High overload resistant connection and separation device with high separation time stability

Abstract

The invention provides a high-overload-resistant connection and separation device with high separation time stability. The high-overload-resistant connection and separation device comprises a base, an upper frame, a lower frame, a series toggle mechanism, an electromagnetic locking mechanism, a fixing part, an adapter, a starting end interconnection part and a tail end interconnection part. The base is respectively connected with the upper frame and the lower frame, and the fixing piece is respectively connected with the upper frame and the lower frame to form a stable frame; the electromagnetic locking mechanism is fixedly connected to the upper frame, and the series toggle mechanisms are fixedly connected with the upper frame and comprise a plurality of sets of series toggle mechanisms which are symmetrically arranged up and down; the upper end of the starting end interconnecting piece is fixedly connected with the electromagnetic locking mechanism, the lower end of the starting end interconnecting piece is fixedly connected with the series toggle mechanisms, and the tail end interconnecting piece is fixedly connected with the series toggle mechanisms at the same time. According to the invention, high overload can be resisted, and accurate separation is realized with high separation time stability.

Description

Technical Field

[0001] The present invention relates to the field of deep space exploration technology, and in particular to a high-overload resistant connection and separation device with high separation time stability, which is used for lunar-based rotating electromagnetic launch. Background Art

[0002] The development and utilization of lunar resources is a key goal of future lunar exploration. From an economic perspective, a key bottleneck hindering lunar resource development and utilization is the prohibitively high cost of returning them to Earth. Currently, the most common lunar-to-Earth return technology relies on chemical-fueled rockets or ascenders. This consumes large amounts of fuel, which must be carried from Earth. Furthermore, the ascender requires in-orbit docking and other operations, increasing system complexity.

[0003] The lunar-based rotary launch system is a launch system based on electromagnetic propulsion, which is similar to the principle of a centrifuge. It can directly send the returner into the lunar-to-Earth transfer orbit, avoiding fuel consumption, and the return process is simple and reliable. During the operation of the lunar-based rotary launch system, the returner is installed at the end of the spiral arm, and the spiral arm rotates at high speed. The centrifugal acceleration of the returner can reach more than 10,000 g, thereby generating a huge centrifugal force. According to the requirement of direct orbit entry, the returner needs to be separated from the spiral arm at a specified position, and the position error requirement is extremely high. Therefore, one of the key links that limits the effectiveness of the lunar-based rotary launch system is to achieve precise separation under high overload conditions. In order to achieve large load capacity or high separation time stability, some connection and separation devices have been proposed, but they all have deficiencies to varying degrees, as recorded in the following published patent applications:

[0004] The technical problem solved by Chinese invention patent CN110654578B (A novel high-load, low-impact linear connection and separation mechanism for aerospace) is to provide a novel high-load, low-impact linear connection and separation mechanism for aerospace, which utilizes the shape memory effect of SMA to trigger actuation and provides a connection and separation mechanism with high reliability, large load capacity and low impact. However, it does not mention how to withstand ultra-high overloads exceeding 10,000 g.

[0005] The technical problem solved by Chinese patent application CN118928812A (A satellite-rocket separation device with single-point triggering and multi-point synchronous unlocking) is to provide a satellite-rocket separation device with single-point triggering and multi-point synchronous unlocking, so as to simplify the structure of the synchronous separation connection and separation device, increase its load-lifting coefficient, and at the same time improve the unlocking response speed and unlocking synchronization, and reduce the release impact. However, it does not mention how to resist ultra-high overloads of more than 10,000 g.

[0006] Chinese patent application CN119914136A (A hatch latch mechanism for a manned centrifuge) is based on the principle of a toggle mechanism and adopts a double over-dead-point self-locking design of a latch mechanism and a handle mechanism to ensure that it is not easily opened by external forces in overload or vibration environments, and unlocking is convenient and quick. However, it does not mention how to achieve high separation time stability.

