CN105474775B - A kind of locking relieving mechanism - Google Patents
A kind of locking relieving mechanismInfo
- Publication number
- CN105474775B CN105474775B CN201110015423.7A CN201110015423A CN105474775B CN 105474775 B CN105474775 B CN 105474775B CN 201110015423 A CN201110015423 A CN 201110015423A CN 105474775 B CN105474775 B CN 105474775B
- Authority
- CN
- China
- Prior art keywords
- compressor arm
- base
- spring
- provides
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The invention provides a kind of locking relieving mechanism, it comprises base (1), firer's cutter (2), microswitch (3), connecting plate (4), holds down assembly and spring spindle assembly (6), it is characterized in that: firer's cutter (2) is fixed on base (1), after instruction received by firer's cutter (2), ignition cut compressor arm (13) realizes unlocking; The present invention adopts fire attack cutter to change to the functional status realizing its locking and release, such that whole mechanism structure is compact, lightweight, reaction is fast, reliability is high.<pb pnum="1" />
Description
Technical field
The present invention relates to a kind of locking relieving mechanism, be a kind ofly applicable to the high vacuum of lunar surface, the locking relieving mechanism of high and low temperature environment.
Background technology
Lunar rover is national moon exploration program big event, and locking relieving mechanism is the important component part of lunar rover mechanical arm, and the detector that its end is installed is in order to detect the important tool of moonscape.Lunar rover mechanical arm when launching and land needs to carry out locking to prevent mechanical arm to be damaged in the vibration of launch and landing with in impacting, and mechanical arm release freely can will be stretched work when it lands and detects after lunar surface.Namely locking relieving mechanism for realizing the functions such as the support limit after the compression of mechanical arm, release, gathering, is the important component part of inspection tour prober for moon surface mechanical arm.The research of China in lunar rover is also in the starting stage, and for meeting the practical needs of space technology development to large-scale extending arm, China needs the technical research carrying out the lunar rover aspect with independent intellectual property right.
Summary of the invention
In order to make locking relieving mechanism compact conformation, lightweight, reaction is fast, reliability is high, the invention provides a kind of locking relieving mechanism.
The technical scheme of this is: a kind of locking relieving mechanism, and it comprises base, firer's cutter, microswitch, connecting plate, holds down assembly and spring spindle assembly, it is characterized in that:
Firer's cutter is fixed on base, and after instruction received by firer's cutter, ignition cut compressor arm realizes unlocking;
Microswitch is arranged on base, for release mechanism provides position signalling to feed back;
Connecting plate provides mounting interface and compacted position for locking mechanism;
Hold down assembly and be arranged on base, provide compacting part for locking mechanism and provide buffering for the compressor arm after unblock and reclaim space;
Spring spindle assembly is arranged on base, for the connecting plate after unlocking provides separating force.
Further, hold down assembly comprise catch cap, cushion pad, impact cap, the first spring, load nut, ball pad, compressor arm, square nut, aluminium honeycomb; Catch cap by being arranged on connecting plate as cushion pad provides the compressor arm of installation site and cut-out after unlocking in order to capture buffer; Impact cap is arranged on compressor arm by screw thread, thus provides the Support Position of the power of the first spring; First spring housing is contained in and loads outside nut one section and be supported on base, and the other end is supported in impact cap; For the compressor arm after cutting off provides elastic force in order to be separated.
Further, loading nut is threaded connection on compressor arm, for compressor arm provides certain pretension;
Further, ball cushion cover, on compressor arm, is positioned at base and loads between nut in order to regulate pretension direction.
Further, compressor arm one section is arranged on square nut by screw thread, and the other end is arranged on and loads on nut.
Further, spring spindle assembly comprises steel ball, cushion block, the second spring, baffle plate, push rod shell, and steel ball is stuck in the cone tank of push rod shell, and its outstanding position withstands on connecting plate; Withstand on bottom steel ball in the cylindrical hole that cushion block is placed on push rod shell, the second spring provides the reasoning of the separation after unblock for spring spindle assembly.
Further, it is characterized in that: under emission state, mechanical arm is in gathering locking state, by holding down assembly the seal face compression between connecting plate and base, spring in spring spindle assembly is compressed, mechanical arm judges initial position signal by microswitch, and the loading force of compression is ensured by the pretightning force loading nut.
Further, during unblock, firer's cutter is lighted a fire, and it is two sections that cutting knife cuts off compressor arm, and compressor arm upper semisection is caught being accommodated in completely under the action of the spring in cavity that cap and connecting plate formed, thus makes connecting plate and base realize tangential separation along seal face.
Further, it is characterized in that: aluminium honeycomb height is greater than 5mm.
