An electromagnet-based inertial on-orbit release device and connection structure for micro-nano satellites

Abstract

The present invention discloses an electromagnet-based inertial on-orbit release device and connection structure for micro-nano satellites, belonging to the field of micro-nano satellite on-orbit release technology. The device includes a connection mechanism with the end of a robotic arm and a connection mechanism with the end of a micro-nano satellite release mechanism. The connection mechanism with the end of the robotic arm includes a chassis screw hole, an electromagnet, a spring, a connecting block, a clamp, and a clamp through-hole; the connection mechanism with the end of the micro-nano satellite release mechanism includes a sleeve and a slot. In the locked state, the electromagnet is not energized, the spring just supports the connecting block, and the clamp extends out and is stuck in the slot; when unlocked, the electromagnet is energized to attract the iron connecting block to move closer, just driving the clamp to retract and separate from the sleeve. The present invention realizes the coordination between the space micro-nano satellite release mechanism and the end of a multifunctional robotic arm through the design of a simple electromagnet and mechanical structure, and has the characteristics of simple structure, stable control, and strong scalability.

Description

Technical Field

[0001] The present invention belongs to the technical field of on-orbit release of micro-nano satellites, and in particular relates to an inertial on-orbit release device of a micro-nano satellite based on an electromagnet and a connection structure. Background Art

[0002] In recent years, space technology has developed rapidly, and the demand for satellite launches has also increased. This has also put forward many new requirements for the functions that various types of satellites need to achieve. Due to breakthroughs in launch vehicle technology, today's rockets have a larger payload capacity, and space execution agencies such as cargo spacecraft have the ability to perform more additional tasks. Therefore, the size of satellites and launch methods are no longer limited to the previous one-satellite-per-rocket launch method. More and more methods have been introduced, such as multiple satellites per rocket, satellite releases from cargo spacecraft, mother-and-child satellite releases, and space station satellite releases. The release of space station satellites is a relatively late start among many satellite release plans.

[0003] However, while many successful on-orbit satellite release missions have been conducted, research on space station companion satellites is rare. Most missions simply involve releasing a companion satellite to remain in a designated orbit before the main payload departs its current location. To prevent conflicts between ground-based launch commands for the main payload and the released companion satellite, control commands for the companion satellite are typically sent 45 minutes after separation to enable it to execute its mission. Current companion satellite release schemes face the following challenges: First, existing schemes cannot establish a companion relationship between the satellite and the main payload (such as the space station) to form a constellation and achieve a specific mission. Second, in practical missions, establishing a companion relationship between a satellite and a space station often requires the satellite to initially have a specific position and velocity relative to the space station. Current satellite release systems are clearly unable to achieve such precise control, and even research in this area has been largely unavailable. A stable companion relationship between a satellite and a space station is crucial for the long-term operation of the space station, enabling regular inspections of the working conditions of the spacecraft's peripheral components, establishing a multi-angle field of view, and forming a discrete detection system. Therefore, developing a release and recovery scheme for space station companion satellites holds significant practical value and research significance.

[0004] How to release a micro-nano satellite from a space station at a specific location near the station and at a predetermined initial velocity is a pressing challenge. This paper proposes a concept whereby a micro-nano satellite on-orbit release mechanism is connected to the end of a robotic arm, leveraging the arm's rotational inertia to release the micro-nano satellite, thus satisfying the initial condition constraints. Current space stations are equipped with existing robotic arms, so how to connect the existing detachable end-effector space station robotic arm with the micro-nano satellite on-orbit release mechanism while minimizing operational effort is a challenge.

