CN106608373A - On-orbit repeated locking and releasing mechanism for space - Google Patents
On-orbit repeated locking and releasing mechanism for space Download PDFInfo
- Publication number
- CN106608373A CN106608373A CN201510691720.1A CN201510691720A CN106608373A CN 106608373 A CN106608373 A CN 106608373A CN 201510691720 A CN201510691720 A CN 201510691720A CN 106608373 A CN106608373 A CN 106608373A
- Authority
- CN
- China
- Prior art keywords
- latch hook
- locking
- base
- gear
- rotating shaft
- 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.)
- Pending
Links
Abstract
The invention relates to a repeated locking and releasing mechanism, in particular to an on-orbit repeated locking and releasing mechanism for space, and aims to solve the problem of repeated on-orbit locking and releasing of a large-scale actual load in a spacecraft. The on-orbit repeated locking and releasing mechanism comprises a trunnion locking mechanism, a lock hook compacting mechanism, a base locking mechanism, a crank and rocker mechanism and a driving gear mechanism, wherein the trunnion locking mechanism is arranged at the upper end of the base locking mechanism; and the driving gear mechanism is connected with the lock hook compacting mechanism and the crank and rocker mechanism. According to the on-orbit repeated locking and releasing mechanism disclosed by the invention, the trunnion locking mechanism, the lock hook compacting mechanism, the base locking mechanism, the crank and rocker mechanism and the driving gear mechanism are arranged in a crossed manner, so that the on-orbit repeated locking and releasing mechanism is simple and compact in structure; all the freedom degrees of a fixed object can be completely limited, and repeated locking can be realized; the maneuverability is good, so that the using requirement of on-orbit locking-releasing-relocking can be met. The on-orbit repeated locking and releasing mechanism disclosed by the invention is suitable for the technical field of aerospace and the technical field of electromechanical integration.
Description
Technical field
The present invention relates to a kind of repeat locking relieving mechanism, and in particular to a kind of space-orbit repetition locking relieving mechanism.
Background technology
In aerospace field, spacecraft is separated with the connection of payload mostly using Fire loads such as blasting bolt and firer's sicklies, although there is simple structure, the features such as reliability is high, but in-orbit repetition locking function cannot be realized, while the enormous impact that firer's separation is produced is produced to the attitude and precision controlling of spatial manipulation platform and had a strong impact on.
In recent years, as the development with space exploration technology is built in space station, world shuttle system to transported large scale, heavily loaded goods and materials locking --- release --- lock that demand is increasingly strong again, the in-orbit mission requirements without impact release precision payload of various spatial manipulation platforms is also more and more.Therefore, original disposable locking technology and firer's tripper cannot meet the requirement of current and future space tasks.
At present, the U.S. and Japan expose platform construction and goods transfer movement requirement out of my cabin around space station " hope number " node, the design and research of repeatable retaining mechanism is successively carried out, and have passed through the flight validation of space shuttle and carrier rocket, it was demonstrated that the validity and reliability of its design.In China, although the research in spacecraft connection with separating mechanism field achieves many technological achievements and engineer applied in recent years, but the research for carrying greatly low impact repetition locking relieving mechanism for in-orbit application is not yet carried out, and existing locking relieving mechanism has not reproducible use, and excessive problem is impacted during discharging.
The content of the invention
Present invention aim to address the in-orbit multiple of large-scale payload is locked and release problem on spacecraft, and then provide a kind of space-orbit repetition locking relieving mechanism.
