Load ejection / recovery mechanism with clutch function

Abstract

The embodiment of the present application provides a load ejection / recovery mechanism with a clutch function, relates to the technical field of satellites, and can greatly reduce the kinetic energy reduction of an effective load caused by a transmission mechanism and a motor torque itself.The present application comprises: when the effective load is ejected, most of the transmission parts are not connected with the effective load, the tether and the spool, and the kinetic energy reduction of the effective load caused by the transmission mechanism is greatly reduced.Moreover, the locking function of the ejection recovery mechanism can stably and reliably transmit the rotation of the motor when the clutch mechanism is combined.Meanwhile, the movable pin on the clutch mechanism can also avoid the excessive impact on the effective load to cause the backward flight when the effective load is decelerated after being ejected.The design of the whole ejection recovery mechanism can complete the ejection and recovery of the effective load by controlling the single motor, and reduce the kinetic energy reduction of the effective load caused by the transmission mechanism and the motor torque itself.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellites, in particular to a load ejection / recovery mechanism with clutch function. BACKGROUND

[0002] With the development of space exploration technology, tethered satellites as a new type of space vehicle, are widely used. In the research and improvement of tethered satellites, some technicians use space net capture mechanism, which uses the ejection principle and winding way to rely on motor rotation drive. Some schemes use FLOYD deployer on the satellite, which is an ejection mechanism, and its function is also to eject space load, but its use of wire arrangement makes its friction larger and kinetic energy loss larger. There is also a classic "winding type" tether ejection mechanism, which is similar to the tether storage method, but the resistance generated by the parts related to the spool in the mechanism when ejecting the payload is mostly transmitted to the payload, causing waste of kinetic energy.

[0003] In summary, the current ejection and recovery mechanism for tethered satellites has some shortcomings. How to reduce the resistance of the payload during the ejection stage, so as to reduce or even avoid the torque of the transmission mechanism and the motor itself to cause the kinetic energy of the payload to be reduced, has become a research topic. SUMMARY

[0004] The embodiment of the present application provides a load ejection / recovery mechanism with clutch function, which is a load ejection and recovery mechanism that can reduce the resistance of the payload during the ejection stage, and can greatly reduce the torque of the transmission mechanism and the motor itself to cause the kinetic energy of the payload to be reduced.

[0005] To achieve the above purpose, the embodiment of the present application adopts the following technical scheme:

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

[0007] The frame cover plate (1) covers the frame (5), the frame cover plate (1) and the frame (5) form a hexahedral structure, the wire shaft (2) and the motor (4) are installed in the internal space of the hexahedral; the transmission frame baffle (9) is fixed on the side of the frame (5) and is parallel to the frame cover plate (1), the transmission frame baffle (9) is fixedly installed with the transmission frame (7) and the worm shaft fixing frame (8), the transmission frame gear frame (6) is fixedly installed on the transmission frame (7); the displacement gear (10), the transmission frame wire shaft coupling gear (31), the motor wire shaft transmission gear (30) and the motor gear (28) are sequentially installed on the transmission frame gear frame (6), the displacement gear (10) is engaged with the displacement rack (11) on the frame (5); the screw gear (15) is engaged with the screw wire shaft transmission gear (33), the screw wire shaft transmission gear (33) is engaged with the transmission frame wire shaft coupling a (32), one end of the wire shaft (2) passes through the mounting hole of the frame (5) and is connected with the transmission frame wire shaft coupling a (32); the transmission shaft of the motor (4) passes through another mounting hole of the side of the frame (5) and is connected with 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); the front surface of the frame (5) is provided with the ejection mechanism fixed plate (21), the ejection sleeve (20) is vertically installed on the ejection mechanism fixed plate (21), the tail end of the ejection sleeve (20) is installed with the ejection sleeve guide cover (19), the ejection sleeve (20) is connected with 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 be fixedly connected with the ejection mechanism fixed plate (21), and the ejection mechanism spring (54) is compressed to store energy for the ejection payload; during ejection, the shaft of the motor (4) rotates to drive the gear on the transmission frame (7) to rotate, at this time, the displacement gear (10) is engaged with the displacement rack (11), 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 with the transmission frame (7); when the transmission frame (7) moves 5mm, the ejection sleeve unlocking rod (25) pushes the ejection sleeve locking pin (24) to move upward, when the ejection sleeve locking pin (24) is disengaged from the ejection sleeve locking rod (17), the ejection sleeve (20) is unlocked; after the ejection sleeve (20) is unlocked, the restoring force of the compressed ejection mechanism spring (54) pushes the ejection sleeve (20) to move in the ejection direction at a high speed, and the payload is ejected at this time.