[0005] In addition, there are robotic arms with multifunctional end effectors in the existing technology, but the connection between the end effectors of these robotic arms and the robotic arms is almost always achieved by screws and nuts. The disassembly and replacement of the facilities is relatively complicated, requiring multiple steps, and the storage of small parts after removal is prone to problems. The single operation cost of the above-mentioned structural disassembly operation is high, and astronauts are often required to assist in the operation. At the same time, in the complex outer space environment, such a large number of complicated operating steps are bound to bring operational difficulties and hidden dangers, and the stability of the system needs to be discussed. Summary of the Invention

[0006] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide an electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure, which can release the space station's accompanying micro-nano satellite at a certain position near the space station with a certain initial velocity; the device can easily and stably connect or separate micro-nano satellite on-orbit deployers of different specifications and types with the space station's robotic arm, and the device has low disassembly cost and high stability.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The present invention provides an electromagnet-based micro-nano satellite inertial on-orbit release device and a connection structure, comprising a first connection mechanism and a second connection mechanism;

[0009] The first connecting mechanism includes an inner cylinder, the bottom surface of the inner cylinder is provided with a chassis screw hole, the side surface of the inner cylinder is provided with a clamping hole and a receiving groove; an electromagnet is provided on the bottom surface of the inner cylinder; a spring is provided on the electromagnet; a connecting block is provided on the spring; the connecting block is connected to the clamping piece; the clamping piece is connected to the clamping piece through hole;

[0010] The second connecting mechanism includes a sleeve, and a slot is formed on the sleeve;

[0011] The first connecting mechanism and the second connecting mechanism are connected by a clamp;

[0012] The first connecting mechanism is connected to the end of the robotic arm; the second connecting mechanism is connected to the end of the micro-nano satellite releasing mechanism.

[0013] According to the present invention, the inner tube is an integrally formed hollow cylinder.

[0014] The present invention further provides that the chassis screw holes are symmetrically distributed along the center of the circular bottom surface of the inner cylinder; the chassis screw holes are inscribed in the circular bottom surface of the inner cylinder.

[0015] According to the present invention, the electromagnet is made of steel; and the connecting block is made of steel.

[0016] According to the present invention, the spring constant is 1 N / m.

[0017] Furthermore, the present invention provides that the radius of the through hole of the clamping piece is equal to the radius of the clamping piece.

[0018] The present invention further provides that the receiving groove is a downward slope along the central axis of the clamp through hole, and the angle between the inclined surface of the receiving groove and the outer wall of the inner tube is less than or equal to 30 degrees.

[0019] According to the present invention, the connecting block is fixedly connected above the spring; and the electromagnet is fixedly connected below the spring.

[0020] The present invention further provides that the connecting block is threadedly connected to the clamping piece.

[0021] According to the present invention, the clamping groove is an annular groove.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention provides an electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure. The structure includes a first connection mechanism connected to the end of a robotic arm and a second connection mechanism connected to the end of the micro-nano satellite release mechanism. The micro-nano satellite on-orbit release mechanism is connected to the end of the robotic arm, and the micro-nano satellite is released by the inertia of the robotic arm's rotation. The connection method is replaced with the connection mechanism of the present invention, rather than the traditional screw and hole connection method. The present invention achieves the coordination of the space micro-nano satellite release mechanism and the multifunctional robotic arm end through the design of a simple electromagnet and mechanical structure. The device has the advantages of simple structure, stable control, and strong scalability. The system operation of the device of the present invention can be fully automated, without the need for short-term replacement of core components. There are no independent internal components, resulting in a simple, stable, and efficient system structure. It can meet the implementation requirements of micro-nano satellite inertial on-orbit release solutions, conveniently integrates with the multifunctional robotic arm end used in the prior art, and can flexibly replace micro-nano satellite inertial on-orbit release mechanisms of different specifications. The compact and convenient structure and strong compatibility have great potential for expansion and can also be used in many ground-based applications.

[0024] The present invention further provides that the receiving groove below the card through hole is designed as a downward slope to facilitate the sliding of the card, and after sliding down, it can also be easily reset after the electromagnet releases the magnetic force.

