Locking and releasing device based on connecting rod type structure

Abstract

The utility model relates to a locking and releasing device based on a connecting rod type structure, which comprises a load connecting mechanism, a locking base, a pin puller, a pressing rod, two fasteners, an unlocking spring, a first connecting rod, a second connecting rod and a rotating rod, the upper end of the pressing rod is connected with the load connecting mechanism, and the lower end of the pressing rod is positioned in the locking base; the middles of the two fasteners are hinged into the locking base, a first connecting rod and a second connecting rod are hinged to the lower ends of the two fasteners respectively, the two ends of the rotating rod are hinged to the first connecting rod and the second connecting rod respectively, the middle of the rotating rod is hinged into the locking base, and the lower end of the unlocking spring is connected with the inner side of the bottom of the locking base. The upper end of the unlocking spring is connected with the lower side of one end of the rotating rod; the upper end of the fastening piece is connected with the pressing rod in a matched and clamped mode. The pin puller can clamp and release the rotating rod; in a locking state, the pin puller is used for clamping the rotating rod, and the unlocking spring is in a stretching state; and in the unlocking state, the pin puller releases the rotating rod, and the unlocking spring restores deformation and drives the rotating rod to rotate.

Description

Technical Field

[0001] The utility model relates to the technical field of aerospace related fields, and in particular to a locking and releasing device based on a connecting rod structure. Background Art

[0002] The connection and release of payloads to launch vehicles is a common problem, for example, between stages of multi-stage rockets, between satellites and launch vehicles, between satellites and spacecraft, between solar panels and spacecraft, and between deployable antennas and spacecraft. Currently, methods for connection and release use pyrotechnic devices. Common pyrotechnic connection and release devices include compression mounts based on explosive bolts, straps based on explosive bolts or pyrotechnic cutters, compression mounts based on pyrotechnic release nuts, and compression mounts based on pyrotechnic cutters. These compression and release devices share the common characteristic of bearing the connection force, which often reaches thousands or even tens of thousands of Newtons to ensure connection rigidity. The pyrotechnic device, as a key component, must be destroyed, necessitating the use of the immense explosive force of the gunpowder to unlock the device. This method is single-use, resulting in high costs, and the explosive force used to unlock the device can easily damage the spacecraft. Furthermore, existing pyrotechnic device solutions have numerous parts and are complex to assemble. Furthermore, due to the high cost and non-reusability of pyrotechnic devices, ground tests require the replacement of new devices after each use, which is detrimental to the development of commercial spaceflight. Utility Model Content

[0003] In order to solve one or more technical problems existing in the prior art, the utility model provides a locking and releasing device based on a connecting rod structure.

[0004] The utility model solves the above technical problems with the following technical solutions: A locking and releasing device based on a connecting rod structure, comprising a load connection mechanism, a locking base, a pin puller, a clamping rod, two fastening members, an unlocking spring, a first connecting rod, a second connecting rod and a rotating rod, wherein the upper end of the clamping rod is connected to the load connection mechanism, and the lower end of the clamping rod is located in the locking base;

[0005] The middle parts of the two fastening members are hinged in the locking base, and the lower ends of the two fastening members are hinged with the first connecting rod and the second connecting rod respectively. The two ends of the rotating rod are hinged with the first connecting rod and the second connecting rod respectively. The middle part of the rotating rod is hinged in the locking base, the lower end of the unlocking spring is connected to the inner side of the bottom of the locking base, and the upper end of the unlocking spring is connected to the lower side of one end of the rotating rod; the upper end of the fastening member is provided with a clamping section adapted to be clamped with the pressing rod; the pin puller is installed on the side wall of the locking base and can realize the clamping and release of the rotating rod;

[0006] When in the locked state, the pin puller clamps the rotating rod, the upper ends of the two fastening parts close together and clamp the clamping rod in position through the clamping section, and the unlocking spring is in a stretched state; when in the unlocked state, the pin puller releases the rotating rod, the unlocking spring restores its deformation and drives the rotating rod to rotate, and the rotating rod pulls the first connecting rod and the second connecting rod to open the upper ends of the two fastening parts and release the clamping position with the clamping rod.

