CN112777005A - Memory metal pin puller with high shear resistance - Google Patents
Memory metal pin puller with high shear resistance Download PDFInfo
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- CN112777005A CN112777005A CN202110051280.9A CN202110051280A CN112777005A CN 112777005 A CN112777005 A CN 112777005A CN 202110051280 A CN202110051280 A CN 202110051280A CN 112777005 A CN112777005 A CN 112777005A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
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Abstract
The invention provides a memory metal pin puller with high shear resistance. Under the locking state, the driving spring is completely compressed, the balls are kept balanced under the combined action of the sliding sleeve, the retainer and the sliding pin, and the sliding pin is restrained by the balls and kept in the extending state to limit the movement of the separation structure. During the pin pulling, to SMA silk circular telegram, the shrink after the SMA silk is heated drives the sliding sleeve and moves up, and the ball loses balance and falls into the storage space of sliding sleeve lower part, and the sliding pin is received the effect of drive spring clamping force and is contracted to the holder in order, and the pin pulling is accomplished, and reset spring fully compresses. When resetting, the sliding pin is pulled out by using the resetting tool, the resetting spring pushes the sliding sleeve to move downwards, the ball returns to the balance position, and the pin pulling device reenters the locking state. The pin puller adopts a shaft hole type matched sliding pin-retainer structure and an indirect driving mode, has the advantages of high matching precision, large bearing capacity, smooth pin pulling, high reliability and the like, and can perform real-time monitoring and closed-loop control on the working process of the pin puller.
Description
Technical Field
The invention relates to the technical field of aircraft unlocking mechanisms, in particular to a memory metal driven pin puller.
Background
During the working process of an aircraft, particularly a spacecraft, a certain state or part of components needs to be restrained, and after the specified working condition is reached, the restraint is removed according to an instruction, and the function is realized by an unlocking device. At present, the unlocking device mostly depends on an explosive bolt (also called an initiating explosive device bolt) and a paraffin driver to realize the locking and unlocking functions. The explosion bolt can generate larger impact and cause pollution problems in the unlocking process, and can greatly influence the attitude control and the precision equipment of the aircraft; in addition, the explosion bolt is used as a one-off unlocking device, the test verification cannot be directly carried out, and the possibility of accidental ignition exists, so that the use reliability is necessarily limited. The paraffin driver has small impact force, can be repeatedly used, but has small output force, complex structure, slow operation and low output efficiency. With the development of technology, especially the emergence of new generation of small satellites, the contradiction between the defects of the prior art and the rapidly increasing application requirements is highlighted, and an important direction for solving the problem is to develop an intelligent unlocking device based on memory metal.
The memory metal pin puller is a typical intelligent unlocking device and is fixed on a connecting structure to limit the movement of a separating structure. US005771742 and Non-Explosive Pinplus and Rotariy Actuators disclose SMA (shape memory alloy) wire-driven pin extractors, respectively, the structure of which is shown in FIGS. 1 and 2. The two pin extractors have similar structures and mainly comprise a sliding pin, a shell, an SMA wire, a driving spring, a retainer, a return spring, a sliding block, a ball and the like. Under the locking state, the sliding pin extends out of the shell to realize the locking of the aircraft structure, the pre-compressed driving spring is arranged between the shell and the sliding pin, the ball provides longitudinal limit for the sliding pin, the ball is balanced under the action of the sliding pin, the retainer and the sliding block, and the sliding block is balanced under the action of the SMA wire and the reset spring. When the sliding pin needs to be unlocked, the SMA wire is electrified and heated, the SMA wire contracts to drive the sliding block to move upwards (in the direction shown in the figure), the ball falls into the groove on the sliding block, the constraint on the sliding pin is lost, and the sliding pin moves downwards under the action of the pressing force of the driving spring to complete the pin pulling process. When the sliding pin needs to be reset, the thread on the upper portion of the sliding pin is used for pulling out the sliding pin, the reset spring compressed in the unlocking process pushes the sliding block to move downwards, the ball is pushed out of the groove in the sliding block and clamped among the sliding pin, the retainer and the sliding block again, and the mechanism resets.
