CN112276835B - Differential principle-based paw separation unlocking mechanism - Google Patents
Differential principle-based paw separation unlocking mechanism Download PDFInfo
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- CN112276835B CN112276835B CN202011064801.6A CN202011064801A CN112276835B CN 112276835 B CN112276835 B CN 112276835B CN 202011064801 A CN202011064801 A CN 202011064801A CN 112276835 B CN112276835 B CN 112276835B
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- paw
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- bevel gear
- gear set
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
Abstract
A paw separation unlocking mechanism based on a differential principle belongs to the technical field of aviation and aerospace. The invention solves the problem that the prior unlocking and separating mechanism for aviation or spaceflight is completely invalid when in failure, so that the paw can not be unlocked. The upper portion of the second paw is hinged with the upper portion of the first paw through a rotating shaft at a point C, the upper portion of the second paw is in pin joint with the lower portion of the first paw through a locking pin at a point D, a driving gear in the first bevel gear set is coaxially and fixedly connected with one output shaft of the differential mechanism, a driving gear in the second bevel gear set is coaxially and fixedly connected with the other output shaft of the differential mechanism, the rotating shaft is coaxially and fixedly connected with a driven gear in the first bevel gear set, the driving pin is coaxially and threadedly mounted on the driven gear in the second bevel gear set, and the differential mechanism is driven to move through a driving motor fixedly mounted on the rack. The pin joint at the D point is released, and the second claw can rotate around the C point relative to the first claw to realize emergency unlocking.
Description
Technical Field
The invention relates to a paw separation unlocking mechanism based on a differential principle, and belongs to the technical field of aviation and aerospace.
Background
For some products with elongated features, when they are not rigid or stable enough by themselves during the launch or transport, they need to be supported by means of auxiliary support means, which, when they reach their intended destination, require a quick opening of the auxiliary support means to effect the release of the product, and at the same time require the characteristic of being reusable many times.
The mechanism for realizing quick unlocking and releasing of the auxiliary supporting device is defined as an unlocking and separating mechanism, the unlocking and separating mechanism needs to ensure that the auxiliary supporting device is a complete structure in the process of supporting a product, and after the auxiliary supporting device is unlocked, the auxiliary supporting device is changed into two mechanisms rotating relatively and completely avoiding the product, so that the product is prevented from interfering with the product in the releasing process. Thus, the unlocking and separating mechanism is to perform two actions: 1) the auxiliary supporting device is changed into two mechanisms capable of rotating relatively from a single structure; 2) the structure of the auxiliary supporting device for supporting the product part can rotate quickly, and the product can be avoided.
Most of the existing unlocking and separating mechanisms for aviation or aerospace use one power source to realize one unlocking or locking action, for example, a certain product holding and supporting mechanism (a paw for short) can provide reliable supporting and holding force for a product, and the rigidity and the structural safety are ensured. Under normal work, the two symmetrical claws reliably limit and lock a product, and the claws are unlocked under the action of an instruction to realize separation from the product.
However, under the condition that the main actuator fails in an emergency condition, the unlocking and separating mechanism in the prior art cannot reliably separate and reset the paw from the product, so that a special separating and unlocking mechanism suitable for the requirements of the auxiliary supporting device of the product needs to be developed, and the mechanism has the characteristics of miniaturization, light weight and high reliability.
Disclosure of Invention
The invention aims to solve the problem that the prior unlocking and separating mechanism for aviation or spaceflight is completely invalid when in failure, so that a paw cannot be unlocked, and further provides a paw separating and unlocking mechanism based on a differential principle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a paw separation unlocking mechanism based on a differential principle comprises a first paw, a second paw and a gear transmission assembly for driving the second paw to rotate relative to the first paw, wherein the first paw is fixed on a rack, the upper portion of the second paw is hinged to the upper portion of the first paw through a rotating shaft at a point C, the upper portion of the second paw is connected with the lower portion of the first paw through a locking pin at a point D, the gear transmission assembly comprises a differential mechanism, a first bevel gear set and a second bevel gear set, a driving gear in the first bevel gear set is coaxially and fixedly connected with one output shaft of the differential mechanism, a driving gear in the second bevel gear set is coaxially and fixedly connected with the other output shaft of the differential mechanism, the rotating shaft is coaxially and fixedly connected with a driven gear in the first bevel gear set, and the locking pin is coaxially and in threaded connection with the driven gear in the second bevel gear set, the differential mechanism is driven to act by a driving motor fixedly arranged on the frame.