The technical scheme is that：A kind of space-orbit locking relieving mechanism that repeats includes locking gudgeon mechanism, compresses latch hook mechanism, locking base mechanism, crank and rocker mechanism and drive gear mechanism, locking gudgeon mechanism is arranged on the upper end of locking base mechanism, drive gear mechanism is connected with compression latch hook mechanism and crank and rocker mechanism respectively
The locking base mechanism includes base, and the upper end of base is provided with the middle part of V-groove, and base and is provided with mechanism's accommodating chamber,
The locking gudgeon mechanism includes gudgeon, and the lower end of gudgeon is arranged in the V-groove on base；The compression latch hook mechanism includes latch hook gear, latch hook body, the first latch hook transverse axis, the second cam, the second microswitch and the second latch hook transverse axis, first latch hook transverse axis is located in the right-hand member of latch hook body, second latch hook transverse axis is located in latch hook body left end, and latch hook gear and the second cam are located in the middle part of the second latch hook transverse axis successively, latch hook gear and the second cam are located at mechanism and accommodate intracavity, second microswitch is arranged on the side wall of mechanism's accommodating chamber on base, and in the released state, the second cam is offseted with the second microswitch；The crank and rocker mechanism includes main crank bar, connecting rod, rocking bar, first toggle-action lever gear, claw, first cam, first microswitch, first rotating shaft, second rotating shaft, 3rd rotating shaft and the 4th rotating shaft, first rotating shaft is packed in the mechanism on base and accommodates intracavity, first cam, one end of main crank bar and the first toggle-action lever gear are packed in first rotating shaft successively, it is rotatably connected by the second rotating shaft between one end of the other end and connecting rod of main crank bar, connected by the 3rd axis of rotation between one end of the other end and rocking bar of connecting rod, 4th axis of rotation is located on the side wall of the other end and base of rocking bar, first microswitch is arranged on base on the inwall of mechanism's accommodating chamber, and in the locked condition, first cam is offseted with the first microswitch, claw is arranged on rocking bar；The drive gear mechanism includes sector gear, motor and decelerator, motor and decelerator are successively set on the side wall outer end of base from left to right, and the output shaft of decelerator is located on the side wall of base, sector gear is sleeved on the output shaft of decelerator and is located at mechanism and accommodates intracavity, and sector gear is meshed with latch hook gear and the first toggle-action lever gear respectively.
The present invention is had the effect that compared with prior art：1st, locking gudgeon mechanism of the invention, compress latch hook mechanism, locking base mechanism, crank and rocker mechanism and drive gear mechanism arranged crosswise, it is simple structure, compact, all degree of freedom of fixation can be made to be limited completely.2nd, crank and rocker mechanism of the invention is operated near reverse dead-centre position, and with big force increasing ratio, less driving moment on locking gudgeon can produce very big coupling mechanism force, fasten locking reliable, can bear the impact shock load of tens thousand of newton.3rd, the present invention is capable of achieving to repeat to lock, handling good, disclosure satisfy that in-orbit locking --- release --- use demand locked again.4th, releasing process impact of the present invention is minimum, on spacecraft body and the attitude and stability control that are separated object without impact.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the locking state of the present invention；
Fig. 2 is the dimensional structure diagram of the released state of the present invention.
Specific embodiment
With reference to Fig. 1, Fig. 2, a kind of space-orbit locking relieving mechanism that repeats of present embodiment includes locking gudgeon mechanism, compresses latch hook mechanism, locking base mechanism, crank and rocker mechanism and drive gear mechanism, locking gudgeon mechanism is arranged on the upper end of locking base mechanism, and drive gear mechanism is connected with compression latch hook mechanism and crank and rocker mechanism respectively；The locking base mechanism includes base 4, and the upper end of base 4 is provided with V-groove, and the middle part of base 4 is provided with mechanism's accommodating chamber；The locking gudgeon mechanism includes gudgeon 12, and the lower end of gudgeon 12 is arranged in the V-groove on base 4；The compression latch hook mechanism includes latch hook gear 7, latch hook body 8, first latch hook transverse axis 9, second cam 16, second microswitch 14 and the second latch hook transverse axis 20, first latch hook transverse axis 9 is located in the right-hand member of latch hook body 8, second latch hook transverse axis 20 is located in 8 left end of latch hook body, and latch hook gear 7 and the second cam 16 are located in the middle part of the second latch hook transverse axis 20 successively, latch hook gear 7 and the second cam 16 are located at mechanism and accommodate intracavity, second microswitch 14 is arranged on the side wall of mechanism's accommodating chamber on base 4, and in the released state, second cam 16 is offseted with the second microswitch 14；The crank and rocker mechanism includes main crank bar l、Connecting rod 2、Rocking bar 3、First toggle-action lever gear 5、Claw 10、First cam 15、First microswitch 13、First rotating shaft 21、Second rotating shaft 22、3rd rotating shaft 23 and the 4th rotating shaft 24，First rotating shaft 21 is packed in the mechanism on base 4 and accommodates intracavity，First cam 15、One end of main crank bar l and the first toggle-action lever gear 5 are packed in first rotating shaft 21 successively，It is rotatably connected by the second rotating shaft 22 between one end of the other end and connecting rod 2 of main crank bar l，Connection is rotated by the 3rd rotating shaft 23 between one end of the other end and rocking bar 3 of connecting rod 2，4th rotating shaft 24 is rotated and is located on the side wall of the other end and base 4 of rocking bar 3，First microswitch 13 is arranged on base 4 on the inwall of mechanism's accommodating chamber，And in the locked condition，First cam 15 is offseted with the first microswitch 13，Claw 10 is arranged on rocking bar 3；The drive gear mechanism includes sector gear 6, motor 18 and decelerator 19, motor 18 and decelerator 19 are successively set on the side wall outer end of base 4 from left to right, and the output shaft of decelerator 19 is located on the side wall of base 4, sector gear 6 is sleeved on the output shaft of decelerator 19 and is located at mechanism and accommodates intracavity, and sector gear 6 is meshed with latch hook gear 7 and the first toggle-action lever gear 5 respectively.
