Large load wire nut floating repeatable capture locking mechanism
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2026-05-20
- Publication Date
- 2026-07-24
Smart Images
Figure CN122443722A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aerospace technology, and is particularly applicable to applications of on-orbit locking and on-orbit reusable release of space payloads. Specifically, it relates to a large-load-bearing nut swimming reusable capture and locking mechanism. Background Technology
[0002] With the rapid development of the global space industry, deep space exploration and on-orbit servicing are continuously advancing, and the construction and application of platforms such as space stations and space shuttles are increasing. Against this backdrop, the locking and separation of spacecraft or spacecraft components, as a key technology for on-orbit maintenance, servicing, and support, has wide-ranging application needs in space missions.
[0003] Currently, most widely used locking and releasing devices are based on the principle of pyrotechnic explosion, possessing advantages such as high load-bearing capacity and simple structure, and have formed a relatively mature product system in the aerospace field. However, such devices also have some significant drawbacks, such as: the violent vibrations and impacts generated during unlocking and separation may damage peripheral equipment such as electronic components; the unlocking process involves a large amount of contaminants; and the structure lacks reusability, making it difficult to fully meet the requirements of repeatability, low impact, and high cleanliness for on-orbit maintenance and service missions. With the rapid development of aerospace technology, shape memory alloy locking and separation devices, motor-driven locking and separation devices, and electromagnetic locking and separation devices have replaced traditional pyrotechnic mechanisms in some scenarios. These driving methods can be reused, but shape memory alloy locking and separation devices have limited driving power and long response time, while electromagnetic locking and separation devices have complex structures and are only suitable for flexible docking.
[0004] In summary, the existing technology has its problems, and there is an urgent need to develop a docking and locking mechanism suitable for space-constrained applications in the aerospace field, but requiring high preload or high load. Summary of the Invention
[0005] This invention addresses the technical problems of existing locking and releasing devices, such as large impact from rigid locking and difficulty in accurately applying preload. It proposes a high-load-bearing, repeatedly capture and lock mechanism for the moving nut.
[0006] The technical solution adopted by the present invention to solve the above problems is as follows: This invention proposes a high-capacity, repetitive capture and locking mechanism for a moving nut, comprising an active end and a passive end. The active end includes a drive assembly, a lead screw transmission assembly, and a locking hook assembly. The passive end includes a locking ring assembly. The drive assembly is connected to the lead screw transmission assembly, which is also connected to the locking hook assembly. The drive assembly drives the locking hook assembly to open or close. The locking hook assembly cooperates with the locking ring assembly of the passive end to achieve capture, locking, and unlocking.
[0007] Furthermore, the drive assembly includes a motor output shaft, a first cylindrical gear, and a second cylindrical gear. The motor output shaft and the second cylindrical gear are connected by a key and a keyway. The second cylindrical gear meshes with the first cylindrical gear, and the first cylindrical gear is connected to the lead screw drive assembly.
[0008] Furthermore, the lead screw drive assembly includes a lead screw, a lead screw nut, and a lead screw nut. The lead screw and the lead screw nut are screwed together, and the bottom of the lead screw nut is connected to the first cylindrical gear through the lead screw nut.
[0009] Furthermore, the active end also includes a support structure, which includes an active end interface plate, a square sleeve, a round sleeve, a main sleeve, and a relay plate. The square sleeve, the main sleeve, and the round sleeve are connected sequentially from top to bottom. The relay plate is located between the main sleeve and the square sleeve. The square sleeve is fixed to the active end interface plate to form a rigid load-bearing frame.
[0010] Furthermore, the locking hook assembly includes a first locking hook, a second locking hook, a hook pin, and a torsion spring. The first locking hook and the second locking hook are arranged opposite each other and are respectively hinged to the top of a corresponding hook pin and a lead screw. Each hook pin is fitted with a torsion spring. The first locking hook and the second locking hook are in an open V-shape in the capture state. In the locked state, the first locking hook and the second locking hook are retracted into the square sleeve, and their backs are parallel to the inner wall of the square sleeve.
[0011] Furthermore, the active end also includes a sensor sleeve and a sensor, the sensor being connected to the circular sleeve through the sensor sleeve.
[0012] Furthermore, the active end also includes a locking micro switch, a locking row opening frame, an unlocking micro switch, an unlocking row opening frame, and a micro switch bracket. The micro switch bracket is installed on the upper surface of the bottom of the circular sleeve, and the locking micro switch is connected to the micro switch bracket through the locking row opening frame; the unlocking micro switch is connected to the square sleeve through the unlocking row opening frame.