[0007] The beneficial effects of this utility model are as follows: The locking and releasing device of this utility model is based on a connecting rod structure and uses non-explosive unlocking, making the impact during the overall unlocking much smaller than that of explosive unlocking devices; the overall number of parts is small, making the overall installation simple and reliable, and the overall weight is greatly reduced, which is more friendly to the aerospace field. The connecting rod, rotating rod and fastening member are hingedly connected. When locked, the connecting rod and the fastening member form a dead point, and the connecting rod and the rotating rod form a dead point, which greatly reduces the required unlocking force.

[0008] On the basis of the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, in the locked state, the first connecting rod, the second connecting rod and the rotating rod are on the same horizontal line, and the lower ends of the two fastening members are in a vertical state.

[0010] The beneficial effect of adopting the above further solution is that it is convenient to form a structural dead point between the connecting rod, the rotating rod and the fastening member, so that the device is very stable in the locked state and the unlocking force required by the pin puller is very small.

[0011] Furthermore, a plug-in slot is provided at the lower end of the fastening piece, one end of the first connecting rod is inserted into the plug-in slot at the lower end of one fastening piece and is hinged to the lower end of the fastening piece through a first rotating shaft, and one end of the second connecting rod is inserted into the plug-in slot at the lower end of another fastening piece and is hinged to the lower end of the fastening piece through a second rotating shaft.

[0012] The beneficial effect of adopting the above further solution is that by providing the insertion groove, the hinge structure between the connecting rod and the fastening member is made more stable and reliable, and the linkage of each rod is smoother when unlocking and locking.

[0013] Furthermore, a hinge groove is provided at each end of the rotating rod, the other end of the first connecting rod is inserted into one of the hinge grooves and hinged to one end of the rotating rod through a third rotating shaft, and the other end of the second connecting rod is inserted into another hinge groove and hinged to the other end of the rotating rod through a fourth rotating shaft.

[0014] The beneficial effect of adopting the above further solution is that by providing the hinge groove, the hinge structure between the connecting rod and the rotating rod is made more stable and reliable, and the linkage of each rod is smoother when unlocking and locking.

[0015] Furthermore, the middle part of the rotating rod is hinged in the locking base through the fifth rotating shaft, and the middle parts of the two fastening parts are hinged in the locking base through the sixth rotating shaft, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are all arranged in parallel.

[0016] Furthermore, a clamping rod is provided on the lower side of one end of the rotating rod, the upper end of the unlocking spring is connected to the clamping rod, and the pin puller is adapted to be clamped to the clamping rod.

[0017] The beneficial effect of adopting the above further solution is that by providing the clamping rod, it is convenient to connect with the unlocking spring and also convenient to adapt and clamp with the pin puller.

[0018] Furthermore, the connecting rod is an L-shaped structure.

[0019] Furthermore, a connecting ear plate for connecting to an unlocking spring is provided on the inner side of the bottom of the locking base, and the connecting ear plate is arranged close to the other end of the rotating rod and is located obliquely below the other end of the rotating rod.

[0020] The beneficial effect of adopting the above further solution is that by reasonably setting the position of the connecting ear plate, the unlocking spring can be easily used to effectively drive the rotating rod.

[0021] Furthermore, a limiting step is provided on the circumferential side of the lower end of the pressing rod, and the step surface of the limiting step is arranged to be gradually inclined downward from the inside to the outside, and the lower surface of the clamping section is adapted to be clamped with the step surface of the limiting step.

[0022] The beneficial effect of adopting the above-mentioned further scheme is: the fastening parts and the clamping rod are used for clamping and positioning, and the step surface of the limiting step is arranged to be gradually tilted downward from the inside to the outside, which successfully greatly reduces the large clamping force, so that the pin pulling force required by the pin puller is very small, and the unlocking and releasing does not rely solely on the pulling force of the unlocking spring for unlocking.

[0023] Furthermore, the upper end of the locking base is an open structure, the lower end of the load connection mechanism is adapted to be disposed in the open structure and the peripheral side wall abuts against the inner side wall of the open structure;

[0024] A travel switch is provided on the outer side wall of the locking base. When in the locked state, the lower surface of the load connecting mechanism presses the travel switch.