The pin puller has the advantages of small impact force, no pollution, reusability, simple and convenient operation and the like, but also has the following defects:
(1) the matching section of the sliding pin and the supporting piece (namely the longitudinal height of the matching surface of the sliding pin and other parts) is short, so that the unlocking reliability of the sliding pin bearing shearing load is difficult to ensure;
(2) the sliding pin and the retainer are both of stepped shaft type structures, in order to ensure the smooth pin pulling process, the sliding pin and the retainer have higher matching precision, and the coaxiality control difficulty of the stepped shaft type matching is higher;
(3) the driving spring directly or approximately directly acts on the sliding pin, the condition that the pressing force of the spring is uneven is not considered, and once the pressing force of the driving spring transmitted to the sliding pin is uneven, the problem that the sliding pin slides unsmoothly is easy to occur;
(4) there is a lack of real-time monitoring and control of the unlocking process. The state output and feedback design is not carried out, a state signal indicating whether the pin pulling is successful or not can not be output, the closed-loop control on the work of the SMA wire heating circuit is not carried out, and the SMA wire can be damaged due to overheating.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the memory metal pin puller which has strong anti-shearing capability, smooth pin pulling, high reliability and real-time monitoring of the unlocking process.
The technical scheme adopted by the invention is as follows: a memory metal pin puller with high shear resistance comprises a sliding pin, a retainer, a transmission pin, a ball, a sliding sleeve, a driving spring, a spring bushing, a return spring, an SMA wire, a shell, a bottom cover, a travel switch and the like. The sliding pin is an actuating element of the pin puller, the driving spring, the spring bushing, the transmission pin and the reset spring form a driving unit, the SMA wire, the sliding sleeve and the ball form a triggering unit, the retainer, the shell and the bottom cover form a supporting unit, and the travel switch and a corresponding circuit system form a control unit.
Wherein, the shaft type sliding pin is arranged in the retainer; the lower part of the sliding pin is provided with a trapezoidal groove which is used for matching with the ball under the locking state; the middle part is transversely provided with a dumbbell-shaped through hole for mounting a transmission pin; the upper part can extend out of the upper end of the retainer and is used for providing a locking function to the outside; the upper end part is provided with a threaded hole along the longitudinal direction and used for resetting the mechanism.
The retainer is of a tubular structure, and the upper part of the retainer is provided with a long hole (the section of the retainer is in the shape of an athletic field) to provide a space for the up-and-down movement of the transmission pin; the middle part is provided with a convex edge for installing a return spring; the middle lower part is provided with a round hole used for matching with the ball; two pairs of horseshoe-shaped holes are orthogonally arranged at the lower end of the SMA wire, so that a movement space is provided for the SMA wire driving process; the bottom of the retainer is fixed in a central hole on the bottom cover through threads.
Wherein, the sliding sleeve is a sleeve type structure with equal outer diameter; a stepped groove with an inclined surface is arranged in the lock body, the groove at the upper part is used for radial limiting of the ball in a locking state, and the groove at the lower part is used for containing the unlocked ball; two pairs of orthogonal through holes are formed in the lower portion of the sliding sleeve at different heights and used for arrangement of the SMA wires.
The driving spring is installed outside the retainer through a spring bushing, the upper end of the driving spring is supported on the inner wall of the shell, the lower end of the driving spring is supported on a convex edge of the spring bushing, and the driving spring indirectly drives the sliding pin through the spring bushing and the transmission pin.
Wherein, the upper end of the reset spring is supported on the convex edge at the middle part of the retainer, and the lower end is supported on the upper end surface of the sliding sleeve; when the sliding sleeve is in a locking state, the return spring is slightly compressed, so that the inclined plane of the groove at the upper part of the sliding sleeve is ensured to be in contact with the ball, and the sliding sleeve is prevented from moving upwards due to factors such as vibration and the like, so that accidental pin pulling and unlocking are prevented; after the pin is pulled out, the sliding sleeve moves upwards to enable the return spring to be completely compressed, and the stored elastic potential energy provides driving force for the return of the sliding sleeve, the ball and the SMA wire.
The SMA wire penetrates through the through hole in the lower portion of the sliding sleeve and the hole in the side wall of the shell and is fixed to the upper portion of the shell, and all corner portions on the arrangement path of the SMA wire are subjected to rounding treatment so as to prevent the use reliability of the SMA wire from being influenced by stress concentration. Two SMA wires are arranged orthogonally and are backup for each other, so that redundant driving is realized.
The shell, the retainer and the bottom cover jointly form a supporting unit of the pin puller, and support and position other parts.