The locking base mechanism of present embodiment, the frame of retaining mechanism, while and locking gudgeon horizontal movement constraint.Thereon there is provided the mounting interface of each rotating shaft, hollow inside configuration is used to install drive gear and endplay device, is installed for feeding back the microswitch of locking and released state, driving the motor and decelerator of former moving gear on the wall of side.As the bolt connection that the primary structure of retaining mechanism, base are arranged by base with structural body.
The crank and rocker mechanism of present embodiment, compresses the pretightning force needed for gudgeon for applying latch hook.Rotated by driving toggle-action lever drivening rod and rocking bar, when toggle-action lever is close to reverse dead-centre position with connecting rod angle, the pretension claw on rocking bar costs the transverse axis of latch hook end；Continue to drive toggle-action lever, claw be continuously applied pretightning force to transverse axis, until it reaches preset range.The reliability locked in ensureing emission process.
Claims (3)
1. relieving mechanism is locked in a kind of space-orbit repetition, it is characterised in that：It includes locking gudgeon mechanism、Compress latch hook mechanism、Locking base mechanism、Crank and rocker mechanism and drive gear mechanism，Locking gudgeon mechanism is arranged on the upper end of locking base mechanism，Drive gear mechanism is connected with compression latch hook mechanism and crank and rocker mechanism respectively，The locking base mechanism includes base (4)，The upper end of base (4) is provided with V-groove，And mechanism's accommodating chamber is provided with the middle part of base (4)，The locking gudgeon mechanism includes gudgeon (12)，The lower end of gudgeon (12) is arranged in the V-groove on base (4)，The compression latch hook mechanism includes latch hook gear (7)、Latch hook body (8)、First latch hook transverse axis (9)、Second cam (16)、Second microswitch (14) and the second latch hook transverse axis (20)，First latch hook transverse axis (9) is located in the right-hand member of latch hook body (8)，Second latch hook transverse axis (20) is located in latch hook body (8) left end，And latch hook gear (7) and the second cam (16) are located in the middle part of the second latch hook transverse axis (20) successively，Latch hook gear (7) and the second cam (16) accommodate intracavity positioned at mechanism，Second microswitch (14) is arranged on base (4) on the side wall of mechanism's accommodating chamber，And in the released state，Second cam (16) is offseted with the second microswitch (14)，The crank and rocker mechanism includes main crank bar (1)、Connecting rod (2)、Rocking bar (3)、First toggle-action lever gear (5)、Claw (10)、First cam (15)、First microswitch (13)、First rotating shaft (21)、Second rotating shaft (22)、3rd rotating shaft (23) and the 4th rotating shaft (24)，First rotating shaft (21) is packed in the mechanism on base (4) and accommodates intracavity，First cam (15)、One end of main crank bar (1) and the first toggle-action lever gear (5) are packed in first rotating shaft (21) successively，It is rotatably connected by the second rotating shaft (22) between one end of the other end and connecting rod (2) of main crank bar (1)，Rotated by the 3rd rotating shaft (23) between the other end of connecting rod (2) and one end of rocking bar (3) and be connected，4th rotating shaft (24) is rotated and is located on the side wall of the other end and base (4) of rocking bar (3)，First microswitch (13) is arranged on base (4) on the inwall of mechanism's accommodating chamber，And in the locked condition，First cam (15) is offseted with the first microswitch (13)，Claw (10) is arranged on rocking bar (3)，The drive gear mechanism includes sector gear (6)、Motor (18) and decelerator (19)，Motor (18) and decelerator (19) are successively set on the side wall outer end of base (4) from left to right，And the output shaft of decelerator (19) is located on the side wall of base (4)，Sector gear (6) is sleeved on the output shaft of decelerator (19) and is located at mechanism and accommodates intracavity，Sector gear (6) is meshed with latch hook gear (7) and the first toggle-action lever gear (5) respectively.