[0025] The present invention further provides that the card slot is annular, which is designed to facilitate reconnection of the card at any position, and the rotation of the micro-nano satellite inertial on-orbit release mechanism around its axis does not affect the working state, so there is no need to consider that the position of the card relative to the sleeve must be consistent each time it is reset. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1This is an exploded diagram of the connection mechanism with the end of the robotic arm;

[0027] Figure 2 The three-view diagram of the connection mechanism with the end of the robotic arm;

[0028] Figure 3 A half-section diagram of the connection mechanism with the end of the micro-nano satellite release mechanism;

[0029] Figure 4 Schematic diagram of the locked state structure;

[0030] Figure 5 This is a schematic diagram of the unlocked state structure.

[0031] In the figure, 1-chassis screw hole; 2-electromagnet; 3-spring; 4-connecting block; 5-clamp; 6-clamp through hole; 7-storage slot; 8-inner cylinder; 9-sleeve; 10-cage slot. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] The present invention is described in further detail below with reference to the accompanying drawings:

[0035] See also Figure 1 、 Figure 2As shown, the first connection mechanism, i.e., the connection mechanism with the end of the robotic arm, includes: a chassis screw hole 1, an electromagnet 2, a spring 3, a connecting block 4, a clamp 5, a clamp through hole 6, a receiving slot 7, and an inner cylinder 8; the chassis screw hole 1 is provided on the bottom surface of the inner cylinder 8; the electromagnet 2 is provided on the bottom surface of the inner cylinder 8; the spring 3 is provided on the electromagnet 2; the connecting block 4 is provided on the spring 3; the clamp through hole 6 and the receiving slot 7 are provided on the side surface of the inner cylinder 8; the clamp 5 is connected to the connecting block 4 and the clamp through hole 6;

[0036] like Figure 3 As shown, the second connection mechanism, i.e., the connection mechanism with the end of the micro-nano satellite release mechanism, comprises: a sleeve 9 and a slot 10; the slot 10 is provided on the sleeve 9;

[0037] like Figure 4 As shown, the first connecting mechanism and the second connecting mechanism are connected to each other via a clamp 5 .

[0038] As an optional solution, the inner tube 8 is an integrally formed hollow cylinder, and the chassis screw holes 1 are symmetrically distributed along the center of the circular bottom surface of the inner tube 8; the chassis screw holes 1 are inscribed in the circular bottom surface of the inner tube 8.

[0039] As an optional solution, the chassis screw hole 1 array is designed based on the end flange size of the existing expandable robotic arm, which is conveniently matched with the multi-functional robotic arm end used for space operations. It can flexibly replace the inertial on-orbit release mechanism of micro-nano satellites of different specifications, and the threaded through holes can be installed using M3 screws.

[0040] Furthermore, the number of the chassis screw holes 1 is 6, and the number of the clamp through holes 6 is 4.

[0041] As an optional solution, the material of the core of the electromagnet 2 is steel, and to further meet the requirements, the number of turns of the coil of the electromagnet 2 is 50 turns, and the current is 2A.

[0042] As an optional solution, the spring constant of the spring 3 is 1 N / m.

[0043] As an optional solution, the connecting block 4 is made of steel, the connecting block 4 is fixedly connected to the top of the spring 3, and the bottom of the spring 3 is fixedly connected to the electromagnet 2. The connecting block 4 is threadedly connected to the clamp 5, that is, connected by M3 screws and nuts.

[0044] As an optional solution, the radius of the clamping member through hole 6 is equal to the radius of the clamping member 5 .

[0045] As an optional solution, the clip hole 6 is located halfway through the inner cylinder 8. To prevent the clip 5 from interfering with the inner cylinder 8 during the recovery and release process, a receiving groove 7 is designed to guide the recovery and release of the clip 5. The receiving groove 7 is cut from the center height of the clip hole 6, and the angle between the inclined surface of the receiving groove 7 and the outer wall of the inner cylinder 8 should be less than or equal to 30 degrees. The slope of the receiving groove 7 facilitates the sliding of the clip 5, and after sliding down, it is easy to return to its original position after the magnetic force of the electromagnet 2 is released.