[0007] In summary, the above patent applications fail to solve the problem of achieving precise separation with high separation time stability under high overload conditions. Summary of the Invention

[0008] In order to solve the above technical problems, the present invention provides a high-overload resistant connection and separation device with high separation time stability, which can resist high overload and achieve precise separation with high separation time stability.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A high overload resistant connection and separation device with high separation time stability comprises a base, an upper frame, a lower frame, a serial toggle mechanism, an electromagnetic locking mechanism, a fixing part, a switching part, a starting interconnection part and an end interconnection part; the base is connected to the upper frame and the lower frame respectively, and the fixing part is connected to the upper frame and the lower frame respectively to form a stable frame; the electromagnetic locking mechanism is fixedly connected to the upper frame, and the serial toggle mechanism is fixedly connected to the upper frame through a clamping hinge seat, a first hinge seat, a second hinge seat, a third hinge seat and a fourth hinge seat, and comprises several sets of upper and lower hinge seats. The centrally symmetrically arranged serial toggle mechanisms are respectively fixedly connected to the upper frame and the lower frame in the above-mentioned manner; the upper end of the starting interconnection part is fixedly connected to the electromagnetic locking mechanism, and the lower end is fixedly connected to the serial toggle mechanism, and the terminal interconnection part is fixedly connected to several serial toggle mechanisms at the same time; in the locked state, centrifugal force acts on the adapter, and there is a second inclined surface and a second end surface in the middle of the terminal interconnection part, and there is a first inclined surface and a first end surface on the adapter, and the adapter is clamped by the upper and lower terminal interconnections, the first inclined surface is in contact with the second inclined surface, and the first end surface is in contact with the second end surface.

[0011] Furthermore, the serial toggle mechanism includes a first toggle mechanism, a second toggle mechanism, a third toggle mechanism, a fourth toggle mechanism and a clamping mechanism; the clamping mechanism is hinged to the first toggle mechanism through a second clamping mechanism rotation pair, the first toggle mechanism is hinged to the second toggle mechanism through a first control point rotation pair, the second toggle mechanism is hinged to the third toggle mechanism through a second control point rotation pair, and the third toggle mechanism is hinged to the fourth toggle mechanism through a third control point rotation pair; the end of the clamping mechanism is fixedly connected to the end interconnecting member, and in a locked state, the upper and lower end interconnecting members rely on the second inclined surface and the second end surface to constrain the adapter; the fourth toggle mechanism is controlled by an electromagnetic locking mechanism, and in the locked state, the electromagnetic locking mechanism is energized, the armature is attracted under the action of electromagnetic force, driving the serial toggle mechanism to move, and then clamping the adapter; in the unlocked state, the electromagnetic locking mechanism is de-energized, the electromagnetic force disappears, the adapter relies on the first inclined surface to drive the end interconnecting member to move, and the armature is pulled out through the serial toggle mechanism until the adapter and the end interconnecting member are out of contact, thereby achieving separation.

[0012] Furthermore, the clamping mechanism is composed of a clamping hinge seat, a first clamping mechanism rotating pair, a clamping link, a second clamping mechanism rotating pair, a third end cover, and a fourth end cover; the first clamping mechanism rotating pair is composed of a main shaft, a first rolling bearing group, a second rolling bearing group, a first locking nut, and a second locking nut, the first rolling bearing group and the second rolling bearing group are respectively inserted into the main shaft from both sides, and the first locking nut and the second locking nut are respectively screwed into the main shaft through threads; the clamping hinge seat is installed on the upper frame, one end of the clamping link forms a movable joint with the clamping hinge seat through the first clamping mechanism rotating pair, and the other end forms a movable joint with the first control arm rod through the second clamping mechanism rotating pair, and the third end cover and the fourth end cover are fixedly connected to the clamping link, so that the clamping link and the first clamping mechanism rotating pair and the second clamping mechanism rotating pair remain relatively stationary in the axial direction.

[0013] Furthermore, the first toggle mechanism is composed of a first control arm, a first arm, a first hinge, a first hinge rotation pair, a first control point rotation pair, a first end cover, and a second end cover. The first hinge is installed on the upper frame. One end of the first arm forms a movable joint with the first hinge through the first hinge rotation pair, and the other end forms a movable joint with the first control arm through the first control point rotation pair. The first hinge rotation pair structure is consistent with the first clamping mechanism rotation pair structure.