[0009] Further, under the radial limit of the ejection base (53), when the ejection sleeve (20) reaches the maximum stroke, the ejection base limiting cover (55) prevents the ejection sleeve (20) from moving forward because the diameter of the ejection base limiting cover (55) is larger than the hole diameter of the end of the ejection sleeve (20), and the ejection sleeve (20) no longer continues to move forward, at which time the acceleration ejection process of the payload ends.

[0010] Specifically, the transmission frame (7) is connected to the frame (5) through four bearings below the transmission frame (7), so that the transmission frame (7) can move in and out in one direction on the frame (5); through the transmission frame wire shaft coupling gear (31), the motor wire shaft transmission gear (30), the motor gear (28), and the worm gear (51) on the transmission frame (7), the rotation of the motor (4) drive shaft is transmitted to the displacement gear (10), the displacement gear (10) is engaged with the displacement rack (11) on the frame (5), when the displacement gear (10) rotates, it can drive the entire transmission frame (7) to move.

[0011] Further, before the payload starts to decelerate during the ejection phase, the transmission frame (7) is disengaged from the wire shaft (2) until the payload 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 inwardly so that the shaft coupling of the transmission frame (7) and the shaft coupling of the spool (2) are combined; the locking pin on the shaft coupling at the end of the transmission frame (7) is axially movable, and there is a return spring behind the locking pin. When the shaft couplings begin to combine, but the speed difference between the two ends is too large, the locking pin cannot be pressed into the hole of the shaft coupling at the end of the spool at this time, so as to avoid impact caused by forcibly inserting into the hole. When the speed difference between the two ends is reduced, the locking pin can be inserted into the hole of the shaft coupling at the end of the spool 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 inwardly so that the transmission frame (7) and the shaft coupling on the spool (2) are combined, and the shaft couplings on both sides are combined by the four round head pins and the circular grooves above them for transmission. Since the transmission frame (7) moves inwardly, its shaft coupling will rotate at the same time, and since the payload is flying outwardly at this time, the traction tether drives the spool (2) to rotate, and its shaft coupling also rotates. The rotational speed of the shaft coupling at the end of the transmission frame (7) and the rotational speed of the shaft coupling at the end of the spool (2) will not be exactly equal, and there will inevitably be a certain speed difference. If the round head pins on the shaft couplings are fixed, this speed difference will cause impact when the shaft couplings on both sides are combined, which can cause the tether between the payload and the mechanism to suddenly straighten, and the payload to move in the opposite direction due to the elasticity of the tether. To avoid this situation, the round head pins on the shaft coupling at the end of the transmission frame (7) are designed to be axially movable, and there is a spring washer behind them, so that when the speed difference between the shaft couplings on both sides is too large, the round head pins are pushed inwardly after the shaft couplings begin to combine, which also has a certain deceleration effect on the end of the spool (2). When the speed difference is reduced to a certain extent, the shaft couplings can be completely combined, and then the spool (2) and the payload are decelerated, which can effectively prevent the impact from causing the payload to fly backward.

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

[0014] When the payload is recovered, the ejection sleeve (20) moves to the initial position, the ejection sleeve locking rod (17) moves to the ejection sleeve locking pin (24), until the payload is recovered to the position, then the ejection sleeve locking pin (24) clamps the ejection sleeve locking rod (17), and the ejection sleeve (20) is locked. Among them, the locking of the ejection sleeve (20) and the wire shaft (2) is carried out 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, the ejection sleeve locking rod (17) moves to the ejection sleeve locking pin (24). When the payload is recovered to the position, the ejection sleeve locking pin (24) is pushed downward by its reset spring, clamping the ejection sleeve locking rod (17), at this time the ejection sleeve (20) is locked.

[0015] When the ejection sleeve (20) moves to the initial position, the transmission frame unlocking actuator (18) pushes the transmission frame limit pin actuator (39) to rotate, and drives the wire shaft (2) fixing rod to move; the end of the wire shaft (2) fixing rod close to the wire shaft (2) has a protrusion, when the payload is recovered to the position, the protrusion of the wire shaft (2) fixing rod sticks to the disc on the edge of the wire shaft (2), so as to fix the wire shaft (2) through friction force, and the wire shaft (2) is locked.

