CN101830289B - Lock device - Google Patents
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- CN101830289B CN101830289BCN2009103007603ACN200910300760ACN101830289BCN 101830289 BCN101830289 BCN 101830289BCN 2009103007603 ACN2009103007603 ACN 2009103007603ACN 200910300760 ACN200910300760 ACN 200910300760ACN 101830289 BCN101830289 BCN 101830289B
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种锁紧装置，适用于空间可重复展开机构，可重复锁紧及解锁。The invention relates to a locking device, which is suitable for a space repeatable unfolding mechanism and can be repeatedly locked and unlocked.
背景技术Background technique
在进行月球、火星等深空探测时，漫游车上的很多可重复展开机构需要锁紧，例如，机械臂系统是漫游车上的主要装置，在漫游车发射、飞行、着陆、行走过程中，机械臂需要可靠的锁紧，在进行就位探测时，机械臂需要解锁、展开，以便携带有效载荷进行就位探测作业。锁紧装置是保障可重复展开机构安全的一个关键机构。在不同的状态下，锁紧装置需要具有不同的锁紧功能。在发射、着陆过程中，由于存在较大的加速度和冲击载荷，需要锁紧装置对需锁紧装置进行稳定的约束，采用过约束的形式保证锁紧的可靠性；而在星球表面的行走、作业过程中，锁紧装置通常对需锁紧装置进行不完全约束，需要一定的柔性和灵活性以保证需锁紧装置能够顺利的多次重复锁紧和展开。由于受发射能力、漫游车体积、负载能力的限制，锁紧装置需要结构简单、体积小、重量轻，才能更好的完成工作需要。When conducting deep space exploration on the moon and Mars, many repeatable deployable mechanisms on the rover need to be locked. For example, the robotic arm system is the main device on the rover. During the launch, flight, landing, and walking of the rover, The robotic arm needs to be locked reliably. When performing in-position detection, the robotic arm needs to be unlocked and unfolded so as to carry the payload for in-position detection. The locking device is a key mechanism to ensure the safety of the repeatable deployable mechanism. In different states, the locking device needs to have different locking functions. In the process of launch and landing, due to the large acceleration and impact load, the locking device is required to constrain the device to be locked stably, and the over-constrained form is used to ensure the reliability of locking; while walking on the surface of the planet, During operation, the locking device usually performs incomplete restraint on the device to be locked, and requires a certain degree of flexibility and flexibility to ensure that the device to be locked can be repeatedly locked and deployed smoothly. Due to the limitations of launch capability, rover volume, and load capacity, the locking device needs to be simple in structure, small in size, and light in weight in order to better complete the work.
发明内容Contents of the invention
针对上述存在的技术问题，本发明目的在于提供一种适用于空间可重复锁紧、解锁机构的锁紧装置。In view of the above-mentioned existing technical problems, the purpose of the present invention is to provide a locking device suitable for space repeatable locking and unlocking mechanisms.
本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明包括固定底板、滑槽、第一锁紧销装置、第二锁紧销装置、火工切割器、拉杆及装置连接板，滑槽、第一锁紧销装置和第二锁紧销装置沿圆周均置于固定底板上，装置连接板上有三个连接件，分别与滑槽、第一锁紧销装置和第二锁紧销装置端部对应，与滑槽对应的连接件置于滑槽内，并可在滑槽内滑动，火工切割器置于第一锁紧销装置和第二锁紧销装置之间，拉杆穿过火工切割器两端分别与第一锁紧销装置和第二锁紧销装置连接，锁紧时，装置连接板通过其上的连接件分别与滑槽、第一锁紧销装置和第二锁紧销装置连接。The invention includes a fixed bottom plate, a chute, a first locking pin device, a second locking pin device, a pyrotechnic cutter, a pull rod and a device connecting plate, a chute, a first locking pin device and a second locking pin device They are all placed on the fixed bottom plate along the circumference, and there are three connecting pieces on the connecting plate of the device, corresponding to the end of the chute, the first locking pin device and the end of the second locking pin device respectively, and the connecting pieces corresponding to the chute are placed on the chute slot, and can slide in the chute, the pyrotechnic cutter is placed between the first locking pin device and the second locking pin device, and the pull rod passes through the two ends of the pyrotechnic cutter to connect with the first locking pin device and the second locking pin device respectively. The second locking pin device is connected, and when locked, the device connection plate is connected with the slide groove, the first locking pin device and the second locking pin device respectively through the connecting piece thereon.