[0025] The beneficial effect of adopting the above further solution is that, due to the surface-to-surface contact between the load connection mechanism and the locking base, the offset angle is very small after unlocking and separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of the locking and releasing device based on the connecting rod structure of the utility model Figure 1;

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the locking and releasing device based on the connecting rod structure of the utility model Figure 2 ;

[0028] Figure 3 This is a side structural diagram of the locking state of the locking release device based on the connecting rod structure of the present invention;

[0029] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure of AA;

[0030] Figure 5 This is a schematic diagram of the main structure of the locking release device based on the connecting rod structure of the utility model in the locked state;

[0031] Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the middle BB;

[0032] Figure 7 This is a side structural diagram of the locking and releasing device based on the connecting rod structure of the present invention in the unlocked state;

[0033] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure of AA;

[0034] Figure 9 This is a schematic diagram of the main structure of the locking and releasing device based on the connecting rod structure of the utility model in the unlocked state;

[0035] Figure 10 for Figure 9 Schematic diagram of the cross-sectional structure of the middle BB;

[0036] Figure 11 This is a schematic diagram of the main structure of the locking release device based on the connecting rod structure of the utility model after unlocking the load connection mechanism and separating from the locking base;

[0037] Figure 12 This is a side structural diagram of the load connection mechanism detaching from the locking base after the locking release device based on the connecting rod structure of the present invention is unlocked;

[0038] Figure 13 for Figure 12 Schematic diagram of the cross-sectional structure of AA;

[0039] Figure 14 It is a schematic diagram of the three-dimensional structure of the rotating rod of the utility model.

[0040] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0041] 1. Lock the base; 11. Connect the ear plate; 12. Support frame;

[0042] 2. Clamping rod; 21. Limiting step; 22. Clamping nut;

[0043] 3. Fastening member; 31. Insertion slot; 32. First rotating shaft; 33. Second rotating shaft; 34. Clamping section;

[0044] 4. Unlocking spring; 5. First connecting rod; 51. Second connecting rod; 52. Rotating rod; 53. Hinge slot; 54. Third rotating shaft; 55. Fourth rotating shaft; 56. Fifth rotating shaft; 57. Sixth rotating shaft; 58. Clamping rod;

[0045] 6. Travel switch; 7. Load connection mechanism; 8. Pin puller. DETAILED DESCRIPTION

[0046] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0047] like Figures 1 to 14 As shown, a locking and releasing device based on a connecting rod structure of this embodiment includes a load connection mechanism 7, a locking base 1, a pin puller 8, a clamping rod 2, two fastening members 3, an unlocking spring 4, a first connecting rod 5, a second connecting rod 51 and a rotating rod 52. The upper end of the clamping rod 2 is connected to the load connection mechanism 7, and the lower end of the clamping rod 2 is located in the locking base 1.

[0048] The middle parts of the two fastening members 3 are hinged in the locking base 1, and the lower ends of the two fastening members 3 are hinged with the first connecting rod 5 and the second connecting rod 51 respectively. The two ends of the rotating rod 52 are hinged with the first connecting rod 5 and the second connecting rod 51 respectively. The middle part of the rotating rod 52 is hinged in the locking base 1, and the lower end of the unlocking spring 4 is connected to the inner side of the bottom of the locking base 1, and the upper end of the unlocking spring 4 is connected to the lower side of one end of the rotating rod 52; the upper end of the fastening member 3 is provided with a clamping section 34 adapted to be clamped with the pressing rod 2; the pin puller 8 is installed on the side wall of the locking base 1 and can realize the clamping and release of the rotating rod 52;

[0049] When in the locked state, the pin puller 8 clamps the rotating rod 52, the upper ends of the two fastening members 3 are closed and the clamping rod 2 is clamped and positioned through the clamping section 34, and the unlocking spring 4 is in a stretched state; when in the unlocked state, the pin puller 8 releases the rotating rod 52, the unlocking spring 4 restores its deformation and drives the rotating rod 52 to rotate, and the rotating rod 52 pulls the first connecting rod 5 and the second connecting rod 51 to open the upper ends of the two fastening members 3 and release the clamping position with the clamping rod 2.