[0013] Furthermore, the locking ring assembly is mounted on the passive end interface board. The locking ring assembly includes a locking ring screw, a locking ring spring, a lower locking ring portion and an upper locking ring portion. The upper locking ring portion and the lower locking ring portion are slidably engaged. The locking ring screw passes through the upper locking ring portion and is threadedly connected to the lower locking ring portion. The locking ring spring is sleeved on the locking ring screw.
[0014] Furthermore, the upper surface of the active end interface board is provided with an active end positioning block that is positioned opposite to it, and the upper surface of the passive end interface board is provided with a passive end positioning block for cooperating with the active end positioning block.
[0015] Furthermore, the inner side of the active end positioning block is provided with a guide slope, and the outer side of the passive end positioning block is provided with a guide slope that cooperates with the active end positioning block.
[0016] The beneficial effects of this invention are: This invention, through precise design and optimization, enables repeated locking and releasing of spatial loads. In traditional lead screw drive systems, typically only the lead screw rotates and generates axial movement. However, in this invention, after the locking hook completes capture, the system enters the preload loading stage. At this point, the lead screw stops moving, while the nut rotates and feeds along the lead screw, driving the shim to compress the disc spring. This avoids the impact overload or component damage that might occur with rigid locking. By compressing the disc spring, tolerances and micro-deformations during the docking process can be absorbed, achieving high-precision preload loading with a small stroke. Even if the preload loosens due to long-term use, the elastic recovery of the disc spring can compensate to a certain extent, maintaining the reliability of the docking.
[0017] During the movement of the nut in this invention, the sensor readings can be monitored to determine whether the predetermined preload has been reached. Simultaneously, the forward movement of the nut drives the cylindrical gear, and the movement of the cylindrical gear triggers a locking microswitch, indicating that locking is complete. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the active end structure of the present invention; Figure 2 This is a front view of the repeatable capture locking mechanism of the present invention; Figure 3 This is a side view of the repeatable capture locking mechanism of the present invention; Figure 4 This is a schematic cross-sectional view of the repeatable capture and locking mechanism of the present invention; Figure 5 This is a schematic diagram of the passive end structure of the present invention; Figure 6 This is a schematic diagram of the locking ring assembly structure of the present invention; Figure 7 This is a schematic cross-sectional view of the locking ring assembly structure of the present invention; Figure 8 This is a schematic diagram of the upper part of the locking ring of the locking ring assembly of the present invention; Figure 9 This is a schematic diagram of the connection between the lead screw and the locking hook assembly of the present invention.
[0019] Explanation of reference numerals in the attached drawings: 101-Active end positioning block, 102-Drive assembly, 103-Active end interface board, 104-Trapezoidal screw transmission assembly, 105-Locking hook assembly; 201-First locking hook, 202-Unlocking micro switch, 203-Unlocking row opening, 204-Square sleeve, 205-Micro switch bracket, 206-Round sleeve, 207-Main sleeve, 208-Relay version; 301-Second locking hook, 302-Hook pin, 303-Locking micro switch, 304-Locking sliding bracket, 305-Torsion spring; 401-Lead screw, 402-First deep groove ball bearing, 403-Disc spring, 404-Washer, 405-Lead nut, 406-First cylindrical gear, 407-Lead nut, 408-Second cylindrical gear, 409-Motor output shaft, 410-Second deep groove ball bearing, 411-One-way thrust ball bearing, 412-Sensor sleeve, 413-Sensor; 501-Passive end interface board, 502-Locking ring assembly, 503-Passive end positioning block; 601-Locking ring spring, 602-Upper part of locking ring, 6021-Guide tilt angle; 701 - Locking ring screw, 702 - Lower part of locking ring. Detailed Implementation
[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0021] This embodiment provides a large-capacity, reusable capture and locking mechanism for a moving nut, comprising an active end and a passive end. The active end is connected to a spacecraft mounting frame, and the passive end is connected to a robotic arm. The passive end is moved to the capture range of the active end by the robotic arm and then locked.
[0022] like Figure 1 As shown, the active end includes a drive assembly 102, a lead screw drive assembly 104, and a locking hook assembly 105, all of which are connected to the support structure.