Furthermore, a spring pin is arranged on one side surface, close to the second paw, of the first paw, a positioning groove is formed in one side surface, close to the first paw, of the second paw, and when the second paw completes unlocking, the spring pin is clamped in the positioning groove.
Furthermore, a limiting mechanism is fixedly arranged on the rack and is positioned on one side, away from the second paw, of the driven gear in the second bevel gear set.
Further, an output shaft of the driving motor is connected with the differential through a duplicate gear.
Further, the duplicate gear is connected with an output shaft of the driving motor through a first straight gear.
Further, the duplicate gear is rotatably installed on the frame.
Furthermore, two output shafts of the differential and the rotating shaft are rotatably arranged on the frame.
Furthermore, the differential mechanism comprises a second straight gear, a gear carrier, two symmetrically arranged planet gears and two symmetrically arranged half shaft gears, wherein the gear carrier is fixedly arranged on the second straight gear, the two planet gears are respectively and rotatably arranged on the gear carrier, and the two half shaft gears are simultaneously meshed with the two planet gears.
Further, the upper part of the first paw is hinged with the frame at a point B and is pinned at a point A.
Compared with the prior art, the invention has the following effects:
under the condition that emergency condition main actuator became invalid, first claw was fixed unable to be opened, through the separation release mechanism of this application, can remove the pin joint of D point department fixed, the second claw can be followed and is realized promptly unblock around C point department relative first claw rotation, can realize the separation of claw and product independently reliably to can artifical the prognosis recovery state completion reset.
The sequential actions of unlocking and avoiding (rotating by the power of the motor) of the second paw in the unlocking process are realized by one driving source, so that the power source can be effectively reduced, and the purposes of saving energy consumption, miniaturization and light weight are achieved;
reliable force load application of the product by the paw is realized through the locking pin, the driving source does not need to provide loading force in real time in the locking process, the complexity of a driving and transmission mechanism can be effectively reduced, and the phenomenon of mistaken unlocking of the product under a complex working condition can be avoided;
the quick reset device can realize quick reset under manual intervention, and can realize repeated use for many times, thereby realizing the purpose of reducing cost.
Drawings
FIG. 1 is a schematic front view of the present application;
FIG. 2 is a schematic structural view of the gear assembly;
FIG. 3 is a schematic structural view of a differential;
FIG. 4 is a schematic diagram of the present application during unlocking;
FIG. 5 is a schematic diagram of the present application during a reset process;
fig. 6 is a schematic side cross-sectional view (partially schematic) of the fixation between the first and second jaws by means of a spring pin.
Detailed Description
The first specific implementation way is as follows: the embodiment is described with reference to fig. 1 to 6, and a differential-principle-based paw separation unlocking mechanism comprises a first paw 2, a second paw 3 and a gear transmission assembly for driving the second paw 3 to rotate relative to the first paw 2, wherein the first paw 2 is fixed on a frame 13, the upper portion of the second paw 3 is hinged to the upper portion of the first paw 2 through a rotating shaft 19 at a point C, the upper portion of the second paw 3 is pinned to the lower portion of the first paw 2 through a locking pin 12 at a point D, the gear transmission assembly comprises a differential mechanism 7, a first bevel gear set 4 and a second bevel gear set 9, wherein a driving gear in the first bevel gear set 4 is coaxially fixedly connected with one output shaft of the differential mechanism 7, a driving gear in the second bevel gear set 9 is coaxially fixedly connected with the other output shaft of the differential mechanism 7, the rotating shaft 19 is coaxially fixedly connected with a driven gear in the first bevel gear set 4, the locking pin 12 is coaxially and threadedly mounted on a driven gear in the second bevel gear set 9, and the differential 7 is driven by a drive motor 14 fixedly mounted on a frame 13.
Under the condition that emergency condition main actuator became invalid, first hand claw 2 was fixed unable to be opened, through the separation release mechanism of this application, can remove the pin joint of D point department fixed, and second hand claw 3 can rotate relative first hand claw 2 around C point department afterwards and realize urgent unblock, can realize the separation of hand claw and product 1 independently reliably to can artifical the prognosis recovery state completion reset.