The invention has the beneficial effects as follows: the present invention adopts fire attack cutter to change to the functional status realizing its locking and release, such that whole mechanism structure is compact, lightweight, reaction is fast, reliability is high.
Accompanying drawing explanation
Fig. 1, locking relieving mechanism composition;
Fig. 2, the structure that holds down assembly form;
Fig. 3, spring spindle modular construction form.
Wherein: 1-base, 2-firer cutter, 3-microswitch, 4-connecting plate, 5-hold down assembly, 6-spring spindle assembly, 7-catch cap, 8-cushion pad, 9-impact cap, 10-first spring, 11-load nut, 12-ball pad, 13-compressor arm, 14-square nut, 15-aluminium honeycomb, 16-steel ball, 17-cushion block, 18-second spring, 19-baffle plate, 20-push rod shell.
Specific embodiments
Technical scheme of the present invention provides a kind of compact conformation, the locking relieving mechanism that lightweight, reaction is fast, reliability is high.Locking relieving mechanism primarily of base 1, firer's cutter 2, microswitch 3, connecting plate 4, hold down assembly the compositions such as 5 and spring spindle assembly 6.
Base 1 is used for fixing and installs other parts and will provide the external interface of mechanism.Firer's cutter 2 is fixed on base 1 by two screws, and after accepting again instruction, ignition cut compressor arm 13 realizes unlocking.Microswitch 3 is arranged on base 1 as release mechanism provides position signalling to feed back by two screws.Connecting plate 4 provides mounting interface for locking mechanism and provides compacted position.Hold down assembly 5 by three screws be arranged on base 1 for locking mechanism provide compacting part and for unlock after compressor arm 13 provide buffering and reclaim.Spring spindle assembly 6 is arranged on base 1 as the connecting plate 4 after unblock provides certain separating force by two screws.
Wherein hold down assembly 5 as shown in Figure 2 primarily of catching cap 7, cushion pad 8, impact cap 9, spring 10, loading the compositions such as nut 11, ball pad 12, compressor arm 13, square nut (14), aluminium honeycomb 15.Catch cap 7 to be arranged on connecting plate 4 as cushion pad 8 provides the compressor arm 13 of installation site and cut-out after unlocking in order to capture buffer by three screws.Cushion pad 8 is placed on catches in cap 7 in order to slow down the impulsive force of the compressor arm after cut-out 13.Impact cap 9 is arranged on by screw thread and compressor arm 13 provides the Support Position of the power of spring 10 and provide loosen for loading nut 11.Spring 10 is sleeved on and loads outside nut 11 one section and be supported on base 1, and the other end is supported in impact cap 9.For the compressor arm 13 after cutting off provides elastic force in order to be separated.Loading nut 11 is threaded connection on compressor arm 13, for compressor arm 13 provides certain pretension.Ball pad 12 is enclosed within compressor arm 13, is positioned at base 1 and loads between nut 11 in order to regulate pretension direction.Compressor arm 13 1 sections is arranged on square nut 14 by screw thread, and the other end is arranged on and loads on nut 11.4 thrust is provided for holding down assembly.Square nut 14 is arranged on compressor arm 13 by screw thread, and the other end is stuck on base 1 by square opening.For compressor arm 13 provides installation site and pretension.Compressor arm 13 after aluminium honeycomb 15 is placed on the upper cut-out of base 1 provides buffering.
Spring spindle assembly 6 is primarily of compositions such as steel ball 16, cushion block 17, spring 18, baffle plate 19, push rod shells 20 as shown in Figure 3.Steel ball 16 is stuck in the cone tank of push rod shell 20, and its outstanding position withstands on connecting plate 4.Withstand on bottom steel ball 16 in the cylindrical hole that cushion block 17 is placed on push rod shell 20.18 1 sections, spring is sleeved on the other end bottom cushion block 17 and withstands on baffle plate 19, for spring spindle assembly 6 provides the reasoning of the separation after unblock.Baffle plate 19 is installed in the draw-in groove of push rod shell 20, for spring 18 provides support a little and support force.Push rod shell 20 is arranged on base 1 by four screws, for other assembly provides installation site.
Under emission state, mechanical arm is in gathering locking state, and by holding down assembly 5 by the seal face compression between connecting plate 4 and base 1, the spring 18 in spring spindle assembly 6 is compressed.Mechanical arm judges initial position signal by microswitch 3.The loading force compressed is ensured by the pretightning force loading nut 11.
