frame, 6-transmission frame gear frame, 7-transmission frame, 8-worm shaft fixing frame, 9-transmission frame baffle, 10-displacement gear, 11-displacement rack, 12-displacement gear one-way baffle limiter, 13-torsion spring, 14-screw gear limit sleeve, 15-screw gear, 16-transmission frame limit pin baffle, 17-ejection sleeve locking rod, 1 8-transmission frame unlocking actuator rod, 19-ejection sleeve guide cover, 20-ejection sleeve, 21-ejection mechanism fixing plate, 22-ejection sleeve locking pin reset spring seat, 23-ejection sleeve locking pin reset spring, 24-ejection sleeve locking pin, 25-ejection sleeve unlocking rod, 26-slider, 27-motor coupling, 28-motor gear, 29-transmission frame motor coupling, 30-motor shaft transmission gear, 31-transmission Wire rack coupling gear, 32-transmission wire rack coupling a, 33-screw wire rack transmission gear, 34-worm gear, 35-displacement gear actuating slider, 36-ejection sleeve unlocking rod connecting rod, 37-slide guide rod, 38-screw, 39-transmission frame limit pin actuating rod, 40-wire rack fixing rod a, 41-wire rack fixing rod b, 42-transmission frame bearing, 43-displacement gear fixing pin, 44-transmission frame wire rack coupling b , 45-transmission frame bobbin coupling c, 46-transmission frame bobbin coupling upper locking pin, 47-transmission frame limit pin, 48-transmission frame reset spring, 49-worm gear, 50-motor coupling bearing, 51-worm, 52-displacement gear actuating slider reset spring, 53-ejection base, 54-ejection mechanism spring, 55-ejection base limit cover, 56-displacement gear one-way baffle, 57-coupling upper locking pin reset spring. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention will be described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention. It can be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "one", "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as generally understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0026] The on-orbit flight of a tethered satellite mainly includes three stages: ejection, retention, and recovery. The most critical issue is the ejection and recovery of the payload, which involves issues such as initial separation, ejection, recovery, and docking. In the initial separation stage, a reliable ejection mechanism is required, which usually includes ejection separation, active unlocking, etc. At the same time, the ejection recovery mechanism is required to have a guiding docking function so that the payload can be recovered. In the ejection stage, in order to minimize the kinetic energy loss caused by the friction of the transmission mechanism and the torque of the motor (4) to the payload, to avoid the payload being unable to reach the specified position, or to find a suitable spring so that the payload has enough kinetic energy to offset the kinetic energy loss during the ejection process, the design idea of ​​this embodiment is to improve and perfect a load ejection recovery mechanism with a clutch device. At the same time, in order to prevent the mechanism from having too much impact on the payload when decelerating during the ejection stage, a coupling with an anti-impact function is also designed.

[0027] The ejection, deceleration and recovery process in this embodiment is described below with reference to the accompanying drawings.

[0028] The ejection process includes: Figure 1 As shown, this is the initial state of ejection. Figure 7 The spring of the ejection mechanism in 54 is compressed to the minimum. Figure 5 As shown, there are 4 protruding cylinders at the bottom of the transmission frame 7, on which 4 transmission frame bearings 42 are respectively installed. There are grooves at corresponding positions on the frame 5, and the transmission frame bearings 42 are embedded in them and can slide on the grooves. When it is necessary to start the ejection, the 4 motors rotate, and the 4 motors rotate as shown in FIG. Figure 6 The transmission of a series of gears on the transmission frame 7 shown in the figure makes the rotation of the displacement gear 10 drive the entire transmission frame to move forward, and also drives Figure 2 The ejection sleeve unlocking rod 25 moves forward. When the ejection sleeve unlocking rod 25 moves forward a certain distance, it pushes the two ejection sleeve locking pins 24 on the ejection mechanism fixing plate 21 to move upward. Previously, the hemispherical head at the end of the ejection sleeve locking rod 17 was locked by the ejection sleeve locking pin 24. The upward movement of the ejection sleeve locking pin 24 is the unlocking process of the ejection sleeve locking rod 17. When the ejection sleeve locking rod 17 is completely unlocked, the spring pushes the ejection sleeve 20 to accelerate, the entire ejection mechanism is ejected, and the payload is ejected. At this time, the transmission rack shaft coupling a and Figure 5 The 45 transmission rack shaft coupling c is not combined, and the locking pin on the 46 transmission rack shaft coupling is not inserted into the hole of the 32 transmission rack shaft coupling a. The clutch mechanism is in a disconnected state, and the 2nd shaft is not affected by the adjacent transmission system. When the 20 ejection sleeve is ejected, Figure 5 The limit pin of the middle 47 transmission frame is pushed out and reset by the spring, and at the same time drives Figure 3 The limiting pin actuating rod 39 of the transmission frame rotates, and the limiting pin actuating rod 39 of the transmission frame rotates to drive the 40 thread shaft fixing rod a and the 41 thread shaft fixing rod b to move, and now the 2 thread shafts are unlocked and can rotate.