All adopt the external gearing mode between each gear in this application. The differential 7 is a mechanism body, is a pivot for power input and output, and transmits power to a motion terminal, namely a rotating shaft 19 and a locking pin 12, through a gear transmission assembly, wherein the rotating shaft 19 is a hinge point C of the second claw 3 and the first claw 2, and the locking pin 12 is a pin connection point D of the second claw 3 and the first claw 2.
The locking pin 12 is a cylindrical pin structure and is used for locking the two claws, and an external thread is processed on one end part of the locking pin 12 far away from the second claw 3 and is used for being in threaded connection with a driven gear in the second bevel gear set 9, so that the driven gear in the second bevel gear set 9 can drive the locking pin 12 to rotate and move along the axial direction when rotating, and the locking and unlocking of the locking pin 12 are realized.
The differential 7 assembly enables the two output shafts to rotate at different rotational speeds. The mechanism is provided with a drive power source by a drive motor 14. Each bevel gear set is connected with an output shaft of the differential 7 through a connecting shaft 5.
The unlocking and avoiding (the motor power makes the second gripper 3 rotate) sequential actions in the unlocking process are realized through one driving source, so that the power source can be effectively reduced, and the purposes of saving energy consumption, miniaturization and light weight are achieved;
reliable force loading of the product 1 by the paw is realized through the locking pin 12, the driving source does not need to provide loading force in real time in the locking process, the complexity of a driving and transmission mechanism can be effectively reduced, and the phenomenon of mistaken unlocking of the product 1 under a complex working condition can be avoided;
the quick reset device can realize quick reset under manual intervention, and can realize repeated use for many times, thereby realizing the purpose of reducing cost.
One side surface of the first claw 2 close to the second claw 3 is provided with a spring pin 8, one side surface of the second claw 3 close to the first claw 2 is provided with a positioning groove, and when the second claw 3 completes the unlocking action, the spring pin 8 is clamped in the positioning groove 3-1. A stepped hole is formed in the first paw, the spring pin 8 is of the prior art and comprises a spring and a cylindrical pin structure which are fixedly connected end to end, one end of the spring is fixedly arranged on the stepped surface of the stepped hole, one end of the cylindrical pin is a round head end and is arranged close to the second paw 3, an auxiliary rod is fixedly arranged at the other end of the cylindrical pin and is slidably arranged in the stepped hole in a penetrating mode, the spring is sleeved on the auxiliary rod, and in a non-working state and the movement process of the second paw 3, the round head end, close to the second paw 3, of the spring pin 8 is extruded by the second paw 3 and is in a contraction state; when the second claw 3 completes the unlocking action and moves in place, the positioning groove on the side surface of the second claw 3 is just matched with the round end of the spring pin, and the round end is inserted into the positioning groove under the action of the spring at the other end to complete the fixation. When the second claw 3 is reset, the round end of the spring pin can be separated from the positioning groove only by manually pulling the auxiliary rod, and the fixing can be released, so that the second claw 3 is reset.
The frame 13 is further fixedly provided with a limiting mechanism 10, and the limiting mechanism 10 is located on one side of the driven gear in the second bevel gear set 9, which is far away from the second claw 3. And plays a role in limiting the locking pin 12 during unlocking.
The output shaft of the driving motor 14 is connected with the differential 7 through a duplicate gear 17.
The duplicate gear 17 is connected with the output shaft of the driving motor 14 through a first straight gear 15.
A duplicate gear 17 is rotatably mounted on the frame 13.
The two output shafts of the differential 7 and the rotating shaft 19 are rotatably mounted on the frame 13.
The differential mechanism 7 comprises a second straight gear 6, a gear carrier 7-4, two planetary gears 7-1 which are symmetrically arranged and two half shaft gears 7-2 which are symmetrically arranged, wherein the gear carrier 7-4 is fixedly arranged on the second straight gear 6, the two planetary gears 7-1 are respectively and rotatably arranged on the gear carrier 7-4, and the two half shaft gears 7-2 are simultaneously meshed with the two planetary gears 7-1. The two planetary gears 7-1 input power by the second straight gear 6 and can revolve around an output shaft.