[0016] When the ejection sleeve (20) and the spool (2) are locked, the transmission frame unlocking action lever (18) on the ejection sleeve (20) pushes the transmission frame limiting pin action lever (39) and the transmission frame limiting pin (47) to act, unlocking the transmission frame (7); when the payload is ejected, the transmission frame (7) moves to drive the sleeve unlocking lever to move, pushing the ejection sleeve locking pin (24) to move up and unlock the ejection sleeve (20).

[0017] The payload ejection / recovery mechanism with clutch function provided by the embodiment of the application can reduce the kinetic energy loss of the payload ejection caused by the transmission mechanism to a greater extent when most of the transmission parts are not connected with the payload, the tether and the spool during the ejection of the payload. The locking function of the ejection recovery mechanism can stably and reliably transmit the rotation of the motor when the clutch mechanism is combined. Meanwhile, the movable pin on the clutch mechanism can avoid the impact on the payload caused by the reverse flight during the deceleration of the payload after the ejection. The design of the entire ejection recovery mechanism can complete the ejection and recovery of the payload by controlling the single motor, thereby reducing the kinetic energy loss of the payload caused by the transmission mechanism and the torque of the motor itself. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0019] Figures 1-5 The overall schematic diagram of the payload ejection recovery mechanism provided by the embodiment of the application is shown in the figure.

[0020] Figure 6 The transmission frame (7) module schematic diagram of the payload ejection recovery mechanism provided by the embodiment of the application is shown in the figure.

[0021] Figure 7 The ejection module schematic diagram of the payload ejection recovery mechanism provided by the embodiment of the application is shown in the figure.

[0022] Figure 8 The frame (5) schematic diagram of the payload ejection recovery mechanism provided by the embodiment of the application is shown in the figure.

[0023] Figure 9 The partial enlarged sectional view of the end shaft coupling of the spool provided by the embodiment of the application is shown in the figure.

[0024] In the figure, 1-frame cover plate, 2-spool, 3-motor baffle, 4-motor, 5-frame, 6-transmission rack gear frame, 7-transmission rack, 8-worm shaft fixing frame, 9-transmission rack baffle, 10-displacement gear, 11-displacement rack, 12-displacement gear one-way baffle limiter, 13-torsional spring, 14-screw gear limiting sleeve, 15-screw gear, 16-transmission rack limiting pin baffle, 17-ejection sleeve locking rod, 18-transmission rack unlocking actuating rod, 19-ejection sleeve guide cover, 20-ejection sleeve, 21-ejection mechanism fixed 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-sliding block, 27-motor shaft coupling, 28-motor gear, 29-transmission rack motor shaft coupling, 30-motor spool transmission gear, 31-transmission rack spool shaft coupling gear, 32-transmission rack spool shaft coupling a, 33-screw spool transmission gear, 34-worm gear, 35-displacement gear actuating sliding block, 36-ejection sleeve unlocking rod connecting rod, 37-sliding block guide rod, 38-screw rod, 39-transmission rack limiting pin actuating rod, 40-spool fixing rod a, 41-spool fixing rod b, 42-transmission rack bearing, 43-displacement gear fixing pin, 44-transmission rack spool shaft coupling b, 45-transmission rack spool shaft coupling c, 46-transmission rack spool shaft coupling upper locking pin, 47-transmission rack limiting pin, 48-transmission rack reset spring, 49-worm gear, 50-motor shaft coupling bearing, 51-worm, 52-displacement gear actuating sliding block reset spring, 53-ejection base, 54-ejection mechanism spring, 55-ejection base limiting cover, 56-displacement gear one-way baffle, 57-shaft coupling upper locking pin reset spring. DETAILED DESCRIPTION

[0025] For those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. In the following, the embodiments of the present application will be described in detail, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, but cannot be interpreted as a limitation on the present application. Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "the" used herein can also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be an intermediate element. In addition, "connected" or "coupled" used herein can include wireless connection or coupling. The phrase "and / or" used herein includes any one of the associated listed items and all combinations thereof. Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the prior art, and should not be interpreted with idealized or overly formal meanings unless defined as such.