[0050] Specifically, the load connection mechanism 7 may adopt a load connection flange, and the upper end of the pressing rod 2 may be locked and fixed to the middle portion of the load connection mechanism 7 via a pressing nut 22 .

[0051] like Figure 4 As shown, the fastening member 3 of this embodiment adopts a 7-shaped structure.

[0052] like Figure 4 As shown, in the locked state, the first connecting rod 5, the second connecting rod 51, and the rotating rod 52 are on the same horizontal line, and the lower ends of the two fastening members 3 are in a vertical position. This facilitates the formation of a structural dead point between the connecting rod, the rotating rod, and the fastening members, making the device very stable in the locked state and requiring very little force to unlock the pin puller.

[0053] like Figure 4 、 Figure 6 、 Figure 8 、 Figure 10 and Figure 13 As shown, in this embodiment, the lower end of the fastening member 3 is provided with an insertion slot 31. One end of the first connecting rod 5 is inserted into the insertion slot 31 at the lower end of one fastening member 3 and is hinged to the lower end of the fastening member 3 via a first rotating shaft 32. One end of the second connecting rod 51 is inserted into the insertion slot 31 at the lower end of the other fastening member 3 and is hinged to the lower end of the fastening member 3 via a second rotating shaft 33. The provision of the insertion slot makes the hinged structure between the connecting rod and the fastening member more stable and reliable, and the linkage of each rod is smoother when unlocking and locking.

[0054] like Figure 4 、 Figure 6 、 Figure 8 、 Figure 10 、 Figure 13 and Figure 14 As shown, in this embodiment, the rotating rod 52 is provided with a hinge groove 53 at each end. The other end of the first connecting rod 5 is inserted into one of the hinge grooves 53 and is hinged to one end of the rotating rod 52 via a third rotating shaft 54. The other end of the second connecting rod 51 is inserted into the other hinge groove 53 and is hinged to the other end of the rotating rod 52 via a fourth rotating shaft 55. The provision of the hinge grooves makes the hinge structure between the connecting rod and the rotating rod more stable and reliable, and the linkage of the various rods is smoother when unlocking and locking.

[0055] like Figure 4 、 Figure 6 、 Figure 8 、 Figure 10 、 Figure 13As shown, the middle part of the rotating rod 52 of this embodiment is hinged in the locking base 1 through the fifth rotating shaft 56, and the middle parts of the two fastening parts 3 are hinged in the locking base 1 through the sixth rotating shaft 57, and the first rotating shaft 32, the second rotating shaft 33, the third rotating shaft 54, the fourth rotating shaft 55, the fifth rotating shaft 56 and the sixth rotating shaft 57 are all arranged in parallel.

[0056] like Figure 4 、 Figure 8 、 Figure 13 and Figure 14 As shown, in this embodiment, a coupling rod 58 is provided on the lower side of one end of the rotating rod 52, the upper end of the unlocking spring 4 is connected to the coupling rod 58, and the pin puller 8 is adapted to be coupled with the coupling rod 58. The provision of the coupling rod facilitates the connection with the unlocking spring and the adapted coupling with the pin puller.

[0057] like Figure 14 As shown, the engaging rod 58 of this embodiment is L-shaped. One section of the engaging rod 58 is vertically arranged, while another section extends horizontally. This horizontally extending section is arranged parallel to the first rotating shaft 32, allowing the pin of the pin puller to abut against the horizontally extending section. A connecting hole is provided in the vertically extending section, into which the upper end of the unlocking spring 4 is hooked.

[0058] like Figure 4 、 Figure 8 、 Figure 13 As shown, the inner side of the bottom of the locking base 1 of this embodiment is provided with a connecting lug 11 for connecting to the unlocking spring 4. The connecting lug 11 is arranged near the other end of the rotating rod 52 and is located diagonally below the other end of the rotating rod 52. By properly positioning the connecting lug, the unlocking spring can effectively drive the rotating rod.