2. according to claim l, relieving mechanism is locked in a kind of space-orbit repetition, it is characterised in that：The compression latch hook mechanism also includes pressure transducer (17), and pressure transducer (17) is arranged on latch hook body (8), for realizing the pressure measxurement of locking state.
3. according to claim l or 2, relieving mechanism is locked in a kind of space-orbit repetition, it is characterised in that：The crank and rocker mechanism also includes stopping means (11), and stopping means (11) are packed on connecting rod (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510691720.1A CN106608373A (en) | 2015-10-23 | 2015-10-23 | On-orbit repeated locking and releasing mechanism for space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510691720.1A CN106608373A (en) | 2015-10-23 | 2015-10-23 | On-orbit repeated locking and releasing mechanism for space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608373A true CN106608373A (en) | 2017-05-03 |
Family
ID=58610804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510691720.1A Pending CN106608373A (en) | 2015-10-23 | 2015-10-23 | On-orbit repeated locking and releasing mechanism for space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106608373A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323699A (en) * | 2017-07-06 | 2017-11-07 | 北京吾天科技有限公司 | One kind repeats locking with stopping feedback complex device |
| CN107416235A (en) * | 2017-09-23 | 2017-12-01 | 哈尔滨理工大学 | A kind of space articulation repeats locking device |
| CN107757954A (en) * | 2017-09-27 | 2018-03-06 | 北京空间飞行器总体设计部 | A kind of repeatable locking of low impact for space payload and separator |
| CN108516110A (en) * | 2018-03-28 | 2018-09-11 | 哈尔滨工业大学 | The repeatable lock solution docking mechanism of space jack catchs type |
| CN109264035A (en) * | 2018-10-11 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft " connecting rod --- claw " formula butt-joint locking device |
| CN109436381A (en) * | 2018-09-20 | 2019-03-08 | 兰州空间技术物理研究所 | The locking of coordinated type space articulation and separator and method |
| CN111024602A (en) * | 2019-12-31 | 2020-04-17 | 中国科学院空间应用工程与技术中心 | On-rail material experiment box mechanism |
| CN111409874A (en) * | 2020-03-10 | 2020-07-14 | 上海卫星工程研究所 | Two-dimensional rotary table locking and unlocking device suitable for spacecraft |
| CN111717420A (en) * | 2020-07-21 | 2020-09-29 | 哈尔滨工业大学 | Accurate limiting and unfolding device and method for pressing mechanism |
| CN111776255A (en) * | 2020-06-24 | 2020-10-16 | 南京理工大学 | Mechanical rope net pressing and releasing mechanism |
| CN111806731A (en) * | 2020-06-30 | 2020-10-23 | 哈尔滨工业大学 | Electromagnetically triggered friction type pressing and releasing device |
| CN115180185A (en) * | 2021-04-01 | 2022-10-14 | 北京金宝利华科技有限责任公司 | Releasing mechanism capable of being repeatedly compressed |
-
2015
- 2015-10-23 CN CN201510691720.1A patent/CN106608373A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323699B (en) * | 2017-07-06 | 2020-01-14 | 北京吾天科技有限公司 | Repeated locking and stopping feedback composite device |
| CN107323699A (en) * | 2017-07-06 | 2017-11-07 | 北京吾天科技有限公司 | One kind repeats locking with stopping feedback complex device |
| CN107416235A (en) * | 2017-09-23 | 2017-12-01 | 哈尔滨理工大学 | A kind of space articulation repeats locking device |
| CN107416235B (en) * | 2017-09-23 | 2023-12-29 | 哈尔滨理工大学 | Space butt joint repeated locking device |
| CN107757954A (en) * | 2017-09-27 | 2018-03-06 | 北京空间飞行器总体设计部 | A kind of repeatable locking of low impact for space payload and separator |
| CN107757954B (en) * | 2017-09-27 | 2020-02-14 | 北京空间飞行器总体设计部 | Low-impact repeatable locking and separating device for space effective load |