[0014] Furthermore, the electromagnetic locking mechanism is composed of a base iron, a coil, a yoke, a linear bearing, and an armature. The base iron and the yoke are fixedly connected to form a shell and serve to close the magnetic circuit. The coil is installed on the base iron, and the linear bearing is installed on the yoke. The armature is cylindrical and can move through the linear bearing. The base iron serves to limit the armature.

[0015] Furthermore, the adapter includes a first inclined surface and a first end surface, the first inclined surface is located at the transition between the two planes of the adapter and fits with the second inclined surface when clamped; the first end surface is located on the side of the adapter and fits with the second end surface when clamped.

[0016] Furthermore, the device also includes a pre-start control strategy, that is, on the premise of obtaining the separation time characteristics of the device, the controller obtains the real-time position and speed information of the returner, and executes the separation command in advance based on the prior data of the separation time to eliminate the separation position deviation caused by the time difference caused by the control signal delay and the mechanism action.

[0017] Furthermore, the bearing raceways of the rolling bearing group of the device are coated with a molybdenum disulfide solid lubricating film, which can achieve effective lubrication under intermittent short-range motion conditions and reduce motion wear. At the same time, it can avoid the lubricant aging problem caused by the space environment and ensure the stability of the device's dynamic characteristics.

[0018] Furthermore, the control arms of the toggle mechanisms at each stage of the device can drive the toggle mechanisms to move with a smaller force. Therefore, the force values required to control the arms of the fourth toggle mechanism, the third toggle mechanism, the second toggle mechanism, and the first toggle mechanism decrease step by step, that is, the forces decrease step by step. In this way, the radial dimensions of the rotating pairs and the arm dimensions of the series toggle mechanisms also decrease step by step.

[0019] Furthermore, the electromagnetic force of the electromagnetic locking mechanism is approximately linearly related to the movement stroke, so that the armature can be attracted and reset by the electromagnetic force within the stroke range.

[0020] Beneficial effects:

[0021] 1. The present invention utilizes the huge centrifugal force of the returner during high-speed rotation as the separation power, which is beneficial to reducing the execution time of the separation action, while avoiding the use of a large drive mechanism and achieving a lightweight design;

[0022] 2. The present invention utilizes the force amplification effect of the toggle mechanism. By connecting multiple toggle mechanisms in series, that is, the output arm of the next stage serves as the control arm of the previous stage, the huge centrifugal force generated by the returner is gradually reduced to the working range of the electromagnetic locking mechanism. The number of series toggle mechanisms and the number of parallel working sets of the series toggle mechanisms can be matched according to actual needs.

[0023] 3. The present invention utilizes a rolling bearing group to form a revolving pair, which can reduce the friction coefficient, improve the motion sensitivity of the mechanism, and thus reduce the execution time of the separation action; the locking nut is used to lock and eliminate the gap between the bearing rolling element and the raceway, thereby eliminating the dynamic nonlinearity of the mechanism caused by the active gap and improving the stability of the separation time;

[0024] 4. The present invention utilizes a molybdenum disulfide solid lubricating film to achieve effective lubrication of bearings under intermittent short-range motion conditions, solving the problem of being unable to form a continuous and effective liquid lubricating film based on relative motion speed, thereby reducing motion wear. Furthermore, the molybdenum disulfide solid lubricating film has stable properties, which can avoid lubricant aging problems caused by the space environment, thereby ensuring the long-term stability of the mechanism's dynamic characteristics.

[0025] 5. The present invention uses electromagnetic force to achieve locking control. After the electromagnetic locking mechanism is powered off, it automatically performs the unlocking action under the action of centrifugal force. The separation time depends entirely on the magnitude of the centrifugal force and the dynamic characteristics of the mechanism, without other interference factors, which is conducive to improving the stability of the separation time.

[0026] 6. The present invention uses a starting interconnection member to securely connect the input arms of each serial toggle mechanism, and a terminal interconnection member to securely connect the ends of each clamping mechanism, thereby ensuring the consistency of the unlocking action time of each serial toggle mechanism and thereby improving the stability of the separation time.