The inner side surface of the middle part of the shell is provided with a groove, a travel switch is installed, and the travel switch can carry out real-time monitoring and closed-loop control on the pin pulling process and the resetting process; the number of the grooves and the travel switches can be set according to the requirement, the grooves and the travel switches are symmetrically arranged and used, the number of the grooves and the number of the travel switches can be 1 pair, 2 pairs or even more pairs, and the positions of the grooves and the arrangement of the SMA wires are staggered in the circumferential direction.
Under the locking state, the driving spring is completely compressed, the balls are kept balanced under the combined action of the sliding sleeve, the retainer and the sliding pin, and the sliding pin is restrained by the balls and kept in the extending state. When needing the unblock pin pulling, to SMA silk circular telegram, the shrink after the SMA silk is heated drives the sliding sleeve and moves up, and the ball loses balance and falls into the accommodation space of sliding sleeve lower part, and the sliding pin moves down under the effect of drive spring clamping force, accomplishes the pin pulling process, and reset spring gets into compression state simultaneously. When the pin puller needs to reset, the sliding pin is pulled out of the retainer by the reset tool, the sliding pin dovetail groove reaches the round hole of the retainer after the sliding pin moves for a certain distance, the ball enters the sliding pin dovetail groove under the action of lateral pressure of the groove bevel in the middle of the sliding sleeve, the reset spring pushes the sliding sleeve to move downwards until the groove bevel on the upper portion of the sliding sleeve is contacted with the ball, and the pin puller is reset.
Furthermore, the travel switch determines the position of the sliding pin by sensing the position of the spring bushing, so that the pin pulling process and the pin resetting process are monitored in real time, and a power supply circuit of the SMA wire is controlled.
Furthermore, the reset tool is similar to a bottle opener in structure, a screw is arranged at the head of the reset tool and can be matched with a threaded hole of the sliding pin, when the reset tool needs to be reset, the screw is in threaded connection with the sliding pin, the reset pressure rod is downwards extruded, the screw is inwards contracted by means of the lever principle, and the sliding pin is pulled out of the shell.
Further, insulation treatment is carried out among the SMA wires, the shell and the retainer.
Compared with the prior art, the invention has the advantages that:
(1) the sliding pin is of an equal-diameter shaft type structure, the matching of the sliding pin and the retainer is a classic hole shaft type matching, the matching precision is high, the machining difficulty is small, and the problem that the coaxiality is difficult to control due to stepped shaft type matching in the prior art is solved;
(2) the height of the matching section of the sliding pin and the retainer is more than twice of that of the prior art, and the sliding pin and the retainer are matched in the whole height range of the pin puller, so that the sliding pin can bear larger shearing load and has high sliding reliability;
(3) the transmission pin is arranged in the dumbbell-shaped through hole of the sliding pin, and the transmission pin is allowed to have a certain degree of freedom of movement in the hole, so that the problem that the sliding pin slides unsmoothly due to the fact that the pressing force of the driving spring is not uniformly distributed in the circumferential direction can be solved by the indirect sliding pin driving mode;
(4) the invention is provided with the travel switch for monitoring the movement position of the spring bushing, can externally send out a pin pulling state signal, and forms a closed loop feedback system together with the power supply circuit of the SMA wire, so that the circuit can be cut off in time when the pin pulling is successful, and the SMA wire is protected from being damaged due to overheating.
Drawings
FIG. 1 is a schematic diagram of a pin puller according to the prior art;
FIG. 2 is a schematic view of another pin extractor of the prior art;
FIG. 3 is a cross-sectional view of the pin puller in a locked state according to the present invention;
FIG. 4 is a cross-sectional view of the pin puller in an unlocked state of the invention;
FIG. 5 is a schematic diagram of the operation of the pin puller travel switch of the present invention;
fig. 6 is a schematic structural view of the pin puller resetting tool of the invention.
The reference numbers illustrate: 1. a slide pin; 2. a holder; 3. a drive spring; 4. a spring bushing; 5. a drive pin; 6. a return spring; SMA wire; 8. a sliding sleeve; 9. a ball bearing; 10. a housing; 11. a bottom cover; 12. a travel switch; 101. a threaded hole; 102. a dumbbell-shaped hole; 103. a trapezoidal groove; 201. a long hole; 202. a convex edge; 203. a circular hole; 204. a horseshoe-shaped hole; 801. a first inclined plane; 802. and a second inclined plane.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
The invention provides a memory metal pin puller with high shear resistance, which has a structure shown in figures 3-5 and mainly comprises an actuating element, a supporting unit, a triggering unit, a driving unit and a control unit.