[0046] like Figure 3 As shown, a sleeve 9 and a slot 10 are provided on the mechanism connected to the end of the micro-nano satellite release mechanism. As an optional solution, the slot 10 in the mechanism connected to the end of the micro-nano satellite release mechanism is an annular groove, and the slot 10 is opened at one-half of the sleeve 9. The slot 10 facilitates the reconnection of the clamp 5 at any position, and the rotation of the micro-nano satellite inertial on-orbit release mechanism itself around the axis does not affect the working state. Therefore, the position of the clamp 5 relative to the sleeve 9 can be inconsistent each time the lock is reset. The specific working process of the device of the present invention is as follows:

[0047] like Figure 4 As shown, when in the locked state, the electromagnet 2 is not energized, the spring 3 supports the connecting block 4, and the clamping member 5 extends through the clamping member through-hole 6 and the inner cylinder 8 and is clamped in the clamping slot 10 on the sleeve 9, thereby realizing the connection between the multifunctional manipulator end-effector and the micro-nano satellite inertial on-orbit release device;

[0048] like Figure 5 As shown, when unlocking, the electromagnet 2 is energized, the spring 3 moves downward, attracting the iron connecting block 4 to move closer, and the connecting block 4 drives the clamping member 5 to retract and separate from the sleeve 9, thereby realizing the separation of the multifunctional robotic arm end actuator and the micro-nano satellite inertial on-orbit release device.

[0049] The present invention realizes the coordination between the space micro-nano satellite release mechanism and the end of the multifunctional robotic arm through the design of simple electromagnet and mechanical structure, and has the characteristics of simple structure, stable control and strong scalability.

[0050] The device described in this invention can be used during the inertial on-orbit release of micro-nano satellites using a multifunctional terminal manipulator. It can easily and stably connect and disconnect micro-nano satellite on-orbit deployers of varying sizes and types from a space station manipulator. Furthermore, the device is highly scalable. Its simple structure is not only suitable for use in space, where labor costs are high, but can also replace existing connectors on the ground, leveraging its simplicity and stability to achieve stable remote and even unmanned docking operations.

[0051] The above content is only for explaining the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure, characterized in that: comprising a first connecting mechanism and a second connecting mechanism; The first connecting mechanism comprises an inner cylinder (8), the bottom surface of the inner cylinder (8) is provided with a chassis screw hole (1), and the side surface of the inner cylinder (8) is provided with a clamping part through hole (6) and a receiving groove (7); an electromagnet (2) is provided on the bottom surface of the inner cylinder (8); a spring (3) is provided on the electromagnet (2); a connecting block (4) is provided on the spring (3); the connecting block (4) is connected to a clamping part (5); the clamping part (5) is connected to the clamping part through hole (6); The second connecting mechanism comprises a sleeve (9), and a slot (10) is provided on the sleeve (9); The first connecting mechanism and the second connecting mechanism are connected via a clamp (5); The first connecting mechanism is connected to the end of the robotic arm; the second connecting mechanism is connected to the end of the micro-nano satellite release mechanism; The inner cylinder (8) is an integrally formed hollow cylinder; The chassis screw holes (1) are symmetrically distributed along the center of the circular bottom surface of the inner cylinder (8); the chassis screw holes (1) are inscribed in the circular bottom surface of the inner cylinder (8); The receiving groove (7) is a downward slope along the central axis of the clamping hole (6), and the angle between the inclined surface of the receiving groove (7) and the outer wall of the inner cylinder (8) is less than or equal to 30 degrees; The connecting block (4) is fixedly connected above the spring (3); the electromagnet (2) is fixedly connected below the spring (3); The clamping groove (10) is an annular groove.

2. The electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure according to claim 1, characterized in that: The material of the electromagnet (2) is steel; the material of the connecting block (4) is steel.

3. The electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure according to claim 1, characterized in that: The spring constant of the spring (3) is 1 N / m.

4. The electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure according to claim 1, characterized in that: The radius of the clamping piece through hole (6) is equal to the radius of the clamping piece (5).

5. The electromagnet-based micro-nano satellite inertial on-orbit release device and connection structure according to claim 1, characterized in that: The connecting block (4) is threadedly connected to the clamping piece (5).

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