[0026] The on-orbit flight of the tethered satellite mainly includes three stages of ejection, maintenance and recovery, and the most critical problem is the ejection and recovery of the payload, involving problems such as initial separation, ejection, recovery, docking, etc. In the initial separation stage, a reliable ejection mechanism is required, usually with ejection separation, active unlocking, etc. At the same time, the ejection and recovery mechanism is required to have a guiding docking function, so as to be able to recover the payload. In the ejection stage, in order to reduce the friction of the transmission mechanism and the motor (4) torque as much as possible to cause kinetic energy loss of the payload, avoid the payload from being unable to reach the designated position, or find a suitable spring to make the payload have enough kinetic energy to offset the kinetic energy loss in the ejection process, therefore, the design idea of the embodiment is to improve and perfect a load ejection and recovery mechanism with a clutch device. At the same time, in order to prevent the mechanism from impacting the payload too much when decelerating the payload in the ejection stage, a coupling with an anti-impact function is also designed.

[0027] The ejection, deceleration and recovery processes in the embodiment will be described below in combination with the drawings.

[0028] The ejection process includes: as Figure 1 shown, this is the initial state of the ejection, Figure 7 the ejection mechanism spring 54 is compressed to the minimum. As Figure 5 shown, the 7 transmission frame bottom has 4 protruding cylinders, respectively installed with 4 42 transmission frame bearings, 5 frame corresponding position has a recess, 42 transmission frame bearing is embedded in which can slide on the recess. When you need to start the ejection, 4 motor rotates, through the transmission of a series of gear as Figure 6 shown in 7 transmission frame, so that the 10 displacement gear rotates to drive the entire transmission frame forward, also drive Figure 2 the 25 ejection sleeve unlocking rod forward. When the 25 ejection sleeve unlocking rod moves a certain distance, the two 24 ejection sleeve locking pins on the 21 ejection mechanism fixed plate are pushed up, the hemispherical head at the end of the 17 ejection sleeve locking rod is locked by the 24 ejection sleeve locking pin, and the 24 ejection sleeve locking pin moves up, which is the unlocking process of the 17 ejection sleeve locking rod. When the 17 ejection sleeve locking rod is completely unlocked, the spring pushes the 20 ejection sleeve to accelerate the movement, and the entire ejection mechanism is ejected, and the payload is ejected. At this time, the 32 transmission frame wire shaft coupling a and Figure 5 the 45 transmission frame wire shaft coupling c are not combined, and the 46 transmission frame wire shaft coupling locking pin is not inserted into the hole of the 32 transmission frame wire shaft coupling a, and the clutch mechanism is in the disconnected state, and the 2 wire shaft is not affected by the side transmission system. When the 20 ejection sleeve is ejected, Figure 5 the 47 transmission frame limiting pin is pushed out by the spring and reset, and the Figure 3 39 transmission frame limiting pin actuator rod rotates, and the 39 transmission frame limiting pin actuator rod rotates to drive the 40 wire shaft fixed rod a and the 41 wire shaft fixed rod b to move, and at this time the 2 wire shaft is unlocked and can rotate.

[0029] The deceleration process includes: when the payload needs to decelerate, the 4 motor continues to rotate to drive 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 completely combined, and the 46 transmission frame wire shaft coupling locking pin is inserted into the corresponding four holes of the 32 transmission frame wire shaft coupling a. At the same time, Figure 5 the 47 transmission frame limiting pin is inserted into the 7 transmission frame protrusion to fix the 7 transmission frame so that it can stably drive. Figure 4 the 43 displacement gear fixed pin can slide in the Figure 8When the 5 frame slides up in the groove, the 43 displacement gear fixed pin, 10 displacement gear and 34 worm gear are connected together, so the 10 displacement gear and 34 worm gear also move up together, the 10 displacement gear is separated from the 11 displacement gear rack, the 34 worm gear is separated from the 51 worm, the rotation of the 4 motor can no longer be transmitted to the 10 displacement gear, and the 7 transmission frame can no longer be pushed to move 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 spool. Then the rotation speed of the 4 motor is controlled to gradually slow down until it stops. At this time, the payload is deployed in place, and the ejection task 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.

[0030] The recovery process includes: when the payload needs to be recovered, the 4 motor is reversed to drive the 2 spool to reverse and recover the payload. When the payload contacts the 19 ejection sleeve guide cover, continue to recover, and the 54 ejection mechanism spring is compressed to prepare for the next ejection. After a certain distance of recovery, the 18 transmission frame unlocking actuator rod starts to push the 39 transmission frame limiting pin actuator rod to rotate, the 39 transmission frame limiting pin actuator rod pushes the 47 transmission frame limiting pin to move, and the 17 ejection sleeve locking rod is also inserted into the corresponding hole of the 21 ejection mechanism fixed plate. When the payload is recovered to the position, the 20 ejection sleeve reset, the 47 transmission frame limiting 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 spool fixed rod b locks the 2 spool, 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 performed.

