A low-impact ejection mechanism for the release and recovery of tethered satellites

Abstract

This invention discloses a low-impact ejection mechanism for the release and recovery of tethered satellites, comprising at least one ejection assembly. The ejection assembly includes a satellite sub-satellite, an ejection module, a locking module, a tether deployment / retraction module, and a velocity limiting module. This invention enables the ejection, release, and recovery locking of the satellite sub-satellite, can be repeatedly used in ground simulation experiments for the release and recovery of tethered satellites, and facilitates the adjustment of the satellite sub-satellite's attitude for successful recovery. This invention can eject the satellite sub-satellite at a certain velocity without generating significant resistance during recovery and locking, and can autonomously and repeatedly conduct ejection-recovery experiments through a control system. The velocity limiting module can automatically lock according to a set acceleration value to avoid impact during satellite release.

Description

Technical Field

[0001] This invention relates to the field of tethered satellite release and recovery, and more particularly to a low-impact ejection mechanism for tethered satellite release and recovery. Background Technology

[0002] With the development of space exploration technology, tethered satellites, as a new type of spacecraft, have attracted widespread attention. The on-orbit flight of a tethered satellite mainly includes three phases: release, hold, and recovery. The most critical issue is the release and recovery of the satellite, involving initial separation, release, recovery, and docking. In the initial separation phase, a reliable ejection mechanism is required, typically employing methods such as ejection separation or active unlocking. Simultaneously, the ejection release mechanism must have a guiding docking function to enable the recovery of the tethered satellite. Release and recovery may cause intermittent slack in the tether, resulting in a "momentary collision"-like event for the tethered satellite. Such collisions can lead to increased tether tension, sudden changes in satellite state, and overload of onboard instruments, potentially causing mission failure. Therefore, developing a low-impact, highly reliable ejection release mechanism for tethered satellites is essential. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies mentioned in the background art by providing a low-impact ejection mechanism for the release and recovery of tethered satellites.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A low-impact ejection mechanism for the release and recovery of tethered satellites, comprising at least one ejection component;

[0006] The ejection assembly includes a sub-satellite, an ejection module, a locking module, a tether deployment and retraction module, and a speed limiting module;

[0007] The ejection module includes an ejection plate, a drive plate, first and second limiting guide posts, first and second ejection guide posts, first and second limiting linear bearings, first and second loading springs, first and second adjusting linear bearings, and first and second adjusting units;

[0008] The ejection plate is provided with limiting through holes for cooperating with the sub-star;

[0009] The sub-star is provided with a contact portion for cooperating with the upper limit through hole of the catapult plate; the contact portion is frustum-shaped, with the smaller end face facing outward, and a mounting groove is provided on the smaller end face;

[0010] The first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post are arranged in parallel on the same side of the ejection plate, and each of them is fixedly connected to the ejection plate at one end perpendicularly. The first limiting guide post and the second limiting guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate, and the first ejection guide post and the second ejection guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate.

[0011] The ejection plate is provided with a first guide through hole, a second guide through hole, a third guide through hole, and a fourth guide through hole, which correspond to the first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post, respectively.

[0012] The first limiting linear bearing and the second limiting linear bearing are respectively installed in the first guide through hole and the second guide through hole. The first limiting guide post and the second limiting guide post are respectively matched with the first limiting linear bearing and the second limiting linear bearing, so that the catapult plate and the drive plate are parallel to each other and the catapult plate can slide freely relative to the drive plate along the first and second limiting guide posts. The end of the first limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the first limiting linear bearing, and the end of the second limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the second limiting linear bearing.

[0013] The ends of the first and second ejection guide posts away from the ejection plate pass through the third and fourth guide holes respectively and are connected to the first and second adjusting linear bearings respectively; a first loading spring is sleeved on the first ejection guide post, with one end abutting against the ejection plate and the other end abutting against the first adjusting linear bearing; a second loading spring is sleeved on the second ejection guide post, with one end abutting against the ejection plate and the other end abutting against the second adjusting linear bearing;

[0014] The first and second adjustment units have identical structures, each including a fixed plate, an adjustment slider, an adjustment screw, a first adjustment bearing, a second adjustment bearing, a first bearing seat, a second bearing seat, and an adjustment motor. The fixed plate has a groove that mates with the adjustment slider. The adjustment slider is positioned on the groove of the fixed plate and can slide freely along the groove. The adjustment slider has a threaded through hole parallel to the groove. The adjustment screw passes through the threaded through hole on the adjustment slider and is threadedly connected to the adjustment slider. The first and second adjustment bearings are respectively located at both ends of the adjustment screw, with their inner rings coaxially fixed to the adjustment screw, and their outer rings fixed to the fixed plate via the first and second bearing seats respectively. The adjustment motor is fixed to the fixed plate, and its output shaft is coaxially fixed to one end of the adjustment screw, used to drive the adjustment screw to rotate, thereby driving the adjustment slider to slide on the groove of the fixed plate.