The upper part of the first claw 2 is hinged with the frame 13 at a point B and is pinned at a point A.
The working principle is as follows:
1. emergency unlocking process:
the method mainly comprises the following two steps: (1) the locking pin 12 is pulled out, and the second paw 3 and the first paw 2 are unlocked; (2) the rotating shaft 19 is driven to rotate, and the second paw 3 integrated with the rotating shaft 19 rotates to a preset position. The two steps have strict sequence relation. The specific unlocking motion flow is as follows:
an output shaft of a planned driving motor 14 rotates clockwise, power is input to a differential 7 through a first straight gear 15 and a linkage gear, two output shafts of the differential 7 output power to two connecting shafts 5, and the two connecting shafts 5 have the tendency of rotating clockwise. However, the second gripper 3 is in a pin locking state at this time, the connecting shaft 5 between the first bevel gear set 4 and the differential mechanism 7 cannot move, the power of the differential mechanism 7 is completely output to the other connecting shaft 5, and then the second bevel gear set 9 is driven to move, and because one end of the locking pin 12 is in threaded connection with the driven wheel of the second bevel gear set 9, the locking pin 12 can rotate and move along the axis of the locking pin 12, so that the locking pin 12 is gradually pulled out of the pin hole;
at the moment when the locking pin 12 is completely pulled out of the second claw 3, the second claw 3 is released from being fixed, the connecting shaft 5 between the first bevel gear set 4 and the differential 7 which are bound can move, and one path of power of the differential 7 is transmitted to the connecting shaft 5, so that the first bevel gear set 4 is driven to move; a pin shaft at the point C for controlling the second paw 3 to rotate is fixedly connected with a driven gear of the first bevel gear set 4, so that the second paw 3 rotates towards the direction far away from the product 1, but the moving speed is slower;
when the locking pin 12 moves to the safety position, the locking pin contacts the limiting mechanism 10 and cannot move continuously, then the movement of the second bevel gear set 9 and the connecting shaft 5 connected with the second bevel gear set is limited and cannot occur, the power of the differential 7 is completely output to the other connecting shaft 5, the movement of the first bevel gear set 4 and the connecting shaft 5 connected with the first bevel gear set is accelerated, namely the second hand claw 3 is unlocked at twice the speed before, and the unlocking movement is continuously carried out to the preset position.
2. Resetting:
the resetting process is a process of rotating the second gripper 3 to a position overlapped with the first gripper 2 in a state that the second gripper 3 is unlocked, effectively and reliably clamping the target product 1 again, and recovering the state before unlocking.
Before automatic resetting is carried out, the spring pin needs to be pulled out manually, the second claw 3 is rotated to a locking state manually, and then the rest resetting process can be completed automatically through the instruction of the driving motor 14. The specific reset movement process is as follows:
the output shaft of the driving motor 14 rotates anticlockwise, power is finally input to the differential mechanism 7 through gear transmission, the differential mechanism 7 outputs the power to the two connecting shafts 5, at the moment, the two connecting shafts 5 can move freely, and the two bevel gear sets act simultaneously;
one end of the locking pin 12 is in threaded connection with a driven gear in the second bevel gear set 9, so that the locking pin 12 is driven to rotate and move along the axis of the locking pin, and a rotating shaft 19 for controlling the second hand claw 3 to rotate moves towards the position before unlocking under the action of the first bevel gear;
when the second claw 3 returns to the state before unlocking, the entire reset operation is finished.
Claims (8)
1. The utility model provides a hand claw separation release mechanism based on differential principle which characterized in that: the hand-operated transmission device comprises a first paw (2), a second paw (3) and a gear transmission assembly for driving the second paw (3) to rotate relative to the first paw (2), wherein the first paw (2) is fixed on a rack (13), the upper part of the second paw (3) is hinged with the upper part of the first paw (2) through a rotating shaft (19), the upper part of the second paw (3) is in pin joint with the lower part of the first paw (2) through a locking pin (12), the gear transmission assembly comprises a differential mechanism (7), a first bevel gear set (4) and a second bevel gear set (9), wherein a driving gear in the first bevel gear set (4) is coaxially fixedly connected with one output shaft of the differential mechanism (7), a driving gear in the second bevel gear set (9) is coaxially fixedly connected with the other output shaft of the differential mechanism (7), and the rotating shaft (19) is coaxially fixedly connected with a driven gear in the first bevel gear set (4), the locking pin (12) is coaxially and threadedly mounted on a driven gear in the second bevel gear set (9), and the differential (7) is driven to act through a driving motor (14) fixedly mounted on a frame (13).