The sliding pin 1 is an actuating element which provides locking and unlocking functions to the outside, when the sliding pin pulling device works, the sliding pin pulling device is fixed on the connecting structure, when the sliding pin 1 is in an extending state, the sliding pin can bear shearing load from the separating structure to limit the movement of the separating structure, and when the sliding pin 1 is in a contracting state, the limiting on the separating structure is released.
The supporting unit consists of a retainer 2, a shell 10 and a bottom cover 11 and provides support and positioning for other parts of the pin puller; the retainer 2 is a tubular structure and provides a motion track for the extension and contraction of the sliding pin 1, the upper part of the retainer extends out of a central hole at the top of the shell 10, and the lower part of the retainer is fixed in an internal thread hole at the center of the base 11; the top of the shell 10 is provided with a flange mounting edge, the pin puller is fixed on the connecting structure through a bolt, and the bottom of the shell 10 is matched with the external thread of the bottom cover 11.
The trigger unit is composed of an SMA wire 7, a sliding sleeve 8 and a ball 9 and is used for triggering the pin pulling process. The driving unit comprises a driving spring 3, a spring bushing 4, a transmission pin 5 and a return spring 6, wherein the driving spring 3, the spring bushing 4 and the transmission pin 5 provide driving force for the pin pulling unlocking process, and the return spring 6 provides driving force for the return of the SMA wire 7, the sliding sleeve 8 and the ball 9 in the return process.
The control unit is mainly made of a travel switch 12 and a corresponding circuit system, is used for monitoring the position of the sliding pin in the pin pulling and resetting processes, and forms a closed loop feedback system with a power supply circuit of the SMA wire 7 to participate in circuit control.
In a locking state, as shown in fig. 3, the balls 9 are kept balanced under the combined action of the upper groove of the sliding sleeve 8, the round hole 203 of the retainer 2 and the trapezoidal groove 103 of the sliding pin 1; the slide pin 1 is restrained by the balls 9 and kept in the extended state; the transmission pin 5 crosses the dumbbell-shaped hole 102 of the sliding pin 1 and the long hole 201 of the retainer 2 to provide longitudinal limit for the spring bushing 4; the fully compressed drive spring 3 is mounted between the housing 10 and the spring bushing 4; the return spring 6 in a slight compression state is arranged between the convex edge 202 in the middle of the retainer 2 and the sliding sleeve 8; the SMA wire 7 passes through the horseshoe-shaped hole 204 at the lower part of the retainer 2, passes through the through hole at the lower part of the sliding sleeve 8 and the hole at the side wall of the shell 10, and is fixed at the upper part of the shell 10.
When the pin needs to be pulled out, the SMA wire 7 is electrified, the SMA wire 7 is heated and then contracts to drive the sliding sleeve 8 to move upwards, the balls 9 lose balance and fall into the accommodating space at the lower part of the sliding sleeve 8 under the action of the inclined plane of the trapezoidal groove 103 of the sliding pin 1, the sliding pin 1 loses longitudinal restraint, the driving spring 3 pushes the spring bushing 4, the transmission pin 5 and the sliding pin 1 to move downwards along the elongated hole 201 of the retainer 2 until the sliding pin 1 contracts into the retainer 2, and the pin pulling is completed as shown in fig. 4.
When the reset is needed, the reset tool shown in fig. 6 is utilized, the screw at the head of the reset tool is screwed into the threaded hole 101 at the top of the sliding pin, the reset pressure rods at two sides are pressed downwards, the screw is contracted inwards by virtue of the lever principle, so that the sliding pin 1 is pulled out of the retainer 2, after the sliding pin 1 moves for a certain distance, the trapezoidal groove 103 of the sliding pin 1 reaches the round hole 203 of the retainer, the ball 9 enters the trapezoidal groove 103 of the sliding pin 1 under the lateral pressure action of the second inclined surface 802 of the sliding sleeve 8, meanwhile, the reset spring 6 pushes the sliding sleeve 8 to move downwards until the first inclined surface 801 of the sliding sleeve 8 is contacted with the ball 9, the ball 9 enters the balance state again, the driving spring 3 is completely compressed, the SMA wire 7 is elongated, and the pin.
A travel switch 12 is arranged on the inner wall of the middle part of the shell 10. On one hand, the travel switch 12 measures the position of the sliding pin 1 by sensing the position of the spring bushing 4, so that the pin pulling process and the resetting process are monitored in real time, and a state signal of pin pulling success is sent outwards; on the other hand, a closed loop feedback system is formed by the travel switch 12 and the power supply circuit of the SMA wire 7, and the circuit can be automatically cut off when the pin is successfully pulled out, so that the SMA wire is protected from being damaged due to overheating caused by overlong electrifying time. Fig. 5 shows that 2 travel switches 12 are symmetrically arranged, and when the number of the 1 pair of travel switches 12 reaches a specified value, the pin pulling process or the resetting process can be judged to be completed. It can be understood that the number of the travel switches can also be set to 4 (2 pairs) or more, a plurality of travel switches are used in parallel through a certain logical relationship, the state of the pin puller can be judged according to the number of any 1 pair, and the reliability of state monitoring is higher.
In consideration of the characteristic that the circumferential distribution of the pressing force of the spring is uneven, the driving spring 3 pushes the driving pin 5 to move through the spring bushing 4, so that the sliding pin 1 is driven to contract, the phenomenon that uneven pressing force of the spring directly acts on the sliding pin 1 is avoided, and meanwhile, a dumbbell-shaped hole 102 is formed in a force transmission path between the driving pin 5 and the sliding pin 1 and allows the driving pin 5 to have certain freedom of movement, so that the sliding pin 1 only bears longitudinal driving force, and the smooth pin pulling process is ensured.
The SMA wires 7, the retainer 2, the sliding sleeve 8 and the shell 10 need to be insulated. In this embodiment, insulation is achieved by disposing a teflon high-temperature-resistant insulating sleeve outside the SMA wire 7. It will be appreciated that the insulation may also take other forms: for example, the retainer 2, the sliding sleeve 8 and the shell 10 are integrally insulated by processes such as insulation oxidation, ceramic-based insulation coating, high-molecular insulation coating and the like; or for the occasion without special bearing requirements, the holding frame 2, the sliding sleeve 8 and the shell 10 can also be made of polyimide or other resin materials for realizing insulation.
It should be noted that all the above-mentioned expressions referring to orientations, such as bottom, top, upper, lower, inner, outer, longitudinal, circumferential, etc., are based on the directions and positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the parts referred to must have a specific orientation, configuration or operation.
The present invention has not been described in detail as being known in the art.
The foregoing is considered as illustrative and not restrictive, and any modifications, equivalents, modifications and improvements made to the foregoing embodiments in accordance with the principles and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A memory metal pin puller with high shear resistance, comprising: the device comprises a sliding pin (1), a retainer (2), a driving spring (3), a spring bushing (4), a transmission pin (5), a return spring (6), an SMA wire (7), a sliding sleeve (8), a ball (9), a shell (10), a bottom cover (11) and a travel switch (12);
the sliding pin (1) is of an axial structure, the upper end part of the sliding pin is longitudinally provided with a threaded hole (101), the middle part of the sliding pin is provided with a dumbbell-shaped through hole (102), and the lower part of the sliding pin is provided with a trapezoidal groove (103);
the retainer (2) is of a tubular structure and provides a motion track for extension and contraction of the sliding pin (1), and the retainer (2) is provided with a long hole (201), a convex edge (202), a round hole (203) and a horseshoe hole (204); the retainer (2), the shell (10) and the bottom cover (11) form a supporting unit for positioning and supporting other parts;
the transmission pin (5) crosses the dumbbell-shaped hole (102) and the elongated hole (201) and is in contact with the spring bushing (4) and can transmit the driving force of the driving spring (3) to the sliding pin (1);
the sliding sleeve (8) is of a sleeve type structure with equal outer diameter, a step-shaped groove with an inclined surface is arranged on the inner side of the sliding sleeve, and through holes for arranging SMA wires (7) are arranged on the lower part of the sliding sleeve at different heights;
the travel switch (12) is arranged on the inner wall of the shell (10), monitors the pin pulling process and the resetting process in real time, and participates in the closed-loop control of a power supply circuit of the SMA wire (7);
in a locking state, the driving spring (3) is completely compressed, the return spring (6) is slightly compressed, the balls (9) keep balance under the combined action of the groove at the upper part of the sliding sleeve (8), the circular hole (203) of the retainer and the trapezoidal groove (103) of the sliding pin, and the sliding pin (1) is restrained by the balls (9) and kept in an extending state to limit the movement of the separation structure; when the pin needs to be pulled out, the SMA wire (7) is electrified, so that the SMA wire is heated and contracted and drives the sliding sleeve (8) to move upwards, the ball (9) loses balance and falls into the containing space at the lower part of the sliding sleeve (8), the driving spring (3) indirectly drives the sliding pin (1) to move downwards along the long hole (201) of the retainer until the sliding pin (1) is contracted into the retainer (2), and the pin pulling is completed; when resetting, the resetting tool is connected to the sliding pin threaded hole (101), the sliding pin (1) is pulled to reset, and the reset spring (6) drives the SMA wire (7), the sliding sleeve (8) and the ball (9) to return to the balance position of the locking state.