[0029] The deceleration process includes: when the payload needs to be decelerated, the 4th motor continues to rotate, driving the entire transmission frame to continue to move, until the 32 transmission frame wire shaft coupling a and the 45 transmission frame wire shaft coupling c are fully combined, and the locking pin on the 46 transmission frame wire shaft coupling is inserted into the corresponding 4 holes on the 32 transmission frame wire shaft coupling a. At the same time, Figure 5 The limiting pin of the middle 47 transmission frame is inserted into the upper boss of the 7 transmission frame to fix the 7 transmission frame so that it can transmit stably. Figure 4 The fixed pin of the displacement gear 43 can be Figure 8The 43 displacement gear fixing pin, 10 displacement gear and 34 worm gear are connected together, so the 10 displacement gear and 34 worm gear also move upward together, the 10 displacement gear is disengaged from the 11 displacement rack, the 34 worm gear is disengaged from the 51 worm, and the rotation of the 4 motor will no longer be transmitted to the 10 displacement gear, and will no longer push the 7 transmission frame forward. At this time, the clutch mechanism is in a closed state, and the rotation of the 4 motor can be transmitted to the 2 spools. Then control the speed of the 4 motor and gradually slow down until it stops. At this time, the payload is deployed in place and the ejection mission is completed. At this time, the 48 transmission frame reset spring is compressed when the 7 transmission frame moves, preparing for the reset of the 7 transmission frame later.

[0030] The recovery process includes: when the payload needs to be recovered, the 4 motor reverses, driving the 2 reels to reverse and recover the payload. When the payload contacts the 19 ejection sleeve guide cover, the recovery continues, and the 54 ejection mechanism spring is compressed to prepare for the next ejection. After a certain distance is recovered, the 18 transmission frame unlocking actuator rod starts to push the 39 transmission frame limit pin actuator rod to rotate, and the 39 transmission frame limit pin actuator rod pushes the 47 transmission frame limit pin to move, and the 17 ejection sleeve locking rod is also inserted into the corresponding hole on the 21 ejection mechanism fixing plate. When the payload is recovered in place and the 20 ejection sleeve is reset, the 47 transmission frame limit pin unlocks the 7 transmission frame, the 48 transmission frame reset spring pushes the 7 transmission frame to move to the initial position, the 41 reel fixing rod b locks the 2 reels, and the 23 ejection sleeve locking pin reset spring pushes the 24 ejection sleeve locking pin to lock the 17 ejection sleeve locking rod. At this time, all parts return to the initial position, and the next ejection can be carried out.

[0031] The present invention adopts a unique clutch design, so that when the payload is ejected, most of the transmission parts will not be connected to the payload, the tether and the spool (2), which greatly reduces the kinetic energy loss of the transmission mechanism to the payload ejection. In addition, the locking function of the ejection recovery mechanism enables the transmission motor (4) to rotate stably and reliably when the clutch mechanism is combined. At the same time, the movable pin design on the clutch mechanism can also avoid excessive impact on the payload and cause it to fly backwards when the payload is decelerated after ejection. The design of the entire ejection recovery mechanism enables the payload ejection and recovery to be completed by controlling a single motor (4), including all the actions of resetting each part.

[0032] From the perspective of the functions implemented, the load ejection / recovery mechanism with clutch function of this embodiment includes ejection, clutch, anti-impact and locking and unlocking functions. For example:

[0033] Ejection function: Before ejection, the ejection sleeve locking pin clamps the ejection sleeve locking rod to fix it with the ejection mechanism fixing plate, and the ejection mechanism spring is compressed to store energy in preparation for ejection of the payload. When the ejection starts, the motor shaft rotates to drive the gear on the transmission frame to rotate. At this time, the displacement gear is engaged with the displacement rack. The rotation of the displacement gear drives the transmission frame to move inward as a whole, and the ejection sleeve unlocking rod also moves with the transmission frame. When the transmission frame moves 5 mm, the ejection sleeve unlocking rod pushes the ejection sleeve locking pin to move upward. When the ejection sleeve locking pin is disengaged from the ejection sleeve locking rod, the ejection sleeve is unlocked. After the ejection sleeve is unlocked, due to the compression of the ejection mechanism spring, the ejection sleeve is pushed to accelerate in the ejection direction under the action of the spring restoring force, and the payload is ejected at this time. Under the radial limitation of the ejection base, when the ejection sleeve reaches the maximum stroke, since the diameter of the ejection base limit cover is larger than the aperture at the end of the ejection sleeve, the ejection base limit cover prevents the ejection sleeve from moving forward, and the ejection sleeve no longer moves forward, and the accelerated ejection process of the payload ends.

[0034] Clutch function: In the payload ejection phase, before the payload starts to decelerate, in order to minimize the resistance to the payload and avoid the friction of the transmission frame and the motor torque from losing the kinetic energy of the payload, the clutch device separates the transmission frame from the bobbin, and the friction resistance of the transmission frame cannot be transmitted to the bobbin, nor can it be transmitted to the payload through the tether. In the deceleration and recovery phase of the payload, when it is necessary to actively provide resistance and recovery torque to the payload, the clutch device combines the transmission frame with the bobbin, and the motor decelerates and reverses to complete the deceleration and recovery of the payload. The realization of the clutch function is mainly achieved by the rotation of the motor to drive the transmission frame to move. There are four bearings connected to the frame at the bottom of the transmission frame, so that the transmission frame can move in and out along one direction on the frame. The gears and worm gears on the transmission frame can transmit the rotation of the motor shaft to the displacement gear, and the displacement gear is engaged with the displacement rack on the frame. When the displacement gear rotates, it can drive the entire transmission frame to move. After the payload is ejected and before deceleration, since the bobbin is connected to the transmission frame through a coupling, the rotation of the motor needs to be transmitted to the bobbin through the coupling. However, at this time, the transmission frame has not moved to the innermost position, and the couplings at both ends of the transmission frame and the bobbin are not combined together. At this time, the transmission cannot be transmitted, and neither the rotational force of the motor nor the friction of the mechanism will be transmitted to the bobbin. When the payload needs to be decelerated, the motor continues to rotate to move the transmission frame to the innermost position. At this time, the couplings are combined together, and the torque of the motor deceleration can be transmitted to the payload through the gears, couplings, bobbin and tether to decelerate the payload. When the payload needs to be recovered, the motor rotates in the opposite direction, which can drive the bobbin to reverse and retract the payload.

[0035] Anti-shock function: At the end of the payload ejection phase, when the payload needs to slow down, the transmission frame moves inward to combine the transmission frame and the coupling on the spool. The couplings on both sides are driven by the engagement of the four round pins and circular grooves on them. As the transmission frame moves inward, its couplings will rotate together. At the same time, since the payload is flying outward at this time, the traction tether drives the spool to rotate, and its couplings are also rotating. The speed of the coupling at the transmission frame end and the speed of the coupling at the spool end are almost never completely equal, and there will inevitably be a certain speed difference. If the round pin on the coupling is fixed, this speed difference will cause the couplings at both ends to impact when they engage, which may cause the tether between the payload and the mechanism to suddenly straighten, and the payload moves in the opposite direction due to the elasticity of the tether. To avoid this situation, the round pin on the coupling at the transmission frame end is designed to be axially movable and has an elastic washer on its back. When the speed difference between the couplings at both ends is too large, the round pin will be pushed inward after the couplings begin to engage. This process will also have a certain deceleration effect on the spool end. When the speed difference is reduced to a certain extent, the coupling can be fully engaged, and then the spool and payload will be decelerated, which can effectively prevent the payload from flying backwards due to impact.