[0031] The unique clutch design adopted by the present application makes most of the transmission parts not connected with the payload, tether and spool (2) when ejecting the payload, greatly reducing the kinetic energy loss of the transmission mechanism to the payload ejection. And the locking function of the ejection recovery mechanism makes the rotation of the motor (4) stable and reliable when the clutch mechanism is combined. At the same time, the movable pin design on the clutch mechanism can also avoid the impact on the payload when the payload is ejected and decelerated, which can cause the payload to fly backward. The design of the entire ejection recovery mechanism makes it possible to complete the ejection and recovery of the payload by controlling the single motor (4), including all the actions of resetting each part.

[0032] From the realized function, the payload ejection / recovery mechanism with clutch function of the embodiment includes ejection, clutch, impact protection and locking and unlocking functions. For example:

[0033] Ejection function: before ejection, the ejection sleeve locking pin stops the ejection sleeve locking rod, making it fixedly connected with the ejection mechanism fixed plate, and the ejection mechanism spring is compressed, storing energy for the ejection payload. When starting ejection, the motor shaft rotates to drive the transmission frame gear, at this time the displacement gear meshes with the displacement rack, and 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 5mm, the ejection sleeve unlocking rod pushes the ejection sleeve locking pin to move upward, and when the ejection sleeve locking pin is separated 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 accelerated to be ejected at this time. Under the radial limitation of the ejection base, when the ejection sleeve reaches the maximum stroke, the ejection base limiting cover prevents the ejection sleeve from moving forward because the diameter of the ejection base limiting cover is larger than the hole diameter of the ejection sleeve end, and the ejection sleeve no longer continues to move forward, and the acceleration ejection process of the payload ends.

[0034] Clutch function: during the ejection of the payload, in order to minimize the resistance to the payload, avoid the friction of the transmission frame and the loss of the motor torque to the kinetic energy of the payload, the clutch device makes the transmission frame separate from the spool, and the friction resistance of the transmission frame cannot be transmitted to the spool, nor can it be transmitted to the payload through the tether. When the payload needs to be slowed down and recovered, the clutch device makes the transmission frame combine with the spool, the motor slows down and reverses, and the slowing down and recovery of the payload are completed. The realization of the clutch function is mainly completed by the rotation of the motor to drive the transmission frame to move. Four bearings below the transmission frame are connected with the frame, so that the transmission frame can move in and out along one direction on the frame. The gears on the transmission frame and the worm gear can transmit the rotation of the motor shaft to the displacement gear, and the displacement gear meshes 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, before it slows down, the spool is connected with the transmission frame through the shaft coupling, and the rotation of the motor needs to be transmitted to the spool through the shaft coupling. However, at this time, the transmission frame has not moved to the most inward position, and the shaft couplings at both ends of the transmission frame and the spool are not combined together, so at this time, no transmission can be made, and neither the rotation force of the motor nor the friction force of the mechanism can be transmitted to the spool. When the payload needs to be slowed down, the motor continues to rotate to move the transmission frame to the most inward position, at which time the shaft couplings are combined together, and the torque of the motor can be transmitted to the payload through the gears, shaft couplings, spool and tether to slow down the payload. When the payload needs to be recovered, the motor reverses to rotate, which can drive the spool to reverse and recover the payload.

[0035] Anti-impact function: At the end of the payload launching stage, the payload needs to be decelerated, the transmission frame moves inward to make the transmission frame and the spool shaft coupling, the two side shaft coupling rely on the four round head pin and the round groove on the top of the shaft coupling to engage transmission. Because the transmission frame moves inward, its shaft coupling will rotate at the same time, at the same time, because the payload is flying outward at this time, the traction tether drives the spool to rotate, its shaft coupling is also rotating. The rotational speed of the shaft coupling at the end of the transmission frame and the rotational speed of the shaft coupling at the end of the spool will not be completely equal, and there will inevitably be a certain speed difference. If the round head pin on the shaft coupling is fixed, this speed difference will cause impact when the two end shaft couplings engage, which can cause the tether between the payload and the mechanism to suddenly straighten, and the payload to move in the opposite direction due to the elasticity of the tether. To avoid this situation, the round head pin on the shaft coupling at the end of the transmission frame is designed to be axially movable, and has a spring washer on the back, when the rotational speed difference between the two end shaft couplings is too large, the round head pin is pushed inward after the shaft coupling starts to engage, which also has a certain deceleration effect on the spool end during this process, when the rotational speed difference is reduced to a certain extent, the shaft coupling can be fully engaged, then decelerate the spool and the payload, so as to effectively prevent the impact from causing the payload to fly backward.

[0036] Locking and unlocking function: the mechanism has three locking and unlocking functions, which are respectively arranged on the transmission frame, the ejection sleeve and the spool. The locking of the transmission frame is completed when the transmission frame end coupling and the spool end coupling are completely combined, and the locking pin on the transmission frame coupling is inserted into the hole of the spool end coupling. The locking function of the transmission frame is to ensure that the rotation of the motor can be stably transmitted to the spool end. The locking of the ejection sleeve and the spool is performed 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 to the ejection sleeve locking pin. When the payload is recovered to the position, the ejection sleeve locking pin is pushed downward by the reset spring, and the ejection sleeve locking rod is clamped, at which time the ejection sleeve is locked. For the spool, when the ejection sleeve moves to the initial position, the transmission frame unlocking actuator rod on the ejection sleeve will push the transmission frame limiting pin actuator rod to rotate, and drive the spool fixing rod to move. The spool fixing rod has a protrusion on the side close to the spool. When the payload is recovered to the position, the protrusion of the spool fixing rod will be attached to the disc on the edge of the spool, and the spool will be fixed by friction to avoid the spool rotating to loosen the tether before the next ejection. When the ejection sleeve and the spool are locked, the transmission frame is unlocked. At this moment, the transmission frame unlocking actuator rod on the ejection sleeve pushes the transmission frame limiting pin actuator and the transmission frame limiting pin actuator, and the transmission frame is unlocked. The transmission frame reset spring pushes the transmission frame to return to the initial position. The unlocking of the ejection sleeve and the spool is performed when the payload is ejected. The transmission frame moves to drive the sleeve unlocking rod to move, and the ejection sleeve locking pin is pushed upward to unlock the ejection sleeve. After the ejection sleeve is unlocked, it is ejected, leaving space for the transmission frame limiting pin actuator rod to rotate. The reset spring of the transmission frame limiting pin pushes it to reset, drives the transmission frame limiting pin actuator rod and the spool unlocking rod to move, and the protrusion of the spool fixing rod will be away from the disc on the edge of the spool, and the spool is unlocked.

[0037] Each of the embodiments in the specification is described in a progressive manner, and the same and similar parts of each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, it is described more simply, and the relevant part can be referred to the part of the method embodiment. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A load ejection / recovery mechanism having a clutch function, characterized by, The utility model relates to a kind of frame cover (1) is covered on frame (5), frame cover (1) is formed hexahedron structure with frame (5), wire shaft (2) and motor (4) are installed in the internal space of the hexahedron; Transmission frame baffle (9) is fixed on the side of frame (5) and is parallel with frame cover (1), transmission frame baffle (9) is fixedly installed transmission frame (7) and worm shaft fixed frame (8) on it, transmission frame gear frame (6) is fixedly installed on transmission frame (7); Displacement gear (10), transmission frame wire shaft coupling gear (31), motor wire shaft transmission gear (30) and motor gear (28) are sequentially installed on transmission frame gear frame (6), displacement gear (10) is engaged with displacement rack (11) on frame (5); Lead screw gear (15) is engaged with lead screw wire shaft transmission gear (33), lead screw wire shaft transmission gear (33) is engaged with transmission frame wire shaft coupling a (32), one end of wire shaft (2) passes through the installation hole of frame (5) and is connected transmission frame wire shaft coupling a (32); The transmission shaft of motor (4) passes through another installation hole of the side of frame (5) and is connected motor coupling (27), motor coupling (27) is coaxially fixed with motor gear (28), transmission frame motor coupling (29) is coaxially fixed with motor gear (28); The front of frame (5) is provided with ejection mechanism fixed plate (21), ejection sleeve (20) is vertically installed on ejection mechanism fixed plate (21), ejection sleeve (20) is installed with ejection sleeve guide cover (19) at the end, ejection sleeve (20) is connected with transmission frame unlocking actuating rod (18). Before ejection, ejection sleeve locking pin (24) clamps ejection sleeve locking rod (17) to make it fixedly connected with ejection mechanism fixed plate (21), ejection mechanism spring (54) is compressed to store energy for preparing ejection payload; 2. The load ejection / recovery mechanism having a clutch function according to claim 1, characterized by, When ejection, the rotation of the shaft of motor (4) drives the rotation of the gear on transmission frame (7), at this time, displacement gear (10) is engaged with displacement rack (11), the rotation of displacement gear (10) drives the inward movement of transmission frame (7) as a whole, ejection sleeve unlocking rod (25) also moves with transmission frame (7); When transmission frame (7) moves 5mm, ejection sleeve unlocking rod (25) pushes ejection sleeve locking pin (24) to move upward, when ejection sleeve locking pin (24) is separated from ejection sleeve locking rod (17), ejection sleeve (20) is unlocked; When ejection sleeve (20) is unlocked, the restoring force of compressed ejection mechanism spring (54) pushes ejection sleeve (20) to accelerate movement in the direction of ejection, the payload is accelerated to pop out at this time. Under the radial limitation of ejection base (53), when ejection sleeve (20) reaches maximum stroke, ejection base limiting cover (55) prevents ejection sleeve (20) from moving forward, because the diameter of ejection base limiting cover (55) is greater than the hole diameter of the end of ejection sleeve (20), ejection sleeve (20) no longer continues to move forward, at this time, the acceleration ejection process of payload ends.