[0059] like Figure 4 、 Figure 8 、 Figure 13 As shown, in this embodiment, a limiting step 21 is provided around the lower end of the pressing rod 2. The step surface of the limiting step 21 is arranged to gradually slope downward from the inside outward, and the lower surface of the engaging section 34 engages with the step surface of the limiting step 21. The use of a fastener to engage and position the pressing rod, and the gradually downward sloped step surface from the inside out, significantly reduces the significant pressing force, minimizing the pin puller's required pulling force. Furthermore, unlocking does not rely solely on the tension of the unlocking spring.

[0060] like Figure 4 、 Figure 8 、 Figure 11 、 Figure 13As shown, the upper end of the locking base 1 of this embodiment is an open structure, the lower end of the load connection mechanism 7 is adapted to be disposed in the open structure and the peripheral side wall abuts against the inner side wall of the open structure; Figures 1 to 3 、 Figure 5 、 Figure 7 and Figure 9 As shown, a travel switch 6 is provided on the outer wall of the locking base 1. When locked, the lower surface of the load connection mechanism 7 presses against the travel switch 6. Due to the surface-to-surface contact between the load connection mechanism and the locking base, the guided unlocking ensures that the offset angle is very small after unlocking and separation.

[0061] The pin puller of this embodiment can be any type of pin puller, including a memory alloy pin puller, an electromagnetic pin puller, etc.

[0062] Specifically, such as Figure 4 As shown, a support frame 12 can be set in the locking base 1, so that the two fastening parts 3 are hinged on both sides of the support frame 12 respectively, and the first connecting rod 5, the second connecting rod 51 and the rotating rod 52 are located below the support frame, so that the lower end of the clamping rod 2 can abut against the support frame 12.

[0063] In this embodiment, the locking and releasing device based on the connecting rod structure is in the locked state. First, the locking seat base is fixedly connected to the lower fixed plate or the fixed load by screws, and the released load or other objects (including the satellite body or other loads) are fixedly connected to the load connection mechanism (such as the load connection flange, etc.) by screws. The pin of the pin puller blocks the clamping rod, and the unlocking spring is in a stretched state at this time. Since the rotating rod, the first connecting rod and the second connecting rod are on the same line at this time, a dead point is formed. The first connecting rod, the second connecting rod and the two fastening parts form a right-angle dead point. Furthermore, a large mass load can be connected, so that the force transmitted from the top to the bottom is relatively small. The two fastening members and the upper surface of the lower end of the pressure rod press against each other. Since the two fastening members are at a 90° angle to the first and second connecting rods in the locked state, a primary dead point is formed, which converts the upward pull of the load into an inward thrust. Furthermore, since the rotating rod is aligned with the first and second connecting rods, another dead point is formed, which stabilizes the pin puller in the locked state. This greatly reduces the unlocking force of the pin puller when unlocking, and the pin puller is only subject to the tension of the unlocking spring. At this time, the entire lock release device is in a compressed state.

[0064] When in the unlocked state, the pin of the pin puller is first pulled out by powering on or other means. The rotating rod rotates clockwise under the tension of the unlocking spring because there is no obstruction from the pin of the pin puller. At this time, the connecting rod is linked by the rotating rod, and the two fastening parts rotate outward around the rotating axis under the drive of the rotating rod and the connecting rod. This can separate the clamping rod from the two fastening parts. At the same time, due to the clamping action of the clamping nut, the clamping rod, the clamping nut and the load connection flange are integrated, thereby separating the upper load (that is, the fixed load) from the lower load (the released load).

[0065] This embodiment utilizes a locking and releasing mechanism based on a linkage structure and utilizes non-explosive unlocking methods, resulting in a much smaller impact during unlocking compared to pyrotechnic unlocking devices. The reduced number of components makes installation simple and reliable, while also significantly reducing overall weight, making it more aerospace-friendly. The hinged connection between the connecting rod, rotating rod, and fastening member creates a dead point between the connecting rod and the fastening member, and the connecting rod and rotating rod, significantly reducing the required unlocking force when locked.