[0027] 7. The present invention uses a pre-start method to achieve precise separation, that is, under the premise of obtaining the separation time characteristics, the controller obtains the real-time position and speed information of the returner, and executes the separation command in advance based on the prior data of the separation time to eliminate the separation position deviation caused by the time difference caused by the control signal delay and the mechanism action. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the locking state of the connecting and disconnecting device in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of multiple sets of series-connected toggle mechanisms working in parallel in an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of the composition of the series toggle mechanism in an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of the clamping mechanism and the first toggle mechanism in an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of the rotating pair of the first clamping mechanism in an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the first control point rotation pair in an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the electromagnetic locking mechanism in an embodiment of the present invention;

[0035] Figure 8 Schematic diagram of an adapter in an embodiment of the present invention;

[0036] Figure 9This is a schematic diagram of the unlocked state of the connection and separation device in an embodiment of the present invention;

[0037] Figure 10 This is a schematic diagram of precise separation control logic in an embodiment of the present invention;

[0038] Figure 11 Schematic diagram of the appearance of the connecting and separating device in an embodiment of the present invention.

[0039] Among them, the accompanying drawings are marked as follows: base 1, upper frame 2, lower frame 3, serial toggle mechanism 4, electromagnetic locking mechanism 5, fixing part 6, adapter 7, starting interconnection part 8, end interconnection part 9, first toggle mechanism 41, second toggle mechanism 42, third toggle mechanism 43, fourth toggle mechanism 44, clamping mechanism 45, first control arm 411, first arm 412, first hinge 413, first hinge rotation pair 414, first control point rotation pair 415, first end cover 416, second end cover 417, second control arm 421, second hinge 422, second control point rotation pair 423, third hinge 431, third control point rotation pair 43 2. Fourth hinge seat 442, input arm 441, clamping hinge seat 451, first clamping mechanism rotating pair 452, clamping link 453, second clamping mechanism rotating pair 454, third end cover 455, fourth end cover 456, spindle 4521, first rolling bearing group 4522, second rolling bearing group 4523, first locking nut 4524, second locking nut 4525, clamping mechanism end 4531, rolling bearing 45221, first inclined surface 71, second inclined surface 91, first end face 72, second end face 92, bottom iron 51, coil 52, yoke 53, linear bearing 54, armature 55, spindle 4151, bearing group 4152. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0041] like Figure 1 and Figure 2As shown, a high-overload-resistant connection and separation device with high separation time stability according to the present invention includes a base 1, an upper frame 2, a lower frame 3, a serial toggle mechanism 4, an electromagnetic locking mechanism 5, a fixing member 6, an adapter 7, a starting interconnection member 8, and a terminal interconnection member 9. The base 1 is connected to the upper frame 2 and the lower frame 3, respectively, and the fixing member 6 is connected to the upper frame 2 and the lower frame 3, respectively. In this way, the base 1, the upper frame 2, the lower frame 3, and the fixing member 6 form a stable frame. The electromagnetic locking mechanism 5 is fixedly connected to the upper frame 2, and the serial toggle mechanism 4 is fixedly connected to the upper frame 2 via a clamping hinge 451, a first hinge 413, a second hinge 422, a third hinge 431, and a fourth hinge 442. The connection and separation device includes several sets of serial toggle mechanisms 4 arranged symmetrically in an upper and lower center, respectively fixedly connected to the upper frame 2 and the lower frame 3 in the above manner. The upper end of the starting interconnection member 8 is fixedly connected to the electromagnetic locking mechanism 5, and the lower end is fixedly connected to the serial toggle mechanism 4. The end interconnecting member 9 is simultaneously fixedly connected to the plurality of serial toggle mechanisms 4. In the locked state, centrifugal force F acts on the adapter 7. A second inclined surface 91 and a second end surface 92 are formed in the middle of the end interconnecting member 9. The adapter 7 has a first inclined surface 71 and a first end surface 72. The upper and lower end interconnecting members 9 clamp the adapter 7, with the first inclined surface 71 aligned with the second inclined surface 91, and the first end surface 72 aligned with the second end surface 92.