[0036] Locking and unlocking functions: The mechanism has three locking and unlocking functions, namely on the transmission frame, the ejection sleeve and the bobbin. The locking of the transmission frame is completed when the transmission frame end coupling and the bobbin end coupling are fully combined, and the locking pin on the transmission frame bobbin coupling is inserted into the hole of the bobbin end coupling. The function of locking the transmission frame is to ensure that the rotation of the motor can be stably transmitted to the bobbin end. The ejection sleeve and the bobbin are locked at the same time. For the ejection sleeve, when the payload is recovered, the ejection sleeve is pushed to move to the initial position, and the ejection sleeve locking rod moves toward the ejection sleeve locking pin. When the payload is recovered in place, the ejection sleeve locking pin is pushed downward by its return spring, jamming the ejection sleeve locking rod, and the ejection sleeve is locked at this time. For the bobbin, when the ejection sleeve moves to the initial position, the transmission frame unlocking actuating rod on the ejection sleeve will push the transmission frame limit pin actuating rod to rotate, driving the bobbin fixing rod to move. The bobbin fixing rod has a protrusion on the end close to the bobbin. When the payload is recovered in place, the protrusion of the bobbin fixing rod will stick to the disk on the edge of the bobbin, fixing the bobbin through friction, and preventing the bobbin from rotating and loosening the tether before the next ejection. When the ejection sleeve and the bobbin are locked, the transmission frame is unlocked. At this moment, the transmission frame unlocking actuating rod on the ejection sleeve pushes the transmission frame limit pin actuating rod and the transmission frame limit pin to actuate, unlocking the transmission frame, and the transmission frame reset spring pushes the transmission frame back to the initial position. The ejection sleeve and the bobbin are unlocked when the payload is ejected, the movement of the transmission frame drives the sleeve unlocking rod to move, pushing the ejection sleeve locking pin to move up to unlock the ejection sleeve. After being unlocked, the ejection sleeve is ejected, leaving space for the transmission frame limit pin actuating rod to rotate. The reset spring of the transmission frame limit pin pushes it to reset, driving the transmission frame limit pin actuating rod and the spool unlocking rod to move, the protrusion of the spool fixing rod will leave the disk on the edge of the spool, and the spool will be unlocked.

[0037] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A load ejection / recovery mechanism with a clutch function, characterized in that: include: The frame cover (1) covers the frame (5), and the frame cover (1) and the frame (5) form a hexahedron structure, and the bobbin (2) and the motor (4) are installed in the internal space of the hexahedron; The transmission frame baffle (9) is fixed on the side of the frame (5) and is parallel to the frame cover (1); the transmission frame (7) and the worm shaft fixing frame (8) are fixedly mounted on the transmission frame baffle (9); and the transmission frame gear frame (6) is fixedly mounted on the transmission frame (7); The displacement gear (10), the transmission frame bobbin coupling gear (31), the motor bobbin transmission gear (30) and the motor gear (28) are sequentially mounted on the transmission frame gear frame (6), and the displacement gear (10) is meshed with the displacement rack (11) on the frame (5); The screw gear (15) is meshed with the screw thread shaft transmission gear (33), the screw thread shaft transmission gear (33) is meshed with the transmission frame thread shaft coupling a (32), and one end of the thread shaft (2) passes through the mounting hole provided in the frame (5) and is connected to the transmission frame thread shaft coupling a (32); The transmission shaft of the motor (4) passes through another mounting hole provided on the side of the frame (5) and is connected to the motor coupling (27), the motor coupling (27) is coaxially fixed with the motor gear (28), and the transmission frame motor coupling (29) is coaxially fixed with the motor gear (28); An ejection mechanism fixing plate (21) is arranged on the front of the frame (5), an ejection sleeve (20) is vertically mounted on the ejection mechanism fixing plate (21), an ejection sleeve guide cover (19) is mounted on the end of the ejection sleeve (20), and the ejection sleeve (20) is connected to a transmission frame unlocking actuating rod (18).