| CN108516110B (en) * | 2018-03-28 | 2021-07-30 | 哈尔滨工业大学 | Space clamping jaw type repeatable locking and unlocking butt joint mechanism |
| CN108516110A (en) * | 2018-03-28 | 2018-09-11 | 哈尔滨工业大学 | The repeatable lock solution docking mechanism of space jack catchs type |
| CN109436381A (en) * | 2018-09-20 | 2019-03-08 | 兰州空间技术物理研究所 | The locking of coordinated type space articulation and separator and method |
| CN109264035A (en) * | 2018-10-11 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft " connecting rod --- claw " formula butt-joint locking device |
| CN111024602A (en) * | 2019-12-31 | 2020-04-17 | 中国科学院空间应用工程与技术中心 | On-rail material experiment box mechanism |
| CN111024602B (en) * | 2019-12-31 | 2022-06-28 | 中国科学院空间应用工程与技术中心 | On-rail material experiment box mechanism |
| CN111409874A (en) * | 2020-03-10 | 2020-07-14 | 上海卫星工程研究所 | Two-dimensional rotary table locking and unlocking device suitable for spacecraft |
| CN111776255A (en) * | 2020-06-24 | 2020-10-16 | 南京理工大学 | Mechanical rope net pressing and releasing mechanism |
| CN111806731A (en) * | 2020-06-30 | 2020-10-23 | 哈尔滨工业大学 | Electromagnetically triggered friction type pressing and releasing device |
| CN111806731B (en) * | 2020-06-30 | 2021-11-16 | 哈尔滨工业大学 | Electromagnetically triggered friction type pressing and releasing device |
| CN111717420A (en) * | 2020-07-21 | 2020-09-29 | 哈尔滨工业大学 | Accurate limiting and unfolding device and method for pressing mechanism |
| CN111717420B (en) * | 2020-07-21 | 2023-08-22 | 哈尔滨工业大学 | Accurate limiting and unfolding device and unfolding limiting method for pressing mechanism |
| CN115180185A (en) * | 2021-04-01 | 2022-10-14 | 北京金宝利华科技有限责任公司 | Releasing mechanism capable of being repeatedly compressed |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106608373A (en) | On-orbit repeated locking and releasing mechanism for space | |
| CN102720733B (en) | Space on-track repeated locking and releasing mechanism | |
| CN105292520B (en) | A kind of coordinated type space repeats locking relieving mechanism | |
| Boesso et al. | ARCADE small-scale docking mechanism for micro-satellites | |
| CN103612774B (en) | A kind of detachable micro-nano satellite configuration | |
| CN104443431B (en) | Triangle satellite configuration | |
| CN107128511B (en) | Novel reusable connection and separation device for miniature satellite | |
| US4964596A (en) | Spacecraft structure for orbital assembly and servicing | |
| Jiang et al. | Scaling controllable adhesives to grapple floating objects in space | |
| CN107438806B (en) | Method and device for controlling the attitude of a spacecraft | |
| CN105035368B (en) | Low impact can in-orbit multiplexing tripper and using method | |
| US9663249B2 (en) | Dual spacecraft design and deployment system and method of use thereof | |
| JP2018510090A (en) | Satellite frame and method for manufacturing satellite | |
| CN204775993U (en) | Wing device is folded to aircraft | |
| CN112298618A (en) | Two-dimensional secondary expansion solar wing | |
| JP6581601B2 (en) | Payload injection system | |
| CN107065910A (en) | Space rope system capturing system keeps stage tether face inner face exterior angle stable control method | |
| CN104802978B (en) | Folding wing device of aircraft | |
| CN108995830B (en) | Four-point linkage type compression release device | |
| EP1618039B1 (en) | Momentum stabilized launch vehicle upper stage | |
| US4355775A (en) | Spacecraft separation apparatus | |
| Schlanbusch et al. | PD+ attitude control of rigid bodies with improved performance | |
| CN110816890B (en) | Tumbler type jumping detection robot | |
| CN108974393B (en) | Four-point linkage type ejection device | |
| Podolský | Photon rockets moving arbitrarily in any dimension |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |