Linkage type holding and releasing mechanism and cube satellite launcher

Abstract

The application relates to a linkage type holding and releasing mechanism and a cubic satellite launcher, which comprises a first holding mechanism, a second holding mechanism and a reset spring arranged in sequence along a linkage rod, wherein the first holding mechanism and the second holding mechanism are of the same structure and direction, the first holding mechanism comprises a first pressing rod fixedly arranged at one end of the linkage rod, a first fixed seat and a first holding claw arranged in sequence along the first pressing rod, a first limiting groove in the radial direction of the linkage rod is arranged on the surface of the first holding claw, a first limiting block matched with the first limiting groove is arranged on the first fixed seat, the first holding claw and the first pressing rod are arranged in contact through two inclined surfaces which are not connected and parallel, and the first holding claw is sleeved on the first pressing rod and slides along any inclined surface. The application can ensure that the cubic satellite is reliably fixed in the launcher, avoids the problem of collision and impact of the satellite, effectively reduces the vibration response of the cubic satellite and ensures the reliable and stable launching of the cubic satellite in orbit.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of CubeSat launcher, and particularly relates to a linkage type holding and releasing mechanism and a CubeSat launcher. BACKGROUND

[0002] In recent years, with the progress of space technology and the development of commercial space market, miniaturization and high integration of satellites have become the development direction of satellite technology. Based on the unified interface standard specification, the CubeSat development and launch system emerges as the times require. Since the first CubeSat was successfully developed by California Institute of Technology, CubeSat has rapidly become the focus of space system research due to its light weight, small size, high integration and short development cycle. So far, it has become an important platform for space science and technology research and teaching implementation, and new technology demonstration and verification. Its application range has gradually expanded from the initial earth remote sensing observation to space networking, space-based data link communication and other complex system-level space technology application verification.

[0003] The CubeSat launcher is a tool for deploying CubeSat in orbit. In the existing CubeSat launch standard specification, in order to ensure the smooth ejection of CubeSat, there is a gap of 0-0.5mm between the CubeSat and the guide rail of the launcher. This gap will cause vibration impact and satellite collision during launch. In addition, since the CubeSat is in a non-fully constrained state inside the launcher, the transmission path from the launcher to the CubeSat is discontinuous, which makes it impossible to provide accurate dynamic mechanical response conditions during development, bringing difficulties and uncertainties to CubeSat development. SUMMARY

[0004] To solve the technical problems existing in the prior art, the purpose of the present application is to provide a linkage type holding and releasing mechanism and a CubeSat launcher, which can reliably fix the CubeSat in the launcher, avoid satellite collision and impact, provide accurate and stable vibration conditions for the CubeSat, effectively reduce the vibration response of the CubeSat while ensuring reliable and stable launch of the CubeSat in orbit, and effectively solve the technical problems of existing CubeSat on-orbit deployment and launch.

[0005] To achieve the above-mentioned purpose of the application, the technical solution of the present application is as follows: a linkage type holding and releasing mechanism, comprising a first holding mechanism, a second holding mechanism and a return spring arranged in sequence along a linkage rod, the first holding mechanism and the second holding mechanism being identical in structure and direction, the first holding mechanism comprising:

[0006] a first pressing rod fixedly arranged at one end of the linkage rod, a first fixed seat and a first holding claw being arranged in sequence along the first pressing rod;

[0007] a first limiting groove in the radial direction of the linkage rod is arranged on the surface of the first holding claw, and a first limiting block adapted to the first limiting groove is arranged on the first fixed seat.

[0008] The first clamping claw is in contact with the first pressing rod through two inclined surfaces which are not connected and parallel, and the first clamping claw is sleeved on the first pressing rod and slides along any inclined surface.

[0009] According to one of the technical solutions of the present application, the second clamping mechanism comprises a second pressing rod, a second fixed seat and a second clamping claw which are sequentially arranged along the second pressing rod.

[0010] A second limiting groove is arranged on the second clamping claw, and a second limiting block matched with the second limiting groove is arranged on the second fixed seat.

[0011] According to one of the technical solutions of the present application, the clamping contact part of the first clamping claw and the second clamping claw is made of flexible material.

[0012] According to one of the technical solutions of the present application, a spring mounting seat is further arranged, one end of the reset spring is connected with the second pressing rod, and the other end is fixed on the spring mounting seat.

[0013] According to another technical solution of the present application, a cubic star launcher is provided, which comprises a cuboid structure composed of four linkage type clamping and releasing mechanisms according to any one of the above technical solutions, and forms a satellite accommodating cavity for carrying cubic stars, and along any linkage type clamping and releasing mechanism, a cabin door assembly in contact with the first pressing rod of any linkage type clamping and releasing mechanism and a locking and releasing mechanism matched with the cabin door assembly are arranged at the first end, and a star pushing platform assembly is arranged at the last end.

[0014] According to one of the technical solutions of the present application, the satellite accommodating cavity further comprises a front frame, a base, a side plate frame, an upper plate frame and a rear plate frame, and adjacent frame plates are fastened by screws.

[0015] The first fixed seat and the second fixed seat of any linkage type clamping and releasing mechanism are fixed on the side plate frame.

[0016] The side plate frame, the upper plate frame and the base are all provided with guide rails for sliding of the cubic stars, and the guide rails are provided with notches at the positions where the first clamping claw and the second clamping claw move.

[0017] According to one of the technical solutions of the present application, the star pushing platform assembly is fixedly arranged on the rear plate frame, and the rear plate frame is arranged opposite to the cabin door assembly.

[0018] The star pushing platform assembly comprises a star pushing spring and a star pushing plate frame, one end of the star pushing spring is fixed on the star pushing plate frame, and the other end is fixed on the rear plate frame.

[0019] According to one technical scheme of the present application, the cabin door assembly is hinged to the satellite accommodating cavity through a pin with a torsion spring;

[0020] A fine adjustment knob is arranged between the cabin door assembly and the first pressing rod, and is used to move the first pressing rod forward and backward along the axis direction, so as to adjust the trigger displacement of the first pressing rod.

[0021] According to one technical scheme of the present application, the cubic satellite is loaded into the satellite accommodating cavity along the guide rail, the satellite pushing platform assembly is compressed, the satellite pushing spring is compressed, the cabin door assembly is closed, and the four first pressing rods, the linkage rod and the second pressing rod connected thereto are axially displaced along the satellite pushing direction;

[0022] The axial movement of the first pressing rod drives the corresponding first clamping claw to move along the sliding pair formed by the first limiting block of the first fixed seat to the direction of the cubic satellite, and the guide rail is in contact with the cubic satellite and clamped; the second clamping mechanism of the same linkage type clamping and releasing mechanism moves in the same way, and the corresponding spring stores elastic potential energy.

[0023] According to one technical scheme of the present application, the locking and releasing mechanism releases the constraint on the cabin door assembly, the cabin door assembly is opened to a preset angle, and the constraint on the linkage type clamping and releasing mechanism is released;

[0024] The spring rebounds to release the elastic potential energy, drives the second pressing rod, the linkage rod and the first pressing rod connected thereto to axially displace along the satellite pushing direction;

[0025] The axial movement of the second pressing rod drives the corresponding second clamping claw to move along the sliding pair formed by the second limiting block of the second fixed seat to the direction away from the cubic satellite, and the first clamping mechanism of the same linkage type clamping and releasing mechanism moves in the same way, and the restriction on the cubic satellite guide rail is released.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] The linkage type holding release mechanism and the cubic satellite launcher are adopted, when the cabin door assembly is closed, the holding claws of the linkage type holding release mechanism are folded to the center to hold the satellite reliably and compress the energy spring; when the cabin door assembly is opened, the linkage type holding release mechanism is released, the holding claws of the spring driving mechanism move outward to release the constraint on the satellite to ensure the satellite to be released smoothly. The problems of vibration and impact in the carrying and launching process, the collision between the cubic satellite and the launcher guide rail, and the unstable transmission path from the launcher to the cubic satellite due to the non-fully constrained state of the cubic satellite in the launcher are solved. The structure is simple and compact, occupies small space, and has good innovation and practicality. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0029] Figure 1 The schematic diagram of a linkage type holding release mechanism provided by the embodiment of the present application is shown;

[0030] Figure 2 The top view of the cubic satellite launcher in the embodiment of the present application is shown;

[0031] Figure 3 The perspective view of the cubic satellite launcher in the embodiment of the present application is shown;

[0032] Figure 4 The perspective view of the cubic satellite launcher in another embodiment of the present application is shown;

[0033] Figure 5 The schematic diagram of the first holding claw and the gap fitting structure of the cubic satellite launcher in the embodiment of the present application is shown;

[0034] Figure 6 The schematic diagram of the first holding claw and the gap fitting structure of the cubic satellite launcher in the embodiment of the present application is shown;

[0035] Among them, Figures 1 to 6 The correspondence between the reference signs and the component names in the drawings is as follows:

[0036] 1, first pressing rod; 2, first clamping claw, 3, first fixed seat, 4, linkage rod, 5, second pressing rod, 6, second clamping claw, 7, second fixed seat, 8, return spring; 9, spring mounting seat; 10, hatch assembly; 11, satellite containing cavity; 12, satellite pushing platform assembly; 13, locking release mechanism; 14, linkage type clamping release mechanism; 201, first limiting groove; 301, first limiting block; 601, second limiting groove; 701, second limiting block; 1001, pin; 1002, fine adjustment knob; 1101, front frame; 1102, base; 1103, side plate frame; 1104, upper plate frame; 1105, rear plate frame; 1201, satellite pushing spring; 1202, satellite pushing plate frame. DETAILED DESCRIPTION

[0037] The description of the embodiments of this specification should be combined with the corresponding drawings, which should be part of the complete specification. In the drawings, the shape or thickness of the embodiment can be exaggerated and simplified or facilitated for illustration. Furthermore, parts of the structures in the drawings will be described separately, and it should be noted that the elements not shown or not described by text in the drawings are in the form known to those skilled in the art.

[0038] The description of the embodiments here, any reference to direction and orientation, is only for the convenience of description, and cannot be understood as any limitation on the scope of protection of the present application. The following description of the preferred embodiment will involve a combination of features, which can exist independently or in combination, and the present application is not particularly limited to the preferred embodiment. The scope of the present application is defined by the claims.

[0039] As shown in Figure 1 and Figure 6 , a linkage type clamping release mechanism 14 of the present application includes a first clamping mechanism, a second clamping mechanism, and a return spring 8 arranged in sequence along the linkage rod 4, the first clamping mechanism and the second clamping mechanism are the same in structure and direction, and the first clamping mechanism includes:

[0040] The first pressing rod 1 is fixedly arranged at one end of the linkage rod 4, and the first fixed seat 3 and the first clamping claw 2 are arranged in sequence along the first pressing rod 1;

[0041] The first clamping claw 2 is provided with a first limiting groove 201 radially along the linkage rod 4, and the first fixed seat 3 is provided with a first limiting block 301 adapted to the first limiting groove 201;

[0042] The first clamping claw 2 and the first pressing rod 1 are arranged in contact through two inclined surfaces that are not connected and parallel, and the first clamping claw 2 is sleeved on the first pressing rod 1 and slides along any inclined surface.

[0043] In an embodiment of the present application, preferably, the second gripping mechanism comprises a second pressing rod 5, a second fixed seat 7 and a second gripping claw 6 arranged along the second pressing rod 5 in sequence.

[0044] The second gripping claw 6 is provided with a second limiting groove 601, and the second fixed seat 7 is provided with a second limiting block 701 matched with the second limiting groove 601.

[0045] In this embodiment, the linkage type gripping and releasing mechanism 14 comprises a first gripping mechanism and a second gripping mechanism arranged along the linkage rod 4 in sequence, the first gripping mechanism and the second gripping mechanism are of the same structure, the first gripping mechanism comprises a first gripping rod, a first fixed seat 3 and a first gripping claw 2, and the second gripping mechanism comprises a second gripping rod, a second fixed seat 7 and a second gripping claw 6, in the use process, the first fixed seat 3 and the second fixed seat 7 are fixed with other structures, therefore, when the first gripping rod is moved, the first gripping claw 2 is pressed by the inclined surface, so as to move upward or downward along the first limiting groove 201, and the second gripping claw 6 will make the same movement, and by arranging two linkage type gripping and releasing mechanisms 14 or four linkage type gripping and releasing mechanisms 14 in the diagonal line of the cuboid, the gripping or releasing of the object in the cuboid is realized. The linkage type gripping and releasing mechanism 14 has the characteristics of compact structure, small space occupation and high stability.

[0046] Among them, the first gripping claw 2 is externally provided with a first limiting groove 201, which forms a sliding pair with the first limiting block 301 of the first fixed seat 3, and the sliding direction is directed to or away from the cubic star guide rail. The second gripping claw 6 is externally provided with a second limiting groove 601, which forms a sliding pair with the second limiting block 701 of the second fixed seat 7, and the sliding direction is consistent with and synchronous with the sliding direction of the first gripping claw 2.

[0047] In an embodiment of the present application, preferably, the gripping contact part of the first gripping claw 2 and the second gripping claw 6 is made of flexible material, such as rubber pad, to prevent damage to the structure surface caused by hard contact.

[0048] The end face of the first gripping claw 2 and the second gripping claw 6 (the face contacting with the cubic star or the guide rail of the cubic star) forms a 90° angle, which is in close contact with the guide rail of the cubic star to ensure the connection reliability.

[0049] In an embodiment of the present application, preferably, a spring mounting seat 9 is further included, one end of a return spring 8 is connected with the second pressing rod 5, and the other end is fixed on the spring mounting seat 9.

[0050] As Figures 2 to 5As shown, another aspect of the present application provides a CubeSat launcher, comprising a cuboid structure of four linkage-type holding and releasing mechanisms 14 according to any one of the above embodiments, and forming a satellite accommodating cavity 11 for carrying CubeSats, at the leading end of any linkage-type holding and releasing mechanism 14, a hatch assembly 10 in contact with the first pressing rod 1 of any linkage-type holding and releasing mechanism 14 and a locking and releasing mechanism 13 cooperating with the hatch assembly 10, the locking and releasing mechanism 13 corresponding to the switch of the hatch assembly 10, and at the trailing end, a CubeSat pushing platform assembly 12.

[0051] In an embodiment of the present application, preferably, the satellite accommodating cavity 11 further comprises a front frame 1101, a base 1102, a side frame 1103, an upper frame 1104 and a rear frame 1105, and adjacent frame plates are fastened by screws;

[0052] The first fixed seat 3 and the second fixed seat 7 of any linkage-type holding and releasing mechanism 14 are fixed to the side frame 1103;

[0053] The side frame 1103, the upper frame 1104 and the base 1102 are all provided with guide rails for the sliding of CubeSats, and the guide rails are provided with notches at the positions where the first holding claw 2 and the second holding claw 6 move.

[0054] In an embodiment of the present application, preferably, the CubeSat pushing platform assembly 12 is fixedly arranged on the rear frame 1105, and the rear frame 1105 is arranged opposite to the hatch assembly 10;

[0055] The CubeSat pushing platform assembly 12 comprises a CubeSat pushing spring 1201 and a CubeSat pushing frame 1202, one end of the CubeSat pushing spring 1201 being fixed to the CubeSat pushing frame 1202 and the other end being fixed to the rear frame 1105.

[0056] In an embodiment of the present application, preferably, the hatch assembly 10 is hingedly connected to the satellite accommodating cavity 11 by a pin 1001 with a torsion spring;

[0057] A fine adjustment knob 1002 is arranged between the hatch assembly 10 and the first pressing rod 1, and the fine adjustment knob 1002 is used for moving the first pressing rod 1 forward and backward along the axis direction of the first pressing rod 1 to adjust the trigger displacement of the first pressing rod 1.

[0058] In this embodiment, the fine adjustment knob 1002 is provided with external threads, and can be moved forward and backward along the axis direction of the first pressing rod 1 to adjust the trigger displacement of the first pressing rod 1 through the internal threads of the panel of the hatch assembly 10.

[0059] Specifically, in the implementation process, the purpose of holding and successfully releasing CubeSats from the CubeSat launcher is achieved by closing or opening the hatch assembly 10, and the work specifically includes:

[0060] CubeSat installation and holding process:

[0061] The cubic star is loaded into the satellite accommodating cavity 11 along the guide rail, the pushing star spring 1201 of the pushing star platform assembly 12 is compressed, the cabin door assembly 10 is closed, the first compression rod 1, the linkage rod 4 and the second compression rod 5 connected therewith are pushed to generate axial displacement in the satellite pushing direction. The axial movement of the first compression rod 1 drives the first clamping claw 2 sleeved thereon to move in the sliding pair formed by the first limiting block 301 of the first fixed seat 3 to the direction of the cubic star, and the launcher guide rail surface is extended to contact and clamp the cubic star guide rail; the axial movement of the second compression rod 5 drives the second clamping claw 6 sleeved thereon to slide in the same direction as the first clamping claw 2, so that the second clamping claw 6 contacts the cubic star guide rail and clamps it, and on the other hand, the compression of the reset spring 8 at the rear end stores elastic potential energy. After the cabin door assembly 10 is connected with the locking release mechanism 13, the fine adjustment knob 1002 on the cabin door assembly 10 is rotated, the trigger displacement of the first compression rod 1 is adjusted, and the clamping force of the first clamping claw 2 and the second clamping claw 6 on the cubic star guide rail is adjusted.

[0062] The cubic star release process is as follows:

[0063] When receiving the launch instruction, the locking release mechanism 13 releases the constraint on the cabin door assembly 10, the cabin door assembly 10 is opened to a preset angle, and the constraint on the linkage type clamping release mechanism 14 is released. The reset spring 8 rebounds to release the elastic potential energy, pushes the second compression rod 5, the linkage rod 4 and the first compression rod 1 connected therewith to generate axial displacement in the satellite pushing-out direction. The axial movement of the second compression rod 5 and the first compression rod 1 respectively drives the second clamping claw 6 / first clamping claw 2 sleeved thereon to move in the sliding pair formed by the second limiting block 701 / first limiting block 301 of the second fixed seat 7 / first fixed seat 3 to the direction away from the cubic star to below the launcher guide rail surface, so as to release the constraint on the cubic star guide rail. The pushing star platform assembly 12 slides along the guide rail to push the cubic star out.

[0064] The linkage type clamping release mechanism and the cubic star launcher of the present application adopt the linkage type clamping release mechanism and the cubic star launcher. When the cabin door assembly is closed, the clamping claw of the linkage type clamping release mechanism is triggered to fold towards the center to clamp the satellite and realize reliable fixation while compressing the energy storage spring; when the cabin door assembly is opened, the constraint on the linkage type clamping release mechanism is released, the clamping claw of the spring driving mechanism moves outward to release the constraint on the satellite to ensure the smooth release of the satellite. The problem of vibration and impact during the launch process caused by the gap between the cubic star and the launcher guide rail in the existing cubic star deployment and launch system is solved, and the problem of unstable transmission path from the launcher to the cubic star due to the non-fully constrained state of the cubic star in the launcher is solved. The structure is simple, compact, occupies small space and has good innovation and practicality.

[0065] The serial numbers of the above steps involved in the method of the present application do not mean the order of the method execution, the execution order of each step should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0066] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A CubeSat transmitter, characterized by, The cuboid structure comprises four linkage type holding and releasing mechanisms, and forms a satellite accommodating cavity (11) for carrying a cubic satellite. Along any of the linkage type holding and releasing mechanisms, a cabin door assembly (10) in contact with a first pressing rod (1) of any of the linkage type holding and releasing mechanisms and a locking and releasing mechanism (13) matched with the cabin door assembly (10) are arranged at a first end, and a satellite pushing platform assembly (12) is arranged at a second end. The linkage type holding and releasing mechanism comprises a first holding mechanism, a second holding mechanism and a reset spring (8) arranged in sequence along a linkage rod (4). The first holding mechanism and the second holding mechanism are of the same structure and the same direction. The first holding mechanism comprises: A first pressing rod (1) is fixedly arranged at one end of the linkage rod (4). A first fixed seat (3) and a first holding claw (2) are arranged in sequence along the first pressing rod (1). A first limiting groove (201) radially arranged along the linkage rod (4) is arranged on the surface of the first holding claw (2). A first limiting block (301) matched with the first limiting groove (201) is arranged on the first fixed seat (3). The first holding claw (2) and the first pressing rod (1) are arranged in contact through two inclined surfaces which are not connected and parallel. The first holding claw (2) is sleeved on the first pressing rod (1) and slides along any of the inclined surfaces. The second holding mechanism comprises a second pressing rod (5), a second fixed seat (7) and a second holding claw (6) arranged in sequence along the second pressing rod (5). A second limiting groove (601) is arranged on the second holding claw (6). A second limiting block (701) matched with the second limiting groove (601) is arranged on the second fixed seat (7). The holding contact parts of the first holding claw (2) and the second holding claw (6) are made of flexible material. The cabin door assembly (10) and the satellite accommodating cavity (11) are hinged through a pin (1001) with a torsion spring. A fine adjustment knob is arranged between the cabin door assembly (10) and the first pressing rod (1). The fine adjustment knob is used for moving the first pressing rod (1) in the axial direction, and adjusts the trigger displacement of the first pressing rod (1).

2. The CubeSat transmitter of claim 1, wherein, The satellite accommodating cavity (11) further comprises a front frame (1101), a base (1102), a side plate frame (1103), an upper plate frame (1104) and a rear plate frame (1105). Adjacent frame plates are fastened through screws. The first fixed seat (3) and the second fixed seat (7) of any of the linkage type holding and releasing mechanisms are fixed on the side plate frame (1103). The side plate frame (1103), the upper plate frame (1104) and the base (1102) are all provided with guide rails for sliding of the cubic satellite. The guide rails are provided with notches at the positions where the first holding claw (2) and the second holding claw (6) move.

3. The CubeSat transmitter of claim 2, wherein, The satellite pushing platform assembly (12) is fixedly arranged on the rear plate frame (1105). The rear plate frame (1105) is arranged opposite to the cabin door assembly (10). The push star platform assembly (12) comprises a push star spring (1201) and a push star plate frame (1202), one end of the push star spring (1201) is fixed on the push star plate frame (1202), and the other end is fixed on the rear plate frame (1105).

4. The CubeSat transmitter of claim 3, wherein, The cubic star is loaded into the satellite accommodating cavity (11) along the guide rail, the push star spring (1201) of the push star platform assembly (12) is compressed, the cabin door assembly (10) is closed, four first compression rods (1), the linkage rod (4) and the second compression rod (5) connected thereto are axially displaced in the direction of pushing the satellite; The axial movement of the first compression rod (1) drives the corresponding first clamping claw (2) to move in the direction of the cubic star along the sliding pair formed by the first limiting block (301) of the first fixed seat (3), and the guide rail is in contact with the cubic star and clamped; the second clamping mechanism of the same linkage type clamping and releasing mechanism moves in the same way, and the corresponding spring stores elastic potential energy.

5. The cube-sta on transmitter of claim 3, wherein, The locking and releasing mechanism (13) releases the constraint on the cabin door assembly (10), the cabin door assembly (10) is opened to a preset angle, and the constraint on the linkage type clamping and releasing mechanism is released; The spring rebounds to release the elastic potential energy, pushes the second compression rod (5), the linkage rod (4) and the first compression rod (1) connected thereto to axially displace in the direction of pushing the satellite out; The axial movement of the second compression rod (5) drives the corresponding second clamping claw (6) to move in the direction away from the cubic star along the sliding pair formed by the second limiting block (701) of the second fixed seat (7) to below the launcher guide rail surface, and the first clamping mechanism of the same linkage type clamping and releasing mechanism moves in the same way, and the restriction on the cubic star guide rail is released.

6. The cube-sta on transmitter of claim 1, wherein, The linkage type clamping and releasing mechanism further comprises a spring mounting seat (9), one end of the reset spring (8) is connected with the second compression rod (5), and the other end is fixed on the spring mounting seat (9).

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