3. The load ejection / recovery mechanism having a clutch function according to claim 2, characterized by, ​ 4. The load ejection / recovery mechanism having a clutch function according to claim 1, characterized by, The transmission frame (7) is connected with the frame (5) through four bearings below the transmission frame (7), so that the transmission frame (7) can move in and out along a direction on the frame (5); The rotation of the motor (4) driving shaft is transmitted to the displacement gear (10) through the transmission frame wire shaft coupling gear (31), the motor wire shaft transmission gear (30), the motor gear (28) and the worm gear (51) on the transmission frame (7), the displacement gear (10) is engaged with the displacement rack (11) on the frame (5), when the displacement gear (10) rotates, the whole transmission frame (7) can be driven to move.

5. The load ejection / recovery mechanism having a clutch function according to claim 4, wherein Before the payload starts to decelerate in the ejection stage, the transmission frame (7) is separated from the wire shaft (2) until the payload starts to decelerate; When the payload needs to decelerate, the motor (4) continues to rotate to move the transmission frame (7) to the innermost position.

6. The load ejection / recovery mechanism having a clutch function according to claim 4 or 5, characterized by, When the payload needs to decelerate, the transmission frame (7) moves inward so that the coupling of the transmission frame (7) and the coupling of the wire shaft (2) are combined; The locking pin on the wire shaft 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.

7. The load ejection / recovery mechanism having a clutching function according to claim 1, wherein When the locking pin (46) on the transmission frame wire shaft coupling is inserted into the hole of the wire shaft end coupling, the transmission frame (7) is locked.

8. The load ejection / recovery mechanism having a clutching function according to claim 1 or 7, wherein When the payload is recovered, the ejection sleeve (20) moves to the initial position, the ejection sleeve locking rod (17) moves to the ejection sleeve locking pin (24), until the payload is recovered to the position, then 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 having a clutching function according to claim 8, wherein When the ejection sleeve (20) moves to the initial position, the transmission frame unlocking actuator rod (18) pushes the transmission frame limit pin actuator rod (39) to rotate, and drives the wire shaft (2) fixing rod to move; The end of the wire shaft (2) fixing rod near the wire shaft (2) has a protrusion, when the payload is recovered to the position, the protrusion of the wire shaft (2) fixing rod sticks to the disc at the edge of the wire shaft (2), so as to fix the wire shaft (2) through friction, and the wire shaft (2) is locked.

10. The load ejection / recovery mechanism having a clutching function according to claim 9, wherein When the ejection sleeve (20) and the wire shaft (2) are locked, the transmission frame unlocking actuator rod (18) on the ejection sleeve (20) pushes the transmission frame limit pin actuator rod (39) and the transmission frame limit pin (47) to act, and the transmission frame (7) is unlocked; When the payload is ejected, the transmission frame (7) moves to drive the sleeve unlocking rod to move, and pushes the ejection sleeve locking pin (24) to move upward to unlock the ejection sleeve (20).

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