[0042] Preferably, Figure 3 As shown, the tandem toggle mechanism 4 includes a first toggle mechanism 41, a second toggle mechanism 42, a third toggle mechanism 43, a fourth toggle mechanism 44, and a clamping mechanism 45. The clamping mechanism 45 is articulated to the first toggle mechanism 41 via a second clamping mechanism rotational pair 454. The first toggle mechanism 41 is articulated to the second toggle mechanism 42 via a first control point rotational pair 415. The second toggle mechanism 42 is articulated to the third toggle mechanism 43 via a second control point rotational pair 423. The third toggle mechanism 43 is articulated to the fourth toggle mechanism 44 via a third control point rotational pair 432. The end 4531 of the clamping mechanism is fixedly connected to the end interconnecting member 9. In the locked state, the upper and lower end interconnecting members 9 rely on the second inclined surface 91 and the second end surface 92 to constrain the adapter 7; the fourth toggle mechanism 44 is controlled by the electromagnetic locking mechanism 5. In the locked state, the electromagnetic locking mechanism 5 is energized, and the armature 55 is attracted under the action of the electromagnetic force, driving the series toggle mechanism 4 to move, thereby clamping the adapter 7. In the unlocked state, the electromagnetic locking mechanism 5 is de-energized, and the electromagnetic force disappears. The adapter 7 relies on the first inclined surface 71 to drive the end interconnecting member 9 to move, and the armature 55 is pulled out through the series toggle mechanism 4 until the adapter 7 and the end interconnecting member 9 are out of contact, thereby achieving separation.

[0043] Preferably, Figure 4As shown, the clamping mechanism 45 is composed of a clamping hinge 451, a first clamping mechanism rotating pair 452, a clamping link 453, a second clamping mechanism rotating pair 454, a third end cover 455, and a fourth end cover 456; the clamping link 453 includes a clamping mechanism end 4531, and the end interconnecting member 9 is fixed on the clamping mechanism end 4531.

[0044] Preferably, Figure 5 As shown, the first clamping mechanism rotational pair 452 consists of a spindle 4521, a first rolling bearing group 4522, a second rolling bearing group 4523, a first locking nut 4524, and a second locking nut 4525. The first and second rolling bearing groups 4522, 4523 are inserted into the spindle 4521 from both sides, and the first and second locking nuts 4524, 4525 are screwed into the spindle 4521. The first and second rolling bearing groups 4522, 4523 each consist of two rolling bearings 45221. The second clamping mechanism rotational pair 454 has the same components as the first clamping mechanism rotational pair 452. The clamping hinge 451 is installed on the upper frame 2, and one end of the clamping link 453 forms a movable joint with the clamping hinge 451 through the first clamping mechanism rotating pair 452, and the other end of the clamping link 453 forms a movable joint with the first control arm 411 through the second clamping mechanism rotating pair 454. The third end cover 455 and the fourth end cover 456 are fixedly connected to the clamping link 453, so that the clamping link 453 and the first clamping mechanism rotating pair 452 and the second clamping mechanism rotating pair 454 remain relatively stationary in the axial direction.

[0045] Preferably, Figure 4 As shown, the first elbow mechanism 41 is composed of a first control arm 411, a first arm 412, a first hinge 413, a first hinge rotation pair 414, a first control point rotation pair 415, a first end cover 416, and a second end cover 417. The first hinge 413 is installed on the upper frame 2, and one end of the first arm 412 forms a movable joint with the first hinge 413 through the first hinge rotation pair 414, and the other end of the first arm 412 forms a movable joint with the first control arm 411 through the first control point rotation pair 415. The structure of the first hinge rotation pair 414 is consistent with the structure of the first clamping mechanism rotation pair 452.