[0023] like Figure 1 , Figure 2 As shown, the support structure includes an active end interface plate 103, a square sleeve 204, a round sleeve 206, a main sleeve 207, and a relay plate 208. The square sleeve 204, the main sleeve 207, and the round sleeve 206 are connected sequentially from top to bottom. The relay plate 208 is located between the main sleeve 207 and the square sleeve 204. The square sleeve 204 is fixed to the active end interface plate 103 to form a rigid load-bearing frame.
[0024] Preferably, the active end interface board 103 is a rectangular plate, and its upper surface has a through hole for mounting with the square sleeve 204 and a through hole for mounting with the drive assembly 102 in the middle. Active end positioning blocks 101 are disposed opposite each other on the upper surface of the active end interface board 103. The two active end positioning blocks 101 are located on both sides of the locking hook assembly 105, and are used to cooperate with the passive end positioning block 503 of the passive end interface board 501. Preferably, the inner side of the active end positioning block 101 is provided with a guide slope, and the outer side of the passive end positioning block 503 is provided with a guide slope that cooperates with the active end positioning block 101. The active end positioning block and the passive end positioning block achieve docking guidance and positioning by the mutual contact of the slopes.
[0025] like Figure 4 As shown, the drive assembly 102 includes a motor output shaft 409, a first cylindrical gear 406, and a second cylindrical gear 408. The motor output shaft 409 and the second cylindrical gear 408 are connected by a key and a keyway. The second cylindrical gear 408 meshes with the first cylindrical gear 406. The first cylindrical gear 406 is connected to the lead screw drive assembly 104.
[0026] The lead screw drive assembly 104 includes a lead screw 401, a lead screw 405, and a lead screw nut 407. The lead screw 401 and the lead screw 405 are screwed together, and the bottom of the lead screw 405 is connected to the first cylindrical gear 406 through the nut 407.
[0027] Preferably, the lead screw 401 is a 5-start trapezoidal lead screw with external threads, and the lead nut is a 5-start trapezoidal lead nut with internal threads. The lead nut 405 is sleeved on the lower part of the lead screw 401, and the two are helically connected by the engagement of the external and internal threads. The lead nut 405 has a shoulder in the middle, and the top of the lead nut and the lower part of the shoulder are respectively provided with a first deep groove ball bearing 402 and a second deep groove ball bearing 410. Between the first deep groove ball bearing 402 and the shoulder, a compression disc spring 403, a washer 404 and a one-way thrust bearing 411 are arranged in sequence.
[0028] like Figure 2 , Figure 3 As shown, the locking hook assembly 104 includes a first locking hook 201, a second locking hook 301, a hook pin 302, and a torsion spring 305. The first locking hook 201 and the second locking hook 301 are arranged opposite to each other, and they are respectively hinged to the top of the lead screw 401 through a hook pin 302.
[0029] Specifically, the top end of the lead screw 401 is provided with a connecting part for hinged connection with the hook lock 302. This connecting part is in the form of a U-shaped frame, such as... Figure 9 As shown, two hook pins 302 are installed side by side in the U-shaped frame, and the two ends of each hook pin 302 are respectively hinged to the two vertical walls of the U-shaped frame; a torsion spring 305 is sleeved on each hook pin 302, and the lower ends of the first locking hook 201 and the second locking hook 301 are respectively rotatably engaged with the corresponding hook pin 302; the two torsion springs 305 act on the first locking hook 201 and the second locking hook 301 respectively, so that the first locking hook 201 and the second locking hook 301 are in an open V-shape in the capture state, and in the locked state, the two locking hooks are retracted into the square sleeve 204, and the back of the locking hook is parallel to the inner wall of the square sleeve 204.
[0030] Preferably, the upper inner side of the first locking hook 201 is provided with a protrusion, and the upper inner side of the second locking hook 301 is provided with a limiting groove that cooperates with the protrusion, so as to realize the closure of the first locking hook 201 and the second locking hook 301.
[0031] The active end also includes a sensor sleeve 412 and a sensor 413, wherein the sensor 413 is connected to the circular sleeve 206 through the sensor sleeve 412.
[0032] The active end also includes a locking micro switch 303, a locking frame 304, an unlocking micro switch 202, an unlocking frame 203, and a micro switch bracket 205. The micro switch bracket 205 is installed on the bottom upper surface of the circular sleeve 206. The locking micro switch 303 is connected to the micro switch bracket 205 through the locking frame 304. The unlocking micro switch 202 is connected to the square sleeve 204 through the unlocking frame 203.