[0066] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0068] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0069] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0071] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A locking and releasing device based on a connecting rod structure, characterized in that: It includes a load connection mechanism, a locking base, a pin puller, a clamping rod, two fastening members, an unlocking spring, a first connecting rod, a second connecting rod and a rotating rod, wherein the upper end of the clamping rod is connected to the load connection mechanism, and the lower end of the clamping rod is located in the locking base; The middle parts of the two fastening members are hinged in the locking base, and the lower ends of the two fastening members are hinged with the first connecting rod and the second connecting rod respectively. The two ends of the rotating rod are hinged with the first connecting rod and the second connecting rod respectively. The middle part of the rotating rod is hinged in the locking base, the lower end of the unlocking spring is connected to the inner side of the bottom of the locking base, and the upper end of the unlocking spring is connected to the lower side of one end of the rotating rod; the upper end of the fastening member is provided with a clamping section adapted to be clamped with the pressing rod; the pin puller is installed on the side wall of the locking base and can realize the clamping and release of the rotating rod; When in the locked state, the pin puller clamps the rotating rod, the upper ends of the two fastening parts close together and clamp the clamping rod in position through the clamping section, and the unlocking spring is in a stretched state; when in the unlocked state, the pin puller releases the rotating rod, the unlocking spring restores its deformation and drives the rotating rod to rotate, and the rotating rod pulls the first connecting rod and the second connecting rod to open the upper ends of the two fastening parts and release the clamping position with the clamping rod.

2. The locking and releasing device based on the link structure according to claim 1, characterized in that: In the locked state, the first connecting rod, the second connecting rod and the rotating rod are on the same horizontal line, and the lower ends of the two fastening members are in a vertical state.

3. The locking and releasing device based on the link structure according to claim 1, characterized in that: The lower end of the fastening piece is provided with an insertion groove, one end of the first connecting rod is inserted into the insertion groove at the lower end of one fastening piece and is hinged to the lower end of the fastening piece through a first rotating shaft, and one end of the second connecting rod is inserted into the insertion groove at the lower end of another fastening piece and is hinged to the lower end of the fastening piece through a second rotating shaft.

4. The locking and releasing device based on the link structure according to claim 3, characterized in that: A hinge groove is provided at each end of the rotating rod. The other end of the first connecting rod is inserted into one of the hinge grooves and is hinged to one end of the rotating rod through a third rotating shaft. The other end of the second connecting rod is inserted into another hinge groove and is hinged to the other end of the rotating rod through a fourth rotating shaft.

5. The locking and releasing device based on the link structure according to claim 4, characterized in that: The middle part of the rotating rod is hinged in the locking base through the fifth rotating shaft, and the middle parts of the two fastening parts are hinged in the locking base through the sixth rotating shaft. The first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are all arranged in parallel.

6. The locking and releasing device based on the link structure according to claim 1, characterized in that: A clamping rod is provided on the lower side of one end of the rotating rod, the upper end of the unlocking spring is connected to the clamping rod, and the pin puller is adapted to be clamped with the clamping rod.

7. The locking and releasing device based on the link structure according to claim 6, characterized in that: The clamping rod is an L-shaped structure.

8. The locking and releasing device based on a link structure according to claim 1, characterized in that: A connecting ear plate for connecting an unlocking spring is provided on the inner side of the bottom of the locking base. The connecting ear plate is arranged close to the other end of the rotating rod and is located obliquely below the other end of the rotating rod.

9. The locking and releasing device based on a link structure according to claim 1, characterized in that: A limiting step is provided on the circumferential side of the lower end of the pressing rod. The step surface of the limiting step is gradually inclined downward from the inside to the outside, and the lower surface of the clamping section is adapted to be clamped with the step surface of the limiting step.

10. The locking and releasing device based on a link structure according to claim 1, characterized in that: The upper end of the locking base is an open structure, the lower end of the load connection mechanism is adapted to be disposed in the open structure and the peripheral side wall abuts against the inner side wall of the open structure; A travel switch is provided on the outer side wall of the locking base. When in the locked state, the lower surface of the load connecting mechanism presses the travel switch.

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