本发明所述的第一锁紧销装置和第二锁紧销装置结构相同，均包括弹簧、销杆、销套及拉杆接头，销杆为一圆杆间带有挡板构成，置于销套内，在销套内靠近装置连接板端安装有弹簧。The first locking pin device of the present invention and the second locking pin device have the same structure, and both include a spring, a pin rod, a pin sleeve and a tie rod joint. In the sleeve, a spring is installed near the end of the connecting plate of the device in the pin sleeve.
所述的装置连接板上的连接件为销耳，锁紧时，第一锁紧销装置和第二锁紧销装置的销杆插入装置连接板对应的销耳内。所述的滑槽一端为开口槽，另一端设有第三销杆，第三销杆端靠近第一锁紧销装置和第二锁紧销装置。The connectors on the connecting plate of the device are pin lugs. When locking, the pin rods of the first locking pin device and the second locking pin device are inserted into the corresponding pin lugs of the connecting plate of the device. One end of the chute is an open slot, and the other end is provided with a third pin rod, and the end of the third pin rod is close to the first locking pin device and the second locking pin device.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
本发明结构简单，通过沿圆周布置于固定底板上的滑槽及两锁紧销装置构成锁紧机构，可将其上方安装有需锁紧装置的连接板适时锁紧、解锁。装置连接板上有三个销耳，在第一次锁紧时，装置连接板上的两个销耳分别与两锁紧销装置中的销杆对应形成孔轴配合，另一个销耳置于滑槽内，与滑槽内的销杆形成孔轴配合，实现锁紧功能；此外，拉杆穿过火工切割器与两锁紧装置连接，形成稳定的锁紧状态。第一次解锁时，通过火工切割器切断拉杆，在锁紧销装置中弹簧力的作用下，实现锁紧销装置中的销杆与装置连接板上对应两个销耳的分离，此外，利用需锁紧装置的自由度，将与滑槽销杆配合的销耳沿着滑槽移出，完成解锁。重复锁紧时，利用需锁紧装置的自由度，使与滑槽销杆配合的销耳沿着滑槽移动，并与滑槽内销杆形成孔轴配合实现重复锁紧；重复锁紧后解锁时，利用需锁紧装置的自由度，使与滑槽销杆配合的销耳与滑槽销杆分离，并沿着滑槽向滑槽开口方向移动，滑出滑槽，实现解锁。本发明结构紧凑，易于安装，不占用较多空间，可靠实用。The present invention has a simple structure. A locking mechanism is formed by a chute and two locking pin devices arranged on the fixed base plate along the circumference, and the connecting plate on which the locking device is installed above it can be locked and unlocked in good time. There are three pin lugs on the connecting plate of the device. When locking for the first time, the two pin lugs on the connecting plate of the device correspond to the pin rods in the two locking pin devices respectively to form a hole shaft fit, and the other pin lug is placed on the sliding In the groove, the hole shaft fits with the pin rod in the chute to realize the locking function; in addition, the pull rod passes through the pyrotechnic cutter and connects with the two locking devices to form a stable locking state. When unlocking for the first time, the pull rod is cut off by the pyrotechnic cutter, and under the action of the spring force in the locking pin device, the pin rod in the locking pin device is separated from the corresponding two pin lugs on the connecting plate of the device. In addition, Utilizing the degree of freedom of the device to be locked, the pin ear matched with the pin bar of the chute is moved out along the chute to complete the unlocking. During repeated locking, use the degree of freedom of the locking device to move the pin lug matched with the pin rod of the chute along the chute, and cooperate with the pin rod in the chute to form a hole shaft to achieve repeated locking; unlock after repeated locking When using the degree of freedom of the locking device, the pin ear matched with the pin rod of the chute is separated from the pin rod of the chute, and moves along the chute toward the opening of the chute, and slides out of the chute to realize unlocking. The invention has compact structure, is easy to install, does not occupy much space, and is reliable and practical.
附图说明Description of drawings
图1为本发明的第一次锁紧状态结构示意图。Fig. 1 is a structural schematic diagram of the first locking state of the present invention.
图2为本发明的第一次锁紧状态剖视图。Fig. 2 is a cross-sectional view of the first locking state of the present invention.
图3为本发明的第一次释放状态结构示意图。Fig. 3 is a schematic structural diagram of the first release state of the present invention.