[0033] like Figures 5 to 7 As shown, the passive end includes a locking ring assembly 502, which includes a locking ring screw 701, a locking ring spring 601, a lower locking ring portion 702, and an upper locking ring portion 602. The upper locking ring portion 602 includes an upper connecting plate and two upper connecting ends, each of which has a through hole. The lower locking ring portion 702 includes a lower connecting plate and two lower connecting ends, which are respectively inserted into the through holes of the corresponding upper connecting ends and are slidably connected. Each lower connecting end has an internal thread. The locking ring screw 701 passes through the upper connecting plate and is threadedly connected to the corresponding lower connecting end. The locking ring spring 601 is sleeved on the locking ring screw 701 and located between the upper connecting plate and the end of the locking ring screw 701.
[0034] The upper connecting plate of the upper part 602 of the locking ring is fixedly connected to the passive end interface plate 501. Since the position of the upper part 602 of the locking ring is fixed, during capture, the two locking hooks of the active end hook onto the lower connecting plate of the lower part 702 of the locking ring, thereby driving the lower part 702 of the locking ring and the locking ring screw 701 to compress the locking ring spring 601 and move it in the through hole of the upper part 602 of the locking ring until the shoulder of the locking ring screw 701 contacts the end face of the through hole of the upper part 602 of the locking ring. At this time, the lower part 702 of the locking ring stops moving, and the positions of all parts of the passive end are fixed.
[0035] Preferably, the inner end face of each upper connecting end of the upper portion 602 of the locking ring is provided with a guide angle 6021 for capture, such as... Figure 8 As shown, since there is a certain angle error during capture, this guide tilt design can eliminate the error and correct the passive end attitude.
[0036] The locking and unlocking process of this invention is as follows: like Figures 1 to 9As shown, the locking mechanism has an active end and a passive end. The first locking hook 201 and the second locking hook 301 are in contact with the square sleeve 204. In the capture state, the first locking hook 201 and the second locking hook 301 are in an open state under the action of the torsion spring 305. At this time, the first locking hook 201 or the second locking hook 301 is in contact with the unlocking micro switch 202. When the docking mechanism receives the capture signal, the drive assembly 102 drives the second cylindrical gear 408 to rotate, which in turn drives the first cylindrical gear 406 to rotate. The first cylindrical gear 406 drives the screw nut 405 to move, which in turn drives the lead screw 401 to move. The lead screw 401 drives the hook pin 302 to move, which in turn drives the first locking hook 201 and the second locking hook 301 to move. Under the contact action with the square sleeve 204, the first locking hook 201 and the second locking hook 301 overcome the torsion spring force to capture the locking ring assembly 502 of the passive end, causing the passive end to pull down. When the passive end positioning block 503 contacts the active end positioning block 101, the passive end stops moving. At this time, the first locking hook 201 and the second locking hook 301 pull the locking ring assembly 502 to move. When the locking ring screw 701 contacts the upper part 602 of the locking ring, the locking ring assembly 502 cannot move, and the positions of all parts on the passive end are fixed. In this state, the first locking hook 201 and the second locking hook 301 cannot continue to move. At this time, the drive assembly 102 continues to drive. Since the first locking hook 201 and the second locking hook 301 cannot continue to move, the position of the 5-head trapezoidal screw 401 is fixed, the screw 401 stops moving, and the nut 405 feeds along the screw 401 while rotating. The forward movement of the nut 405 drives the one-way thrust ball bearing 411, which in turn drives the washer 404 to compress the disc spring 403. The disc spring 403 touches the circular sleeve 206, which is threadedly connected to the main sleeve 207. Simultaneously, the circular sleeve 206 compresses the sensor sleeve 412. Since the relay plate 208 is fixedly connected to the square sleeve 2204, and the square sleeve 2204 is fixedly connected to the active end interface plate 103, the sensor 413 is compressed under the action of relative motion. The relay plate 208 receives the preload force, and the preload force can be read from the sensor 413. The forward movement of the nut 405 also drives the first cylindrical gear 406 to move. The first cylindrical gear 406 touches the locking micro switch 303, indicating that the locking is complete.
[0037] When unlocking, the drive assembly 102 rotates in the opposite direction, the nut 405 is fed in the opposite direction, the disc spring 403 gradually recovers, and the nut 401 moves in the opposite direction to drive the first locking hook 201 and the second locking hook 301 to open. With the assistance of the torsion spring 305, it returns to the V-shaped waiting state. The back of the locking hook touches the unlocking micro switch 202 to complete the unlocking.
[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.