During unblock, firer's cutter 2 is lighted a fire, it is two sections that cutting knife cuts off compressor arm 13, cutting-off process produces two impulsive forces along compressor arm 13 draw direction, impulsive force major part is absorbed by aluminium honeycomb 15, meanwhile, compressor arm upper semisection is caught being accommodated in completely under the effect of spring 18 in cavity that cap 7 and connecting plate 4 formed, is convenient to connecting plate 4 and base 1 realizes tangential separation (being different from general withdrawing compressor arm 13 mode) along seal face.The spring 18 of spring spindle assembly 6 discharges pretightning force, promotes the self-holding force that steel ball 16 overcomes mechanical arm shoulder orientation driving joint, connecting plate 4 is backed down certain distance from base 1 seal face, realize between connecting plate 4 and base 1 seal face without friction tangential separation.
Mechanical arm under being in a rounding state of advancing, realizes mechanical arm by the hook on the boss on base 1 and connecting plate 4 spacing along the front and back of rover direction of advance after unlocking and launching.
Cutter cuts off in the process of titanium alloy compressor arm 13, the compression that cutting knife flat mouth side compared by the cut-out bar of the cutting knife bevel direction bar that breaks will bear higher impact force, therefore consider the height increasing aluminium honeycomb 15 on base 1 during design, to improve the ability of snubber impulse force energy as far as possible.Use for reference the design experiences of other models, the aluminium honeycomb 15 at this place is highly generally greater than 5mm, therefore, under the prerequisite ensureing structure installment space, aluminium honeycomb 15 thickness of design is risen to 8mm.
Catch cushion pad 8 in cap 7 to be consistent with the aluminium honeycomb 15 on base 1, to reduce kind; In addition effective storage of catching cap 7 and interrupt bar is highly designed to 21.5mm, be greater than actual needs 19.5mm, see Fig. 2, and do not consider conquassation height (actual tests is about 1mm) of cushion pad 8, therefore safe clearance is at least 2mm, and the Reliable guarantee bar that breaks can be accommodated in completely and catches in cap 7.
Spring 18 design held down assembly in 5 will ensure that disconnected bar can be received completely and be held in and catch in cap 7, and the design parameter of spring 18 is shown in Fig. 4, and as seen from the figure, spring 18 power still has the pretightning force of about 1.4N after impulse stroke release.Owing to being non-gravity direction, spring force can ensure that disconnected bar is reliably accommodated in and catches cap 7 cavity and keep.
The purpose of design of spring spindle assembly 6 is to connecting plate 4 be backed down certain distance from base 1 seal face normal direction when unlocking release, realize nothing friction tangential separation between connecting plate 4 and base 1 seal face, avoid the friction of the height because base 1 seal face is implemented tungsten carbide coating to affect the friction of motion of mechanical wrist pitching joint expansion process.
Spring 18 parameter of spring spindle assembly 6 is keys of design, the design parameter of spring 18 is shown in Fig. 5, the impulse stroke of spring 18 is 1mm, and during unblock, spring 18 remains pretightning force after discharging the trip is 23N, is greater than the actual resistance of motion about needing 12N produced by joint, shoulder side self-holding force.
Claims (4)
1. a locking relieving mechanism, it comprises base (1), firer's cutter (2), microswitch (3), connecting plate (4), holds down assembly and spring spindle assembly (6), it is characterized in that:
Firer's cutter (2) is fixed on base (1), and after instruction received by firer's cutter (2), ignition cut compressor arm (13) realizes unlocking;
Microswitch (3) is arranged on base (1), for locking relieving mechanism provides position signalling to feed back;
Connecting plate (4) provides mounting interface and compacted position for locking relieving mechanism;
Hold down assembly and be arranged on base (1), provide compacting part for locking relieving mechanism and provide buffering for the compressor arm (13) after unblock and reclaim space;
Hold down assembly to comprise and catch cap (7), cushion pad (8), impact cap (9), the first spring (10), loading nut (11), ball pad (12), compressor arm (13), square nut (14), aluminium honeycomb (15); Catch cap (7) by being arranged on the upper compressor arm (13) being cushion pad (8) and providing installation site and cut off after unlocking in order to capture buffer of connecting plate (4); Impact cap (9) is arranged on compressor arm (13) by screw thread, thus provides the Support Position of the power of the first spring (10); First spring (10) is sleeved on and loads nut (11) outside, and one end is supported on base (1), and the other end is supported in impact cap (9); For the compressor arm (13) after cutting off provides elastic force in order to be separated;
Loading nut (11) is threaded connection on compressor arm (13), for compressor arm (13) provides certain pretension;
Ball pad (12) is enclosed within compressor arm (13), is positioned at base (1) and loads between nut (11) in order to regulate pretension direction;
Compressor arm (13) one end is arranged on square nut (14) by screw thread, and the other end is arranged on and loads on nut (11);
Square nut (14) is arranged on compressor arm (13) by screw thread, the other end is stuck on base (1) by square opening, for compressor arm (13) provides installation site and pretension, aluminium honeycomb (15) is placed on base (1), for the compressor arm (13) after cutting off provides buffering;
Spring spindle assembly (6) is arranged on base (1), for the connecting plate (4) after unlocking provides separating force;
Spring spindle assembly (6) comprises steel ball (16), cushion block (17), the second spring (18), baffle plate (19), push rod shell (20), steel ball (16) is stuck in the cone tank of push rod shell (20), and its outstanding position withstands on connecting plate (4); Steel ball (16) bottom is withstood in the cylindrical hole that cushion block (17) is placed on push rod shell (20), second spring (18) one end is sleeved on cushion block (17) bottom, the other end withstands on baffle plate (19), for spring spindle assembly (6) provides the thrust of the separation after unblock; Baffle plate (19) is installed in the draw-in groove of push rod shell (20), is that the second spring (18) provides support a little and support force; Push rod shell (20) is arranged on base (1) by four screws.