[0046] like Figure 6 As shown, a bearing assembly 4152 is mounted on one side of the spindle 4151 of the first control point rotation pair 415. The second control arm 421 of the second toggle mechanism 42 forms a movable joint with the bearing assembly 4152. The internal structure and interconnection of the second, third, and fourth toggle mechanisms 42, 43, and 44 are identical to those of the first toggle mechanism. The input arm 441 of the fourth toggle mechanism 44 is arranged vertically in the locked state.

[0047] like Figure 7As shown, the electromagnetic locking mechanism 5 consists of a base iron 51, a coil 52, a yoke 53, a linear bearing 54, and an armature 55. The base iron 51 and the yoke 53 are fixedly connected to form a shell and serve to close the magnetic circuit. The coil 52 is mounted on the base iron 51, the linear bearing 54 is mounted on the yoke 53, and the armature 55 is cylindrical and can move through the linear bearing 54. The base iron 51 serves to limit the armature 55.

[0048] like Figure 8 As shown, the adapter 7 includes a first inclined surface 71 and a first end surface 72. The first inclined surface 71 is located at the transition between the two planes of the adapter 7 and fits with the second inclined surface 91 when clamped; the first end surface 72 is located on the side of the adapter 7 and fits with the second end surface 92 when clamped.

[0049] The specific working principle of the present invention is:

[0050] In the locked state, the coil 52 of the electromagnetic locking mechanism 5 is energized, and the coil 52 generates a magnetic field, which closes the magnetic circuit through the base iron 51, the yoke 53, and the armature 55. Under the action of the electromagnetic force, the armature 55 moves axially along the linear bearing 54 until it contacts the base iron 51. The armature 55 drives the starting interconnection member 8 to move, and then drives the fourth toggle mechanism 44 to move. The fourth toggle mechanism 44 drives the third toggle mechanism 43 to move. The third toggle mechanism 43 drives the second toggle mechanism 42 to move. The second toggle mechanism 42 drives the first toggle mechanism 41 to move. The first toggle mechanism 41 drives the clamping mechanism 45 to move, and the clamping link 453 rotates clockwise around the first clamping mechanism rotating pair 452. Since the connection and separation device includes several sets of series toggle mechanisms 4 that are symmetrically arranged in the upper and lower centers, the clamping link 453 installed on the lower frame 3 will correspondingly rotate counterclockwise around its first clamping mechanism rotating pair 452. In this way, the distance between the two upper and lower symmetrical end interconnecting parts 9 is reduced until the adapter 7 is clamped, the first inclined surface 71 and the second inclined surface 91 are in contact, and the first end face 72 is in contact with the second end face 92. When high-speed rotation begins, the centrifugal force of the returner acts on the adapter 7, and the end interconnecting part 9 clamps the adapter 7 by relying on the second inclined surface 91 and the first inclined surface 71. At this time, the force is transmitted to the end interconnecting part 9 through the adapter 7, and the end interconnecting part 9 transmits the force to the end 4531 of each clamping mechanism. The series elbow mechanism 4 uses the force amplification effect of the elbow mechanism to reduce the centrifugal force step by step through the first elbow mechanism 41, the second elbow mechanism 42, the third elbow mechanism 43, and the fourth elbow mechanism 44 in sequence. Because the electromagnetic locking mechanism 5 and the input arm rod 441 of the fourth elbow mechanism 44 are colinearly arranged in the locked state, the electromagnetic force of the electromagnetic locking mechanism 5 is greater than the force on the input arm rod 441 of the fourth elbow mechanism 44, and effective locking can be achieved.

[0051] like Figure 9As shown, when unlocking is required, the electromagnetic locking mechanism 5 is powered off, its electromagnetic force disappears, and the input arm 441 is pulled outward from the electromagnetic locking mechanism 5 under the action of external force, thereby driving the first toggle mechanism 41 to move, and in turn driving the second toggle mechanism 42, the third toggle mechanism 43, and the fourth toggle mechanism 44, the clamping link 453 rotates counterclockwise around the first clamping mechanism rotating pair 452, and correspondingly, the clamping link 453 installed on the lower frame 3 will rotate clockwise around its first clamping mechanism rotating pair 452, so that the distance between the two upper and lower symmetrical end interconnecting parts 9 increases until the adapter 7 is released.