[0015] The fixing plates of the first adjustment unit and the second adjustment unit are arranged parallel to each other on the side of the drive plate away from the catapult plate, and are both fixedly connected to the drive plate perpendicularly; the sliding groove on the fixing plate of the first adjustment unit is parallel to the first catapult guide post, and the adjusting slider of the first adjustment unit is fixedly connected to the first adjusting linear bearing; the sliding groove on the fixing plate of the second adjustment unit is parallel to the second catapult guide post, and the adjusting slider of the second adjustment unit is fixedly connected to the second adjusting linear bearing.

[0016] The locking module includes a locking female head, a locking male head, a locking female head bracket, an unlocking lever, an unlocking motor, and an unlocking motor bracket;

[0017] The locking nut includes a base, a spring seat, a first return spring, a second return spring, a push head, a push cylinder, and a limiting cylinder;

[0018] The base has a through hole in the center;

[0019] The spring seat is a hollow cylinder with openings at both ends, one end of which is fixedly connected to the base; the outer wall of the spring seat is provided with external threads, and the through hole in the center of the spring seat and the base are coaxial.

[0020] The limiting cylinder includes a connecting cylinder, a functional cylinder, and several limiting steel balls;

[0021] Both the connecting cylinder and the functional cylinder are hollow cylinders open at both ends. The inner and outer diameters of the connecting cylinder are larger than those of the functional cylinder, respectively. One end of the connecting cylinder and one end of the functional cylinder are coaxially and sealed together. The inner wall of the connecting cylinder is provided with an internal thread that matches the external thread on the outer wall of the spring seat. The connecting cylinder and the spring seat are coaxially and fixed together by the threaded connection. The inner diameter of the functional cylinder is smaller than the inner diameter of the spring seat.

[0022] The functional cylinder is provided with a plurality of locking through holes on the circumferential direction, each corresponding to one of the limiting steel balls; the diameter of the locking through holes gradually decreases from the outer wall to the inner wall of the functional cylinder, and the diameter of the locking through holes on the outer wall of the functional cylinder is larger than the diameter of the limiting steel balls, while the diameter on the inner wall of the functional cylinder is smaller than the diameter of the limiting steel balls; the plurality of limiting steel balls are respectively arranged in the locking through holes, and can be submerged in the outer wall of the functional cylinder and partially exposed from the inner wall of the functional cylinder;

[0023] The pusher head is a cylinder with a through hole along its axis. One end of the pusher head is set in the spring seat, and the other end extends into the functional cylinder, allowing it to slide freely. The side wall of the pusher head set in the spring seat has an annular protrusion to prevent the pusher head from completely entering the functional cylinder.

[0024] The first reset spring is disposed in the spring seat, with one end abutting against the base and the other end abutting against the push head, and is in a compressed state;

[0025] The push cylinder includes a dial ring, a first push ring, and a second push ring; the dial ring, the first push ring, and the second push ring are all hollow cylinders with open ends. The first push ring is sleeved on the outside of the connecting cylinder and is slidably connected to the connecting cylinder, allowing it to slide freely relative to the connecting cylinder. The second push ring is disposed on the outside of the functional cylinder and is slidably connected to the functional cylinder, allowing it to slide freely relative to the functional cylinder. One end of the first push ring and one end of the second push ring are coaxially fixedly connected. The dial ring is disposed on the outside of the first push ring and is coaxially fixedly connected to the first push ring.

[0026] The second reset spring is disposed between the first push ring and the functional cylinder, with one end abutting against the connecting cylinder and the other end abutting against the second push ring, and is in a compressed state;

[0027] The outer wall of the end of the functional cylinder away from the connecting cylinder is provided with a limiting ring to prevent the second push ring from disengaging.

[0028] The inner wall of the second push ring is provided with a first annular groove for cooperating with the limiting steel ball;

[0029] The locking male is a hollow cylinder with openings at both ends, and its outer wall is provided with an annular second groove for cooperating with the limiting steel ball.

[0030] The cross-sections of the first groove and the second groove are both isosceles trapezoids, with the opening of the first groove facing inward and the opening of the second groove facing outward.

[0031] When the locking male head is inserted into the functional cylinder, it presses against each limiting steel ball, which in turn presses against the second push ring through the first groove, causing it to move towards the spring seat. Each limiting steel ball moves outward under force into the first groove. The locking male head continues to extend until the second groove corresponds to each limiting steel ball. At this point, the push head is forced to compress the first return spring. The second push ring returns to its original position under the action of the second return spring, and each limiting steel ball moves inward under force into the second groove, locking the locking male head.

[0032] When the second push ring moves towards the spring seat via the dial ring, each limit ball moves outward into the first groove under force. The push head, pushed by the first reset spring, pops the locking male head out of the function cylinder, thus unlocking the locking male head and the locking female head.

[0033] The locking male connector is fixed to the female star via a mounting slot on the female star.

[0034] The drive plate is provided with a through hole for the locking male to pass through;

[0035] The locking female head is fixed to the side of the drive plate away from the ejector plate by the locking female head bracket, and the functional cylinder and the locking male head are coaxial.

[0036] The unlocking lever includes a first link and a second link, with one end of the first link and one end of the second link being vertically fixedly connected;

[0037] The unlocking motor is fixed to the locking head bracket by an unlocking motor bracket. The output shaft of the unlocking motor is perpendicularly fixed to the end of the first connecting rod away from the second connecting rod, so that the second connecting rod is parallel to the dial ring. The unlocking motor is used to push the dial ring toward the direction of the spring seat by the unlocking lever.

[0038] The tethering and unwinding module includes a first support plate, a second support plate, a central shaft, a first winding bearing, a second winding bearing, a winding drum, a first gear set, a second gear set, a winding motor, and a tethering rope;

[0039] The first support plate and the second support plate are arranged in parallel and are both fixedly connected to the locking head bracket.

[0040] The outer ring of the first winding bearing is fixedly connected to the first support plate, and the inner ring is coaxially fixedly connected to one end of the central shaft; the outer ring of the second winding bearing is fixedly connected to the second support plate, and the inner ring is coaxially fixedly connected to the other end of the central shaft.

[0041] The winding drum is sleeved outside the central shaft and is coaxially and fixedly connected to the central shaft;

[0042] The take-up motor is fixed to the first support plate, and its output shaft is coaxially and fixedly connected to the input gear of the first gear set; the output gear of the first gear set is sleeved on the end of the central shaft near the first support plate and coaxially and fixedly connected to the central shaft; the take-up motor is used to drive the winding drum to rotate through the first gear set.

[0043] The input gear of the second gear set is sleeved on one end of the central shaft near the second support plate and is coaxially fixed to the central shaft;

[0044] One end of the tether is fixed to the drum and wound around the drum, while the other end passes through the through hole on the base, the through hole on the pusher, and the through hole on the locking male head in sequence before being fixed to the slave star.

[0045] The speed limiting module includes an inertial mass disk, a ratchet outer ring, a speed limiting pawl, a speed limiting bearing, a speed limiting spring, and a spring adapter plate.

[0046] The inertial mass disk is disc-shaped, and its center is coaxially and fixedly connected to the output gear of the second gear set;

[0047] The outer ring of the ratchet is circular, and its inner wall is provided with a number of ratchet teeth for cooperating with the speed limiting pawl; the outer ring of the ratchet is sleeved on the outside of the inertial mass disk, fixed to the second support plate and coaxial with the inertial mass disk;

[0048] The inertial mass disk is provided with a first rotating column and a second rotating column that are perpendicularly fixed to it. The first rotating column is coaxial with the inertial mass disk, and the second rotating column is not coaxial with the inertial mass disk.

[0049] The inner ring and the second rotating column of the speed limiting bearing are coaxially fixedly connected, and the outer ring is fixedly connected to the speed limiting pawl, so that the speed limiting pawl can rotate freely around the second rotating column.

[0050] The spring adapter plate and the first rotating column are fixedly connected;

[0051] One end of the speed limiting spring is fixedly connected to the speed limiting pawl, and the other end is fixedly connected to the spring adapter plate.

[0052] When the rotational acceleration of the inertial mass disk exceeds the preset acceleration threshold, the spring stretches, and the speed-limiting pawl rotates eccentrically and engages in the ratchet teeth of the outer ring, thus limiting the inertial mass disk from continuing to rotate.

[0053] As a further optimization of the low-impact ejection mechanism for releasing and recovering tethered satellites according to the present invention, the locking male head is also provided with an annular baffle, which is used to ensure that when the locking male head is inserted into the functional cylinder and the baffle and the functional cylinder abut against each other, the second groove and each limiting steel ball cooperate accordingly.

[0054] As a further optimization of the low-impact ejection mechanism for releasing and recovering tethered satellites according to the present invention, the pusher is provided with a frustum on the side near the first return spring for cooperating with the first return spring.

[0055] As a further optimization of the low-impact ejection mechanism for releasing and recovering tethered satellites according to the present invention, it includes two ejection components, namely a first ejection component and a second ejection component.

[0056] The fixing plate of the first adjustment unit of the first ejection assembly and the fixing plate of the second adjustment unit of the second ejection assembly are coplanar and fixedly connected.

[0057] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0058] This invention enables the ejection and recovery locking of satellite sub-satellites, and can be repeatedly used in ground simulation experiments of tethered satellite release and recovery. It also helps to adjust the attitude of satellite sub-satellites and complete the recovery. This invention can eject satellite sub-satellites at a certain speed without generating too much resistance during recovery and locking, and can autonomously and repeatedly conduct ejection-recovery experiments through the control system. The speed limiting module can automatically lock according to the set acceleration value to avoid impact during satellite release. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the structure of the present invention;

[0060] Figure 2 This is a schematic diagram of the ejection module in this invention;

[0061] Figure 3 This is a schematic diagram of the sub-star structure in this invention;

[0062] Figure 4 This is a schematic diagram of the structure of the first adjustment unit in this invention;

[0063] Figure 5 This is a cross-sectional view of the locking female head and locking male head mating together in this invention;

[0064] Figure 6 This is a schematic diagram of the locking module in this invention;

[0065] Figure 7 This is a schematic diagram of the tethering and releasing module in this invention;

[0066] Figure 8 This is a schematic diagram of the speed limiting module in this invention.

[0067] In the diagram, 1-ejection plate, 2-drive plate, 3-first limiting guide post, 4-second limiting guide post, 5-first ejection guide post, 6-second ejection guide post, 7-first limiting linear bearing, 8-second limiting linear bearing, 9-first loading spring, 10-second loading spring, 11-first adjusting linear bearing, 12-second adjusting linear bearing, 13-adjusting slider of the first adjusting unit, 14-contact part of the sub-satellite, 15-mounting slot of the sub-satellite, 16-fixing plate, 17-adjusting slider, 18-adjusting screw, 19-adjusting motor, 20-base, 21-spring seat, 22-first return spring, 23-second return spring, 24-push head, 25-push head 26-Connecting cylinder, 27-Functional cylinder, 28-Limiting steel ball, 29-Pulling ring, 30-First push ring, 31-Second push ring, 32-Limiting ring on the functional cylinder, 33-Locking male head, 34-First groove, 35-Second groove, 36-Baffle on the locking male head, 37-Locking female head bracket, 38-Locking female head, 39-Unlocking lever, 40-Unlocking motor, 41-Unlocking motor bracket, 42-First support plate, 43-Second support plate, 44-Roller drum, 45-Roll-up motor, 46-Speed ​​limiting module, 47-Inertia mass disk, 48-Ratchet outer ring, 49-Speed ​​limiting pawl, 50-Speed ​​limiting spring, 51-Spring adapter plate. Detailed Implementation

[0068] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0069] This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0070] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are merely used to distinguish elements, components, and / or parts from one another. Therefore, the first element, component, and / or part discussed below may be a second element, component, or part without departing from the teachings of this invention.

[0071] like Figure 1 As shown, the present invention discloses a low-impact ejection mechanism for the release and recovery of tethered satellites, comprising at least one ejection component;

[0072] The ejection assembly includes a sub-satellite, an ejection module, a locking module, a tether deployment and retraction module, and a speed limiting module;

[0073] like Figure 2 As shown, the ejection module includes an ejection plate, a drive plate, first and second limiting guide posts, first and second ejection guide posts, first and second limiting linear bearings, first and second loading springs, first and second adjusting linear bearings, and first and second adjusting units;

[0074] The ejection plate is provided with limiting through holes for cooperating with the sub-star;

[0075] like Figure 3 As shown, the sub-star is provided with a contact portion for cooperating with the upper limit through hole of the catapult plate; the contact portion is frustum-shaped, with the smaller end face facing outward, and a mounting groove is provided on the smaller end face;

[0076] The first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post are arranged in parallel on the same side of the ejection plate, and each of them is fixedly connected to the ejection plate at one end perpendicularly. The first limiting guide post and the second limiting guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate, and the first ejection guide post and the second ejection guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate.

[0077] The ejection plate is provided with a first guide through hole, a second guide through hole, a third guide through hole, and a fourth guide through hole, which correspond to the first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post, respectively.

[0078] The first limiting linear bearing and the second limiting linear bearing are respectively installed in the first guide through hole and the second guide through hole. The first limiting guide post and the second limiting guide post are respectively matched with the first limiting linear bearing and the second limiting linear bearing, so that the catapult plate and the drive plate are parallel to each other and the catapult plate can slide freely relative to the drive plate along the first and second limiting guide posts. The end of the first limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the first limiting linear bearing, and the end of the second limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the second limiting linear bearing.

[0079] The ends of the first and second ejection guide posts away from the ejection plate pass through the third and fourth guide holes respectively and are connected to the first and second adjusting linear bearings respectively; a first loading spring is sleeved on the first ejection guide post, with one end abutting against the ejection plate and the other end abutting against the first adjusting linear bearing; a second loading spring is sleeved on the second ejection guide post, with one end abutting against the ejection plate and the other end abutting against the second adjusting linear bearing;

[0080] like Figure 4 As shown, the first and second adjustment units have identical structures, each including a fixed plate, an adjustment slider, an adjustment screw, a first adjustment bearing, a second adjustment bearing, a first bearing seat, a second bearing seat, and an adjustment motor. The fixed plate has a groove that mates with the adjustment slider. The adjustment slider is mounted on the groove of the fixed plate and can slide freely along the groove. The adjustment slider has a threaded through hole parallel to the groove. The adjustment screw passes through the threaded through hole on the adjustment slider and is threadedly connected to the adjustment slider. The first and second adjustment bearings are respectively located at both ends of the adjustment screw, with their inner rings coaxially fixed to the adjustment screw, and their outer rings fixed to the fixed plate via the first and second bearing seats respectively. The adjustment motor is fixed to the fixed plate, and its output shaft is coaxially fixed to one end of the adjustment screw, used to drive the adjustment screw to rotate, thereby driving the adjustment slider to slide on the groove of the fixed plate.

[0081] The fixing plates of the first adjustment unit and the second adjustment unit are arranged parallel to each other on the side of the drive plate away from the catapult plate, and are both fixedly connected to the drive plate perpendicularly; the sliding groove on the fixing plate of the first adjustment unit is parallel to the first catapult guide post, and the adjusting slider of the first adjustment unit is fixedly connected to the first adjusting linear bearing; the sliding groove on the fixing plate of the second adjustment unit is parallel to the second catapult guide post, and the adjusting slider of the second adjustment unit is fixedly connected to the second adjusting linear bearing.

[0082] The locking module includes a locking female head, a locking male head, a locking female head bracket, an unlocking lever, an unlocking motor, and an unlocking motor bracket;

[0083] like Figure 5As shown, the locking female head includes a base, a spring seat, a first return spring, a second return spring, a push head, a push cylinder, and a limiting cylinder;

[0084] The base has a through hole in the center;

[0085] The spring seat is a hollow cylinder with openings at both ends, one end of which is fixedly connected to the base; the outer wall of the spring seat is provided with external threads, and the through hole in the center of the spring seat and the base are coaxial.

[0086] The limiting cylinder includes a connecting cylinder, a functional cylinder, and several limiting steel balls;

[0087] Both the connecting cylinder and the functional cylinder are hollow cylinders open at both ends. The inner and outer diameters of the connecting cylinder are larger than those of the functional cylinder, respectively. One end of the connecting cylinder and one end of the functional cylinder are coaxially and sealed together. The inner wall of the connecting cylinder is provided with an internal thread that matches the external thread on the outer wall of the spring seat. The connecting cylinder and the spring seat are coaxially and fixed together by the threaded connection. The inner diameter of the functional cylinder is smaller than the inner diameter of the spring seat.

[0088] The functional cylinder is provided with a plurality of locking through holes on the circumferential direction, each corresponding to one of the limiting steel balls; the diameter of the locking through holes gradually decreases from the outer wall to the inner wall of the functional cylinder, and the diameter of the locking through holes on the outer wall of the functional cylinder is larger than the diameter of the limiting steel balls, while the diameter on the inner wall of the functional cylinder is smaller than the diameter of the limiting steel balls; the plurality of limiting steel balls are respectively arranged in the locking through holes, and can be submerged in the outer wall of the functional cylinder and partially exposed from the inner wall of the functional cylinder;

[0089] The pusher head is a cylinder with a through hole along its axis. One end of the pusher head is set in the spring seat, and the other end extends into the functional cylinder, allowing it to slide freely. The side wall of the pusher head set in the spring seat has an annular protrusion to prevent the pusher head from completely entering the functional cylinder.

[0090] The first reset spring is disposed in the spring seat, with one end abutting against the base and the other end abutting against the push head, and is in a compressed state;

[0091] The push cylinder includes a dial ring, a first push ring, and a second push ring; the dial ring, the first push ring, and the second push ring are all hollow cylinders with open ends. The first push ring is sleeved on the outside of the connecting cylinder and is slidably connected to the connecting cylinder, allowing it to slide freely relative to the connecting cylinder. The second push ring is disposed on the outside of the functional cylinder and is slidably connected to the functional cylinder, allowing it to slide freely relative to the functional cylinder. One end of the first push ring and one end of the second push ring are coaxially fixedly connected. The dial ring is disposed on the outside of the first push ring and is coaxially fixedly connected to the first push ring.

[0092] The second reset spring is disposed between the first push ring and the functional cylinder, with one end abutting against the connecting cylinder and the other end abutting against the second push ring, and is in a compressed state;

[0093] The outer wall of the end of the functional cylinder away from the connecting cylinder is provided with a limiting ring to prevent the second push ring from disengaging.

[0094] The inner wall of the second push ring is provided with a first annular groove for cooperating with the limiting steel ball;

[0095] The locking male is a hollow cylinder with openings at both ends, and its outer wall is provided with an annular second groove for cooperating with the limiting steel ball.

[0096] The cross-sections of the first groove and the second groove are both isosceles trapezoids, with the opening of the first groove facing inward and the opening of the second groove facing outward.

[0097] When the locking male head is inserted into the functional cylinder, it presses against each limiting steel ball, which in turn presses against the second push ring through the first groove, causing it to move towards the spring seat. Each limiting steel ball moves outward under force into the first groove. The locking male head continues to extend until the second groove corresponds to each limiting steel ball. At this point, the push head is forced to compress the first return spring. The second push ring returns to its original position under the action of the second return spring, and each limiting steel ball moves inward under force into the second groove, locking the locking male head.

[0098] When the second push ring moves towards the spring seat via the dial ring, each limit ball moves outward into the first groove under force. The push head, pushed by the first reset spring, pops the locking male head out of the function cylinder, thus unlocking the locking male head and the locking female head.

[0099] The locking male connector is fixed to the female star via a mounting slot on the female star.

[0100] The drive plate is provided with a through hole for the locking male to pass through;

[0101] The locking female head is fixed to the side of the drive plate away from the ejector plate by the locking female head bracket, and the functional cylinder and the locking male head are coaxial.

[0102] The unlocking lever includes a first link and a second link, with one end of the first link and one end of the second link being vertically fixedly connected;

[0103] like Figure 6 As shown, the unlocking motor is fixed to the locking head bracket by an unlocking motor bracket. The output shaft of the unlocking motor is perpendicularly fixed to the end of the first connecting rod away from the second connecting rod, so that the second connecting rod is parallel to the dial ring. The unlocking motor is used to push the dial ring towards the direction of the spring seat through the unlocking lever.

[0104] like Figure 7As shown, the tether winding and unwinding module includes a first support plate, a second support plate, a central shaft, a first winding bearing, a second winding bearing, a winding drum, a first gear set, a second gear set, a winding motor, and a tether.

[0105] The first support plate and the second support plate are arranged in parallel and are both fixedly connected to the locking head bracket.

[0106] The outer ring of the first winding bearing is fixedly connected to the first support plate, and the inner ring is coaxially fixedly connected to one end of the central shaft; the outer ring of the second winding bearing is fixedly connected to the second support plate, and the inner ring is coaxially fixedly connected to the other end of the central shaft.

[0107] The winding drum is sleeved outside the central shaft and is coaxially and fixedly connected to the central shaft;

[0108] The take-up motor is fixed to the first support plate, and its output shaft is coaxially and fixedly connected to the input gear of the first gear set; the output gear of the first gear set is sleeved on the end of the central shaft near the first support plate and coaxially and fixedly connected to the central shaft; the take-up motor is used to drive the winding drum to rotate through the first gear set.

[0109] The input gear of the second gear set is sleeved on one end of the central shaft near the second support plate and is coaxially fixed to the central shaft;

[0110] One end of the tether is fixed to the drum and wound around the drum, while the other end passes through the through hole on the base, the through hole on the pusher, and the through hole on the locking male head in sequence before being fixed to the slave star.

[0111] like Figure 8 As shown, the speed limiting module includes an inertial mass disk, a ratchet outer ring, a speed limiting pawl, a speed limiting bearing, a speed limiting spring, and a spring adapter plate;

[0112] The inertial mass disk is disc-shaped, and its center is coaxially and fixedly connected to the output gear of the second gear set;

[0113] The outer ring of the ratchet is circular, and its inner wall is provided with a number of ratchet teeth for cooperating with the speed limiting pawl; the outer ring of the ratchet is sleeved on the outside of the inertial mass disk, fixed to the second support plate and coaxial with the inertial mass disk;

[0114] The inertial mass disk is provided with a first rotating column and a second rotating column that are perpendicularly fixed to it. The first rotating column is coaxial with the inertial mass disk, and the second rotating column is not coaxial with the inertial mass disk.

[0115] The inner ring and the second rotating column of the speed limiting bearing are coaxially fixedly connected, and the outer ring is fixedly connected to the speed limiting pawl, so that the speed limiting pawl can rotate freely around the second rotating column.

[0116] The spring adapter plate and the first rotating column are fixedly connected;

[0117] One end of the speed limiting spring is fixedly connected to the speed limiting pawl, and the other end is fixedly connected to the spring adapter plate.

[0118] When the rotational acceleration of the inertial mass disk exceeds the preset acceleration threshold, the spring stretches, and the speed-limiting pawl rotates eccentrically and engages in the ratchet teeth of the outer ring, thus limiting the inertial mass disk from continuing to rotate.

[0119] The locking male head can also be provided with an annular baffle, which is used to ensure that when the locking male head is inserted into the functional cylinder and the baffle and the functional cylinder abut against each other, the second groove and each limiting steel ball are correspondingly engaged.

[0120] The pusher head has a frustum on the side near the first return spring for cooperating with the first return spring.

[0121] The present invention preferably includes two ejection assemblies, namely a first ejection assembly and a second ejection assembly;

[0122] The fixing plate of the first adjustment unit of the first ejection assembly and the fixing plate of the second adjustment unit of the second ejection assembly are coplanar and fixedly connected.

[0123] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A low-impact ejection mechanism for the release and recovery of tethered satellites, characterized in that, Includes at least one ejection assembly; The ejection assembly includes a sub-satellite, an ejection module, a locking module, a tether deployment and retraction module, and a speed limiting module; The ejection module includes an ejection plate, a drive plate, first and second limiting guide posts, first and second ejection guide posts, first and second limiting linear bearings, first and second loading springs, first and second adjusting linear bearings, and first and second adjusting units; The ejection plate is provided with limiting through holes for cooperating with the sub-star; The sub-star is provided with a contact portion for cooperating with the upper limit through hole of the catapult plate; the contact portion is frustum-shaped, with the smaller end face facing outward, and a mounting groove is provided on the smaller end face; The first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post are arranged in parallel on the same side of the ejection plate, and each of them is fixedly connected to the ejection plate at one end perpendicularly. The first limiting guide post and the second limiting guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate, and the first ejection guide post and the second ejection guide post are symmetrically arranged with respect to the limiting through hole on the ejection plate. The ejection plate is provided with a first guide through hole, a second guide through hole, a third guide through hole, and a fourth guide through hole, which correspond to the first limiting guide post, the second limiting guide post, the first ejection guide post, and the second ejection guide post, respectively. The first limiting linear bearing and the second limiting linear bearing are respectively installed in the first guide through hole and the second guide through hole. The first limiting guide post and the second limiting guide post are respectively matched with the first limiting linear bearing and the second limiting linear bearing, so that the catapult plate and the drive plate are parallel to each other and the catapult plate can slide freely relative to the drive plate along the first and second limiting guide posts. The end of the first limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the first limiting linear bearing, and the end of the second limiting guide post away from the catapult plate has a nut for preventing it from disengaging from the second limiting linear bearing. The ends of the first and second ejection guide posts away from the ejection plate pass through the third and fourth guide holes respectively and are connected to the first and second adjusting linear bearings respectively; a first loading spring is sleeved on the first ejection guide post, with one end abutting against the ejection plate and the other end abutting against the first adjusting linear bearing; a second loading spring is sleeved on the second ejection guide post, with one end abutting against the ejection plate and the other end abutting against the second adjusting linear bearing; The first and second adjustment units have identical structures, each including a fixed plate, an adjustment slider, an adjustment screw, a first adjustment bearing, a second adjustment bearing, a first bearing seat, a second bearing seat, and an adjustment motor. The fixed plate has a groove that mates with the adjustment slider. The adjustment slider is positioned on the groove of the fixed plate and can slide freely along the groove. The adjustment slider has a threaded through hole parallel to the groove. The adjustment screw passes through the threaded through hole on the adjustment slider and is threadedly connected to the adjustment slider. The first and second adjustment bearings are respectively located at both ends of the adjustment screw, with their inner rings coaxially fixed to the adjustment screw, and their outer rings fixed to the fixed plate via the first and second bearing seats respectively. The adjustment motor is fixed to the fixed plate, and its output shaft is coaxially fixed to one end of the adjustment screw, used to drive the adjustment screw to rotate, thereby driving the adjustment slider to slide on the groove of the fixed plate. The fixing plates of the first adjustment unit and the second adjustment unit are arranged parallel to each other on the side of the drive plate away from the catapult plate, and are both fixedly connected to the drive plate perpendicularly; the sliding groove on the fixing plate of the first adjustment unit is parallel to the first catapult guide post, and the adjusting slider of the first adjustment unit is fixedly connected to the first adjusting linear bearing; the sliding groove on the fixing plate of the second adjustment unit is parallel to the second catapult guide post, and the adjusting slider of the second adjustment unit is fixedly connected to the second adjusting linear bearing. The locking module includes a locking female head, a locking male head, a locking female head bracket, an unlocking lever, an unlocking motor, and an unlocking motor bracket; The locking nut includes a base, a spring seat, a first return spring, a second return spring, a push head, a push cylinder, and a limiting cylinder; The base has a through hole in the center; The spring seat is a hollow cylinder with openings at both ends, one end of which is fixedly connected to the base; the outer wall of the spring seat is provided with external threads, and the through hole in the center of the spring seat and the base are coaxial. The limiting cylinder includes a connecting cylinder, a functional cylinder, and several limiting steel balls; Both the connecting cylinder and the functional cylinder are hollow cylinders open at both ends. The inner and outer diameters of the connecting cylinder are larger than those of the functional cylinder, respectively. One end of the connecting cylinder and one end of the functional cylinder are coaxially and sealed together. The inner wall of the connecting cylinder is provided with an internal thread that matches the external thread on the outer wall of the spring seat. The connecting cylinder and the spring seat are coaxially and fixed together by the threaded connection. The inner diameter of the functional cylinder is smaller than the inner diameter of the spring seat. The functional cylinder is provided with a plurality of locking through holes on the circumferential direction, each corresponding to one of the limiting steel balls; the diameter of the locking through holes gradually decreases from the outer wall to the inner wall of the functional cylinder, and the diameter of the locking through holes on the outer wall of the functional cylinder is larger than the diameter of the limiting steel balls, while the diameter on the inner wall of the functional cylinder is smaller than the diameter of the limiting steel balls; the plurality of limiting steel balls are respectively arranged in the locking through holes, and can be submerged in the outer wall of the functional cylinder and partially exposed from the inner wall of the functional cylinder; The pusher head is a cylinder with a through hole along its axis. One end of the pusher head is set in the spring seat, and the other end extends into the functional cylinder, allowing it to slide freely. The side wall of the pusher head set in the spring seat has an annular protrusion to prevent the pusher head from completely entering the functional cylinder. The first reset spring is disposed in the spring seat, with one end abutting against the base and the other end abutting against the push head, and is in a compressed state; The push cylinder includes a dial ring, a first push ring, and a second push ring; the dial ring, the first push ring, and the second push ring are all hollow cylinders with open ends. The first push ring is sleeved on the outside of the connecting cylinder and is slidably connected to the connecting cylinder, allowing it to slide freely relative to the connecting cylinder. The second push ring is disposed on the outside of the functional cylinder and is slidably connected to the functional cylinder, allowing it to slide freely relative to the functional cylinder. One end of the first push ring and one end of the second push ring are coaxially fixedly connected. The dial ring is disposed on the outside of the first push ring and is coaxially fixedly connected to the first push ring. The second reset spring is disposed between the first push ring and the functional cylinder, with one end abutting against the connecting cylinder and the other end abutting against the second push ring, and is in a compressed state; The outer wall of the end of the functional cylinder away from the connecting cylinder is provided with a limiting ring to prevent the second push ring from disengaging. The inner wall of the second push ring is provided with a first annular groove for cooperating with the limiting steel ball; The locking male is a hollow cylinder with openings at both ends, and its outer wall is provided with an annular second groove for cooperating with the limiting steel ball. The cross-sections of the first groove and the second groove are both isosceles trapezoids, with the opening of the first groove facing inward and the opening of the second groove facing outward. When the locking male head is inserted into the functional cylinder, it presses against each limiting steel ball, which in turn presses against the second push ring through the first groove, causing it to move towards the spring seat. Each limiting steel ball moves outward under force into the first groove. The locking male head continues to extend until the second groove corresponds to each limiting steel ball. At this point, the push head is forced to compress the first return spring. The second push ring returns to its original position under the action of the second return spring, and each limiting steel ball moves inward under force into the second groove, locking the locking male head. When the second push ring moves towards the spring seat via the dial ring, each limit ball moves outward into the first groove under force. The push head, pushed by the first reset spring, pops the locking male head out of the function cylinder, thus unlocking the locking male head and the locking female head. The locking male connector is fixed to the female star via a mounting slot on the female star. The drive plate is provided with a through hole for the locking male to pass through; The locking female head is fixed to the side of the drive plate away from the ejector plate by the locking female head bracket, and the functional cylinder and the locking male head are coaxial. The unlocking lever includes a first link and a second link, with one end of the first link and one end of the second link being vertically fixedly connected. The unlocking motor is fixed to the locking head bracket by an unlocking motor bracket. The output shaft of the unlocking motor is perpendicularly fixed to the end of the first connecting rod away from the second connecting rod, so that the second connecting rod is parallel to the dial ring. The unlocking motor is used to push the dial ring toward the direction of the spring seat by the unlocking lever. The tethering and unwinding module includes a first support plate, a second support plate, a central shaft, a first winding bearing, a second winding bearing, a winding drum, a first gear set, a second gear set, a winding motor, and a tethering rope; The first support plate and the second support plate are arranged in parallel and are both fixedly connected to the locking head bracket. The outer ring of the first winding bearing is fixedly connected to the first support plate, and the inner ring is coaxially fixedly connected to one end of the central shaft; the outer ring of the second winding bearing is fixedly connected to the second support plate, and the inner ring is coaxially fixedly connected to the other end of the central shaft. The winding drum is sleeved outside the central shaft and is coaxially and fixedly connected to the central shaft; The take-up motor is fixed to the first support plate, and its output shaft is coaxially and fixedly connected to the input gear of the first gear set; the output gear of the first gear set is sleeved on the end of the central shaft near the first support plate and coaxially and fixedly connected to the central shaft; the take-up motor is used to drive the winding drum to rotate through the first gear set. The input gear of the second gear set is sleeved on one end of the central shaft near the second support plate and is coaxially fixed to the central shaft; One end of the tether is fixed to the drum and wound around the drum, while the other end passes through the through hole on the base, the through hole on the pusher, and the through hole on the locking male head in sequence before being fixed to the slave star. The speed limiting module includes an inertial mass disk, a ratchet outer ring, a speed limiting pawl, a speed limiting bearing, a speed limiting spring, and a spring adapter plate. The inertial mass disk is disc-shaped, and its center is coaxially and fixedly connected to the output gear of the second gear set; The outer ring of the ratchet is circular, and its inner wall is provided with a number of ratchet teeth for cooperating with the speed limiting pawl; the outer ring of the ratchet is sleeved on the outside of the inertial mass disk, fixed to the second support plate and coaxial with the inertial mass disk; The inertial mass disk is provided with a first rotating column and a second rotating column that are perpendicularly fixed to it. The first rotating column is coaxial with the inertial mass disk, and the second rotating column is not coaxial with the inertial mass disk. The inner ring and the second rotating column of the speed limiting bearing are coaxially fixedly connected, and the outer ring is fixedly connected to the speed limiting pawl, so that the speed limiting pawl can rotate freely around the second rotating column. The spring adapter plate and the first rotating column are fixedly connected; One end of the speed limiting spring is fixedly connected to the speed limiting pawl, and the other end is fixedly connected to the spring adapter plate. When the rotational acceleration of the inertial mass disk exceeds the preset acceleration threshold, the spring stretches, and the speed-limiting pawl rotates eccentrically and engages in the ratchet teeth of the outer ring, thus limiting the inertial mass disk from continuing to rotate.

2. The low-impact ejection mechanism for releasing and recovering tethered satellites according to claim 1, characterized in that, The locking male head is also provided with an annular baffle, which is used to ensure that when the locking male head is inserted into the functional cylinder and the baffle and the functional cylinder abut against each other, the second groove and each limiting steel ball are correspondingly engaged.

3. The low-impact ejection mechanism for releasing and recovering tethered satellites according to claim 1, characterized in that, The pusher head has a frustum on the side near the first return spring for cooperating with the first return spring.

4. The low-impact ejection mechanism for releasing and recovering tethered satellites according to claim 1, characterized in that, It includes two ejection components, namely the first ejection component and the second ejection component; The fixing plate of the first adjustment unit of the first ejection assembly and the fixing plate of the second adjustment unit of the second ejection assembly are coplanar and fixedly connected.

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