2. locking relieving mechanism according to claim 1, it is characterized in that: under emission state, mechanical arm is in gathering locking state, by holding down assembly the seal face compression between connecting plate (4) and base (1), the second spring (18) in spring spindle assembly (6) is compressed, mechanical arm judges initial position signal by microswitch (3), and the loading force of compression is ensured by the pretightning force loading nut (11).
3. locking relieving mechanism according to claim 1, it is characterized in that: during unblock, firer's cutter (2) is lighted a fire, it is two sections that cutting knife cuts off compressor arm (13), compressor arm upper semisection is caught being accommodated in completely under the effect of the second spring (18) in cavity that cap (7) and connecting plate (4) formed, thus makes connecting plate (4) and base (1) realize tangential separation along seal face.
4. locking relieving mechanism according to claim 1, is characterized in that: aluminium honeycomb (15) is highly greater than 5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110015423.7A CN105474775B (en) | 2011-12-14 | 2011-12-14 | A kind of locking relieving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110015423.7A CN105474775B (en) | 2011-12-14 | 2011-12-14 | A kind of locking relieving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105474775B true CN105474775B (en) | 2014-06-25 |
Family
ID=55642140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110015423.7A Expired - Fee Related CN105474775B (en) | 2011-12-14 | 2011-12-14 | A kind of locking relieving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105474775B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357699A (en) * | 2018-02-23 | 2018-08-03 | 哈尔滨工业大学 | A kind of spatial flexible arm end-of-arm tooling box compresses and antiradiation protection mechanism |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN108871065A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of space payload compression release device adapting to lunar surface environment |
| CN111142573A (en) * | 2019-12-27 | 2020-05-12 | 兰州空间技术物理研究所 | Two-dimensional rotary table accompanying light projection lighting equipment in space microgravity environment |
| CN114348305A (en) * | 2022-02-21 | 2022-04-15 | 中国科学院空间应用工程与技术中心 | Spatial on-orbit turntable limiting mechanism and assembling method thereof |
| CN115163714A (en) * | 2022-05-31 | 2022-10-11 | 哈尔滨工业大学 | Adjustable explosive impact vibration damper for initiating explosive devices |
-
2011
- 2011-12-14 CN CN201110015423.7A patent/CN105474775B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357699A (en) * | 2018-02-23 | 2018-08-03 | 哈尔滨工业大学 | A kind of spatial flexible arm end-of-arm tooling box compresses and antiradiation protection mechanism |
| CN108357699B (en) * | 2018-02-23 | 2021-05-14 | 哈尔滨工业大学 | Space flexible arm tail end tool box pressing and anti-radiation protection mechanism |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN108871065A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of space payload compression release device adapting to lunar surface environment |
| CN108871065B (en) * | 2018-04-27 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Space effective load compressing and releasing device suitable for lunar surface environment |
| CN111142573A (en) * | 2019-12-27 | 2020-05-12 | 兰州空间技术物理研究所 | Two-dimensional rotary table accompanying light projection lighting equipment in space microgravity environment |
| CN114348305A (en) * | 2022-02-21 | 2022-04-15 | 中国科学院空间应用工程与技术中心 | Spatial on-orbit turntable limiting mechanism and assembling method thereof |
| CN115163714A (en) * | 2022-05-31 | 2022-10-11 | 哈尔滨工业大学 | Adjustable explosive impact vibration damper for initiating explosive devices |
| CN115163714B (en) * | 2022-05-31 | 2023-12-05 | 哈尔滨工业大学 | Adjustable explosive impact vibration damper for initiating explosive device products |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR03 | Grant of secret patent right | ||
| GRSP | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted | ||
| DCSP | Declassification of secret patent | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140625 Termination date: 20181214 |