2. The differential-principle-based paw separation unlocking mechanism as claimed in claim 1, wherein: a side face, close to the second paw (3), of the first paw (2) is provided with a spring pin (8), a side face, close to the first paw (2), of the second paw (3) is provided with a positioning groove (3-1), and when the second paw (3) completes unlocking, the spring pin (8) is clamped in the positioning groove (3-1).
3. The differential mechanism-based paw separation unlocking mechanism as claimed in claim 1 or 2, wherein: a limiting mechanism (10) is further fixedly arranged on the rack (13), and the limiting mechanism (10) is positioned on one side, away from the second paw (3), of the driven gear in the second bevel gear set (9).
4. The differential-principle-based paw separation unlocking mechanism as claimed in claim 3, wherein: an output shaft of the driving motor (14) is connected with the differential (7) through a duplicate gear (17).
5. The differential-principle-based paw separation unlocking mechanism as claimed in claim 4, wherein: the duplicate gear (17) is connected with an output shaft of the driving motor (14) through a first straight gear (15).
6. The differential-principle-based paw separation unlocking mechanism as claimed in claim 5, wherein: the duplicate gear (17) is rotatably arranged on the frame (13).
7. The differential mechanism-based paw separation unlocking mechanism as claimed in claim 1, 2, 4, 5 or 6, wherein: two output shafts of the differential (7) and the rotating shaft (19) are rotatably arranged on the frame (13).
8. The differential-principle-based paw separation unlocking mechanism as claimed in claim 7, wherein: the differential mechanism (7) comprises a second straight gear (6), a gear carrier (7-4), two symmetrically arranged planetary gears (7-1) and two symmetrically arranged half shaft gears (7-2), wherein the gear carrier (7-4) is fixedly arranged on the second straight gear (6), the two planetary gears (7-1) are respectively and rotatably arranged on the gear carrier (7-4), and the two half shaft gears (7-2) are simultaneously meshed with the two planetary gears (7-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011064801.6A CN112276835B (en) | 2020-09-30 | 2020-09-30 | Differential principle-based paw separation unlocking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011064801.6A CN112276835B (en) | 2020-09-30 | 2020-09-30 | Differential principle-based paw separation unlocking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112276835A CN112276835A (en) | 2021-01-29 |
| CN112276835B true CN112276835B (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011064801.6A Active CN112276835B (en) | 2020-09-30 | 2020-09-30 | Differential principle-based paw separation unlocking mechanism |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2690675Y (en) * | 2004-04-20 | 2005-04-06 | 温松田 | Differential shift device |
| US20100144478A1 (en) * | 2008-12-04 | 2010-06-10 | Fan Shao-Chin | Differential lock structure |
| CN103895724B (en) * | 2012-12-28 | 2016-04-06 | 中国科学院沈阳自动化研究所 | A kind of differential double fastener pawl travelling robot walking clipping mechanism |
| CN103758830B (en) * | 2013-12-31 | 2015-09-23 | 中船重工中南装备有限责任公司 | A kind of Manual-automatic integrated formula the locking and unlocking mechanism |
| JP6476750B2 (en) * | 2014-10-29 | 2019-03-06 | いすゞ自動車株式会社 | Differential lock pin press-fitting device |
| CN106670797B (en) * | 2016-12-30 | 2018-10-19 | 捷孚传动科技有限公司 | DCT gearboxes shafting automatic assembling device and automatic assembling method |
| CN108621188B (en) * | 2018-07-26 | 2020-07-31 | 燕山大学 | Redundant self-locking mechanical gripper with accurately-controllable clamping force |
| CN109515545A (en) * | 2018-12-14 | 2019-03-26 | 南京全控航空科技有限公司 | Creeping motion type climbing level robot |
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2020
- 2020-09-30 CN CN202011064801.6A patent/CN112276835B/en active Active
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