[0052] The armature 55 has a large stroke. When the armature 55 is far away from the base iron 51, the electromagnetic force is small. Therefore, the force generated by the main magnetic flux and the leakage magnetic flux between the armature 55 and the base iron 51 are used together to form an electromagnetic attraction, so that the electromagnetic force and the movement stroke of the armature 55 are approximately linearly related within the stroke range, so that the electromagnetic locking mechanism 5 can rely on the electromagnetic force to attract and reset the armature 55 in the unlocked state.

[0053] In the tandem toggle mechanism 4, each toggle mechanism's control arm can be driven with relatively small forces. Therefore, the forces required to control the arms of the fourth toggle mechanism 44, the third toggle mechanism 43, the second toggle mechanism 42, and the first toggle mechanism 41 decrease in magnitude, i.e., the forces applied decrease in magnitude. Consequently, the radial dimensions of the revolving pairs and the arm dimensions of the tandem toggle mechanism also decrease in magnitude. The first and second rolling bearing groups 4522, 4523, and the like are all composed of rolling bearings, and are locked with locking nuts to eliminate clearance between the bearing rolling elements and the raceways. This eliminates the mechanism's dynamic nonlinearity caused by the active clearance, thereby improving the stability of the separation time. The separation process involves intermittent, short-range motion, and a continuous, effective liquid lubrication film cannot be formed between the relatively moving surfaces based on relative motion speed. The raceways of rolling bearings 45221 and the like are coated with a molybdenum disulfide solid lubricant film, enabling effective lubrication under intermittent, short-range motion conditions, reducing wear. Furthermore, this film prevents lubricant aging caused by the space environment, ensuring the stability of the device's dynamic characteristics.

[0054] like Figure 10 As shown in the figure, the returner is required to separate at a fixed position. In terms of control strategy, the pre-start method is used to achieve precise separation. That is, on the premise of obtaining the separation time characteristics of the device, the controller obtains the real-time position and speed information of the returner, and relies on the prior data of the separation time to execute the separation command in advance to eliminate the separation position deviation caused by the time difference caused by the control signal delay and the mechanism action.

[0055] like Figure 11 As shown, the connecting and disconnecting device is composed of several sets of serially connected toggle mechanisms 4 that are arranged symmetrically in the upper and lower centers.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high overload resistant connection and separation device with high separation time stability, characterized in that: The invention comprises a base, an upper frame, a lower frame, a serial toggle mechanism, an electromagnetic locking mechanism, a fixing part, an adapter, a starting interconnection part and an end interconnection part; the base is connected to the upper frame and the lower frame respectively, and the fixing part is connected to the upper frame and the lower frame respectively to form a stable frame; the electromagnetic locking mechanism is fixedly connected to the upper frame, the serial toggle mechanism is fixedly connected to the upper frame through a clamping hinge, a first hinge, a second hinge, a third hinge and a fourth hinge, and comprises several sets of serial toggle mechanisms arranged symmetrically in the upper and lower centers, which are respectively fixedly connected to the upper frame and the lower frame in the above manner; the upper end of the starting interconnection part is fixedly connected to the electromagnetic locking mechanism, and the lower end is fixedly connected to the serial toggle mechanism, and the end interconnection part is fixedly connected to several serial toggle mechanisms at the same time; in the locked state, centrifugal force acts on the adapter, a second inclined surface and a second end surface are present in the middle of the end interconnection part, and a first inclined surface and a first end surface are present on the adapter, the upper and lower end interconnections clamp the adapter, the first inclined surface is in contact with the second inclined surface, and the first end surface is in contact with the second end surface.

2. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The serial toggle mechanism includes a first toggle mechanism, a second toggle mechanism, a third toggle mechanism, a fourth toggle mechanism and a clamping mechanism; the clamping mechanism is hinged to the first toggle mechanism via a second clamping mechanism rotation pair, the first toggle mechanism is hinged to the second toggle mechanism via a first control point rotation pair, the second toggle mechanism is hinged to the third toggle mechanism via a second control point rotation pair, and the third toggle mechanism is hinged to the fourth toggle mechanism via a third control point rotation pair; the end of the clamping mechanism is fixedly connected to the end interconnecting member, and in a locked state, the upper and lower end interconnecting members constrain the adapter by means of the second inclined surface and the second end surface; the fourth toggle mechanism is controlled by an electromagnetic locking mechanism, and in the locked state, the electromagnetic locking mechanism is energized, the armature is attracted by the electromagnetic force, and the serial toggle mechanism is driven to move, thereby clamping the adapter; in the unlocked state, the electromagnetic locking mechanism is de-energized, the electromagnetic force disappears, the adapter drives the end interconnecting member to move by means of the first inclined surface, and the armature is pulled out through the serial toggle mechanism until the adapter and the end interconnecting member are disengaged, thereby achieving separation.

3. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The clamping mechanism is composed of a clamping hinge seat, a first clamping mechanism rotating pair, a clamping link, a second clamping mechanism rotating pair, a third end cover, and a fourth end cover; the first clamping mechanism rotating pair is composed of a central shaft, a first rolling bearing group, a second rolling bearing group, a first locking nut, and a second locking nut. The first rolling bearing group and the second rolling bearing group are respectively inserted into the central shaft from both sides, and the first locking nut and the second locking nut are respectively screwed into the central shaft through threads; the clamping hinge seat is installed on the upper frame, and one end of the clamping link forms a movable joint with the clamping hinge seat through the first clamping mechanism rotating pair, and the other end forms a movable joint with the first control arm rod through the second clamping mechanism rotating pair. The third end cover and the fourth end cover are fixedly connected to the clamping link, so that the clamping link and the first clamping mechanism rotating pair and the second clamping mechanism rotating pair remain relatively stationary in the axial direction.

4. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The first toggle mechanism consists of a first control arm, a first arm, a first hinge, a first hinge rotation pair, a first control point rotation pair, a first end cover, and a second end cover. The first hinge is installed on the upper frame. One end of the first arm forms a movable joint with the first hinge through the first hinge rotation pair, and the other end forms a movable joint with the first control arm through the first control point rotation pair. The first hinge rotation pair structure is consistent with the first clamping mechanism rotation pair structure.

5. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The electromagnetic locking mechanism consists of a base iron, a coil, a yoke, a linear bearing, and an armature. The base iron and the yoke are fixedly connected to form a shell and serve to close the magnetic circuit. The coil is mounted on the base iron, and the linear bearing is mounted on the yoke. The armature is cylindrical and can move through the linear bearing. The base iron serves to limit the armature.

6. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The adapter includes a first inclined surface and a first end surface. The first inclined surface is located at the transition between the two planes of the adapter and fits with the second inclined surface when clamped. The first end surface is located on the side of the adapter and fits with the second end surface when clamped.

7. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The device also includes a pre-start control strategy, that is, on the premise of obtaining the separation time characteristics of the device, the controller obtains the real-time position and speed information of the returner, and executes the separation command in advance based on the prior data of the separation time to eliminate the separation position deviation caused by the time difference caused by the control signal delay and the mechanism action.

8. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The bearing raceways of the rolling bearing group of the device are coated with a molybdenum disulfide solid lubricating film, which can achieve effective lubrication under intermittent short-range motion conditions and reduce motion wear. At the same time, it can avoid the lubricant aging problem caused by the space environment and ensure the stability of the device's dynamic characteristics.

9. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The toggle mechanisms of each stage of the device control the arm rods and can drive the toggle mechanisms to move with a smaller force. Therefore, the force values required to control the arm rods of the fourth toggle mechanism, the third toggle mechanism, the second toggle mechanism, and the first toggle mechanism decrease step by step, that is, the force decreases step by step. In this way, the radial size of the rotating pair and the arm rod size of the series toggle mechanism also decrease step by step.

10. The high overload resistant connection and separation device with high separation time stability according to claim 1, characterized in that: The electromagnetic force of the electromagnetic locking mechanism is approximately linearly related to the movement stroke, so that the armature can be attracted and reset by the electromagnetic force within the stroke range.

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