图4为本发明的第一次释放状态剖视图。Fig. 4 is a sectional view of the first release state of the present invention.
图5为本发明的连接板结构示意图。Fig. 5 is a schematic structural diagram of the connecting plate of the present invention.
图6为本发明一种应用实例的工作过程示意图，其中Fig. 6 is the working process schematic diagram of a kind of application example of the present invention, wherein
(a)为第一次锁紧时的示意图；(a) is a schematic diagram when locking for the first time;
(b)为第一次解锁时切断拉杆示意图；(b) is a schematic diagram of cutting off the tie rod when unlocking for the first time;
(c)为第一次解锁时，第三销耳离开滑槽内的第三销杆示意图；(c) When unlocking for the first time, the third pin lug leaves the third pin rod in the chute;
(c’)为(c)的剖视示意图；(c') is a schematic cross-sectional view of (c);
(d)为第一次解锁时，第三销耳离开滑槽的示意图；(d) is a schematic diagram of the third pin lug leaving the chute when unlocking for the first time;
(e)为重复锁紧时，第三销耳进入滑槽的示意图；(e) is a schematic diagram of the third pin lug entering the chute during repeated locking;
(f)为重复锁紧时，第三销耳被滑槽限制，并与第三销杆形成孔轴配合连接的示意图；(f) is a schematic diagram of the third pin lug being restricted by the chute and forming a hole-shaft fit connection with the third pin rod during repeated locking;
(f’)为(f)的剖视示意图；(f') is a schematic cross-sectional view of (f);
(g)为重复解锁时，第三销耳离开滑槽内的第三销杆示意图；(g) is a schematic diagram of the third pin bar in which the third pin lug leaves the chute during repeated unlocking;
(g’)为(g)的剖视示意图；(g') is a schematic cross-sectional view of (g);
(h)为重复解锁时，第三销耳离开滑槽实现解锁的示意图。(h) is a schematic diagram of the third pin lug leaving the chute to realize unlocking during repeated unlocking.
图中：1-滑槽，2-第三销耳，3-装置连接板，4-第一销耳，5-第二销耳，6-第一锁紧销装置，7-火工切割器，8-拉杆，9-第二锁紧销装置，10-固定底板，11-第三销杆，12-第一销套，13-第一销杆，14-第一拉杆接头，15-第二拉杆接头，16-第二销杆，17-第二销套，18-第二弹簧，19-需锁紧装置。In the figure: 1-chute, 2-third pin lug, 3-device connecting plate, 4-first pin lug, 5-second pin lug, 6-first locking pin device, 7-fire cutter , 8-tie rod, 9-second locking pin device, 10-fixed bottom plate, 11-third pin rod, 12-first pin sleeve, 13-first pin rod, 14-first tie rod joint, 15-the first Two tie rod joints, 16-the second pin rod, 17-the second pin sleeve, 18-the second spring, 19-need a locking device.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
实施例：如图1所示，本发明包括固定底板10、滑槽1、第一锁紧销装置6、第二锁紧销装置9、火工切割器7、拉杆8及装置连接板3，滑槽1、第一锁紧销装置6和第二锁紧销装置9沿圆周均置于固定底板10上，装置连接板3置于固定底板10上方，其上端用于安装需锁紧装置19，下端设有三个销耳，其中的第三销耳2置于滑槽1内，并可在滑槽1内滑动，第一销耳4及第二销耳5位置与第一锁紧销装置6和第二锁紧销装置9分别对应，本例的滑槽1一端为开口槽，另一端设有第三销杆11，第三销杆11端靠近第一锁紧销装置6和第二锁紧销装置9；本例的第一锁紧销装置6和第二锁紧销装置9结构相同，如图2所示，以第一锁紧销装置6为例：包括第一弹簧11、第一销杆13、第一销套12及第一拉杆接头14，第一销杆13为一圆杆间带有挡板构成，置于第一销套12内，在第一销套12内靠近装置连接板3端安装有第一弹簧11；拉杆8穿过火工切割器7两端分别与所述两锁紧销装置的第一拉杆接头14和第二拉杆接头15连接。Embodiment: As shown in Figure 1, the present invention includes a