2. The load ejection / recovery mechanism with clutch function according to claim 1, characterized in that: Before ejection, the ejection sleeve locking pin (24) clamps the ejection sleeve locking rod (17) to fix it to the ejection mechanism fixing plate (21), and the ejection mechanism spring (54) is compressed to store energy in preparation for ejecting the payload; During ejection, the shaft of the motor (4) rotates to drive the gear on the transmission frame (7) to rotate, and at this time, the displacement gear (10) is meshed with the displacement rack (11), and the rotation of the displacement gear (10) drives the transmission frame (7) to move inward as a whole, and the ejection sleeve unlocking rod (25) also moves together with the transmission frame (7); When the transmission frame (7) moves 5 mm, the ejection sleeve unlocking rod (25) pushes the ejection sleeve locking pin (24) to move upward, and when the ejection sleeve locking pin (24) is disengaged from the ejection sleeve locking rod (17), the ejection sleeve (20) is unlocked; When the ejection sleeve (20) is unlocked, the compressed ejection mechanism spring (54) generates a restoring force and pushes the ejection sleeve (20) to accelerate in the ejection direction, and the effective load is ejected at this time.

3. The load ejection / recovery mechanism with clutch function according to claim 2, characterized in that: Under the radial limitation of the ejection base (53), when the ejection sleeve (20) reaches the maximum stroke, since the diameter of the ejection base limiting cover (55) is larger than the aperture at the end of the ejection sleeve (20), the ejection base limiting cover (55) prevents the ejection sleeve (20) from moving forward, and the ejection sleeve (20) no longer moves forward, and the accelerated ejection process of the payload ends at this time.

4. The load ejection / recovery mechanism with clutch function according to claim 1, characterized in that: The transmission frame (7) is connected to the frame (5) through four bearings at the bottom, so that the transmission frame (7) can move inward and outward along one direction on the frame (5); The rotation of the driving shaft of the motor (4) is transmitted to the displacement gear (10) through the transmission frame bobbin coupling gear (31), the motor bobbin transmission gear (30), the motor gear (28) and the worm gear (51) on the transmission frame (7). The displacement gear (10) is meshed with the displacement rack (11) on the frame (5). When the displacement gear (10) rotates, the entire transmission frame (7) can be driven to move.

5. The load ejection / recovery mechanism with clutch function according to claim 4, characterized in that: Before the payload starts to decelerate during the ejection phase, the transmission frame (7) is separated from the spool (2) until the payload starts to decelerate; When the effective load needs to be decelerated, the motor (4) continues to rotate to move the transmission frame (7) to the innermost position.

6. The load ejection / recovery mechanism with clutch function according to claim 4 or 5, characterized in that: When the effective load needs to be decelerated, the transmission frame (7) moves inward so that the coupling of the transmission frame (7) and the coupling of the spool (2) are combined; The locking pin of the thread shaft coupling at the transmission frame (7) end can move axially, and a return spring is arranged on the back side of the locking pin.

7. The load ejection / recovery mechanism with clutch function according to claim 1, characterized in that: When the locking pin (46) on the transmission frame bobbin coupling is inserted into the hole of the bobbin end coupling, the transmission frame (7) is locked.

8. The load ejection / recovery mechanism with clutch function according to claim 1 or 7, characterized in that: When the effective load is recovered, the ejection sleeve (20) moves to the initial position, and the ejection sleeve locking rod (17) moves toward the ejection sleeve locking pin (24) until the effective load is recovered in place, after which the ejection sleeve locking pin (24) clamps the ejection sleeve locking rod (17), and the ejection sleeve (20) is locked.

9. The load ejection / recovery mechanism with clutch function according to claim 8, characterized in that: When the ejection sleeve (20) moves to the initial position, the transmission frame unlocking actuating rod (18) pushes the transmission frame limit pin actuating rod (39) to rotate, and drives the fixing rod of the spool (2) to move; The end of the spool (2) fixing rod close to the spool (2) is provided with a protrusion. When the effective load is recovered in place, the protrusion of the spool (2) fixing rod sticks to the disc on the edge of the spool (2), thereby fixing the spool (2) by friction, and the spool (2) is locked.

10. The load ejection / recovery mechanism with clutch function according to claim 9, characterized in that: When the ejection sleeve (20) and the spool (2) are locked, the transmission frame unlocking actuating rod (18) on the ejection sleeve (20) pushes the transmission frame limit pin actuating rod (39) and the transmission frame limit pin (47) to actuate, thereby unlocking the transmission frame (7); When the effective load is ejected, the transmission frame (7) moves to drive the sleeve unlocking rod to move, pushing the ejection sleeve locking pin (24) to move upward to unlock the ejection sleeve (20).

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