2. The memory metal pin extractor with high shear resistance of claim 1, wherein: the sliding pin (1) and the retainer (2) are matched in a hole-shaft mode, and the sliding pin and the retainer are matched in the whole height range of the pin puller.
3. The memory metal pin extractor with high shear resistance of claim 1, wherein: the driving spring (3) is installed outside the retainer (2) through the spring bushing (4), the upper end of the driving spring is supported on the inner wall of the shell (10), the lower end of the driving spring is supported on a convex edge of the spring bushing (4), and the driving spring (3) indirectly drives the sliding pin (1) through the spring bushing (4) and the transmission pin (5).
4. The memory metal pin extractor with high shear resistance of claim 1, wherein: the transmission pin (5) can have certain freedom of movement in the dumbbell-shaped through hole (102) on the sliding pin (1).
5. The memory metal pin extractor with high shear resistance of claim 1, wherein: and a flange mounting edge is arranged at the upper part of the shell (10) and can fix the pin puller on the connecting structure.
6. The memory metal pin extractor with high shear resistance of claim 1, wherein: the two SMA wires (7) are arranged orthogonally and respectively penetrate through the horseshoe-shaped hole (204) of the retainer (2), and the two ends of the SMA wires are fixed on the upper part of the shell (10) after passing through the orthogonal through hole at the lower part of the sliding sleeve (8) and the hole on the side wall of the shell (10).
7. The memory metal pin extractor with high shear resistance of claim 1, wherein: the return spring (6) is slightly compressed in the locked state.
8. The memory metal pin extractor with high shear resistance of claim 1, wherein: the travel switches (12) are arranged on the inner wall of the shell (10) in pairs, and the number of the travel switches can be 1 pair, 2 pairs or even more.
9. The memory metal pin extractor with high shear resistance of claim 1, wherein: the travel switch (12) monitors the state of the sliding pin (1) by sensing the position of the spring bushing (4).
10. The memory metal pin extractor with high shear resistance of claim 1, wherein: the travel switch (12) and a power supply circuit of the SMA wire (7) form a closed-loop feedback system.
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| CN202110051280.9A CN112777005B (en) | 2021-01-14 | 2021-01-14 | Memory metal pin puller with high shearing resistance |
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| CN202110051280.9A CN112777005B (en) | 2021-01-14 | 2021-01-14 | Memory metal pin puller with high shearing resistance |
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| CN112777005B CN112777005B (en) | 2024-06-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113386984A (en) * | 2021-08-04 | 2021-09-14 | 北京中科宇航技术有限公司 | Satellite and rocket separation unlocking driving device |
| CN113753268A (en) * | 2021-09-07 | 2021-12-07 | 天津爱思达航天科技有限公司 | Star and arrow separation unblock actor |
| CN114379823A (en) * | 2022-02-28 | 2022-04-22 | 北京灵翼航宇科技有限公司 | A memory metal pusher |
| CN114473953A (en) * | 2022-02-24 | 2022-05-13 | 库卡机器人(广东)有限公司 | Pin pulling tool for plug pin |
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| CN113753268A (en) * | 2021-09-07 | 2021-12-07 | 天津爱思达航天科技有限公司 | Star and arrow separation unblock actor |
| CN113753268B (en) * | 2021-09-07 | 2023-10-03 | 天津爱思达航天科技有限公司 | Satellite and rocket separation unlocking actuator |
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| CN115675938B (en) * | 2022-11-21 | 2024-04-26 | 北京中科宇航技术有限公司 | Low-orbit mobile stack constellation satellite unlocking distributor |
| CN119290590A (en) * | 2024-12-10 | 2025-01-10 | 西安驰达飞机零部件制造股份有限公司 | An inspection mechanism for wing ribbed wall panels |
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