Claims
1. A large-capacity, reusable capture and locking mechanism for a moving nut, comprising an active end and a passive end, characterized in that: The active end includes a drive assembly (102), a lead screw drive assembly (104), and a locking hook assembly (105); the passive end includes a locking ring assembly (502). The drive assembly (102) is connected to the lead screw drive assembly (104). The lead screw drive assembly (104) is connected to the locking hook assembly (105) and is used to drive the locking hook assembly (104) to open or close. The hook assembly (105) cooperates with the locking ring assembly (502) at the passive end to achieve capture, locking and unlocking.
2. The large-capacity nut movement repeatable capture and locking mechanism according to claim 1, characterized in that, The drive assembly (102) includes a motor output shaft (409), a first cylindrical gear (406), and a second cylindrical gear (408). The motor output shaft (409) and the second cylindrical gear (408) are connected by a key and a keyway. The second cylindrical gear (408) meshes with the first cylindrical gear (406). The first cylindrical gear (406) is connected to the lead screw drive assembly (104).
3. The large-capacity nut movement repeatable capture and locking mechanism according to claim 2, characterized in that, The lead screw drive assembly (104) includes a lead screw (401), a lead screw nut (405) and a lead screw nut (407). The lead screw (401) and the lead screw nut (405) are screwed together. The bottom of the lead screw nut (405) is connected to the first cylindrical gear (406) through the lead screw nut (407).
4. The large-capacity nut movement repeatable capture and locking mechanism according to claim 3, characterized in that, The active end also includes a support structure, which includes an active end interface plate (103), a square sleeve (204), a round sleeve (206), a main sleeve (207), and a relay plate (208). The square sleeve (204), the main sleeve (207), and the round sleeve (206) are connected sequentially from top to bottom. The relay plate (208) is located between the main sleeve (207) and the square sleeve (204). The square sleeve (204) is fixed to the active end interface plate (103).
5. The large-capacity nut movement repeatable capture and locking mechanism according to claim 4, characterized in that, The locking hook assembly (104) includes a first locking hook (201), a second locking hook (301), a hook pin (302), and a torsion spring (305). The first locking hook (201) and the second locking hook (301) are arranged opposite to each other, and their lower ends are hinged to the top of the lead screw (401) through the hook pin (302). Each hook pin (302) is fitted with a torsion spring (305). The first locking hook (201) and the second locking hook (301) are in an open V-shape in the capture state. In the locked state, the first locking hook (201) and the second locking hook (301) are closed in the square sleeve (204), and their backs are parallel to the inner wall of the square sleeve (204).
6. The large-capacity nut movement repeatable capture and locking mechanism according to claim 5, characterized in that, The active end also includes a sensor sleeve (412) and a sensor (413), wherein the sensor (413) is connected to the circular sleeve (206) through the sensor sleeve (412).
7. The large-capacity nut movement repeatable capture and locking mechanism according to claim 6, characterized in that, The active end also includes a locking micro switch (303), a locking row opening frame (304), an unlocking micro switch (202), an unlocking row opening frame (203), and a micro switch bracket (205). The micro switch bracket (205) is installed on the bottom upper surface of the round sleeve (206). The locking micro switch (303) is connected to the micro switch bracket (205) through the locking row opening frame (304). The unlocking micro switch (202) is connected to the square sleeve (204) through the unlocking row opening frame (203).
8. The large-capacity nut movement repeatable capture and locking mechanism according to claim 7, characterized in that, The locking ring assembly (502) is mounted on the passive end interface plate (501). The locking ring assembly (502) includes a locking ring screw (701), a locking ring spring (601), a lower locking ring portion (702) and an upper locking ring portion (602). The upper locking ring portion (602) and the lower locking ring portion (702) are slidably engaged. The locking ring screw (701) passes through the upper locking ring portion (602) and is threadedly connected to the lower locking ring portion (702). The locking ring spring (601) is sleeved on the locking ring screw (701).
9. A large-capacity nut movement repeatable capture and locking mechanism according to claim 8, characterized in that, The upper surface of the active end interface board (103) is provided with an active end positioning block (101) that is oppositely arranged, and the upper surface of the passive end interface board (501) is provided with a passive end positioning block (503) for cooperating with the active end positioning block (101).
10. A large-capacity nut movement repeatable capture and locking mechanism according to claim 9, characterized in that, The inner side of the active end positioning block (101) is provided with a guide slope, and the outer side of the passive end positioning block (503) is provided with a guide slope that cooperates with the active end positioning block (101).