如图6所示，为本发明应用的示意图，本例图6中的需锁紧装置19是一个带旋转自由度的单臂。第一次锁紧时，如图6(a)所示，装置连接板3上的第三销耳2置于滑槽1内，并套入滑槽1端部的第三销杆11，形成孔轴配合，同时第三销耳2受滑槽1与第三销杆11的限制只能沿滑槽1开口方向运动；第一销杆13和第二销杆16分别插入第一销耳4及第二销耳5，分别形成孔轴配合，由于拉杆的长度一定，它们之间存在几何约束关系，使得第一销杆13和第二销杆16压缩第一弹簧11和第二弹簧18，第一销杆13与第一销耳4形成孔轴配合，第二销杆16与第二销耳5形成孔轴配合。装置连接板3的6个自由度被固定在固定底板10上的第一销杆13、第二销杆16、第三销杆11和滑槽1共同限制，形成稳定的锁紧状态。As shown in FIG. 6 , which is a schematic diagram of the application of the present invention, the
当第一次锁紧需要解锁、展开时，如图3、图4及图6(b)所示，火工切割器7工作，切断拉杆8，第一拉杆接头14和第二拉杆接头15释放，在压缩的第一弹簧11和第二弹簧18的作用下，第一销杆13和第二销杆16分别缩回，分别与第一销耳4、第二销耳5脱离，此时，利用需锁紧装置19的自由度，装置连接板3可沿滑槽1开口方向运动，第三销耳2先脱离第三销杆11，如图6(c)、6(c’)所示，然后沿滑槽1向滑槽1开口处滑出，如图6(d)所示，解锁过程完成。When the first locking needs to be unlocked and unfolded, as shown in Figure 3, Figure 4 and Figure 6(b), the
当需要再次锁紧时，如图6(e)、(f)、(f’)所示，利用需锁紧装置19的自由度，使装置连接板3从滑槽1开口处向第三销杆11端运动，第三销耳2先进入滑槽1，然后在滑槽1内与第三销杆11形成孔轴配合，实现锁紧；如图6(g)、(g’)、(h)所示，对应的解锁过程为：利用需锁紧装置19的自由度，使装置连接板3沿滑槽1开口方向运动，第三销耳2先与第三销杆11脱离，并沿着滑槽1向滑槽1开口方向移动，滑出滑槽1，实现解锁。需要重复展开、锁紧时，只要重复上述过程即可。需锁紧装置19的自由度可以是图6中示意的单个转动自由度，也可以是多个转动自由度或移动自由度的组合。When it needs to be locked again, as shown in Figure 6(e), (f), (f'), utilize the degree of freedom of the
Claims (3)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103007603ACN101830289B (en) | 2009-03-09 | 2009-03-09 | Lock device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103007603ACN101830289B (en) | 2009-03-09 | 2009-03-09 | Lock device |
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| CN101830289A CN101830289A (en) | 2010-09-15 |
| CN101830289Btrue CN101830289B (en) | 2012-07-04 |
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| CN2009103007603AExpired - Fee RelatedCN101830289B (en) | 2009-03-09 | 2009-03-09 | Lock device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103062168A (en)* | 2011-10-24 | 2013-04-24 | 中国石油化工股份有限公司 | Continuous locking mechanism |
| CN102720733B (en)* | 2012-06-28 | 2014-01-08 | 哈尔滨工业大学 | A Space On-Rail Repeated Locking and Release Mechanism |
| CN103318425B (en)* | 2013-06-25 | 2016-05-04 | 上海宇航系统工程研究所 | A kind of tension rod-type connects tripper |
| CN105673636B (en)* | 2014-11-19 | 2018-03-02 | 中国航空工业集团公司西安飞机设计研究所 | A kind of goods locking device impacted with anti-side to big load |
| CN104527997B (en)* | 2015-01-20 | 2016-04-13 | 浙江大学 | A kind of synchronous device for connecting and unlock satellite |
| CN106402120B (en)* | 2016-07-28 | 2019-07-23 | 长沙天仪空间科技研究院有限公司 | A kind of quick-connect mechanism |
| CN107492749B (en)* | 2017-03-09 | 2019-04-05 | 兰州空间技术物理研究所 | A kind of space load butt-joint locking interface arrangement for realizing emergency unlock and locking instruction |
| CN117550103A (en)* | 2023-12-29 | 2024-02-13 | 中国航天空气动力技术研究院 | Catapulting type rail separating device for aircraft with pointed tail edge layout |
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| CN101830289A (en) | 2010-09-15 |
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