A multi-stage lever based multi-layered combined satellite compression release mechanism and method

Abstract

This invention provides a multi-layer combined satellite clamping and release mechanism and method based on multi-level levers. In this clamping and release mechanism, the lower parts of two clamping rods are connected to the unlocking component at the bottom via unidirectional rotating hinges. The unlocking component fits tightly against the support column of the bottom satellite. After the satellites are stacked, the clamping plate fits tightly against the support column of the top satellite. The top ends of the two clamping rods pass through two pre-set connecting holes in the clamping plate and are pre-tightened by connecting to the pre-tightening nut through the external thread at the top of the clamping rods, providing downward clamping force to the support column of the satellite. When the unlocking component is unlocked, the clamping force of the clamping rods is released, and the clamping rods drive the clamping plate to spring upward, separating the clamping plate from the support column of the top satellite. A separation spring is installed between the clamping and release mechanism and the support column of the satellite. The separation spring fits tightly against and compresses the outer surface of the support column of the satellite, providing the driving force for the clamping rods to unfold after separation. After the clamping plate separates from the support column of the top satellite, it swings outward under the action of the separation spring, releasing the constraint on the satellite. This mechanism can reliably clamp and separate multi-layer stacked satellites.

Description

Technical Field

[0001] This invention belongs to the field of separation mechanism technology, and specifically relates to a multi-layer combined satellite clamping and release mechanism and method based on multi-level levers. This mechanism / method can realize the reliable clamping connection of multi-layer combined satellites during launch. When separating, the mechanism action releases the constraint, realizing the separation of multi-layer combined satellites. It has the advantages of simple structure, large load-bearing capacity, and small separation impact. Background Technology

[0002] In recent years, the demand for building high-density low-Earth orbit constellation systems has been continuously increasing, and the number of satellites in each constellation system has shown a rapid upward trend. Multiple satellite launches with a single rocket can not only make full use of the space within the rocket fairing, but also reduce the launch cost of a single satellite and improve launch efficiency. Therefore, research on the design of satellite-rocket connection and separation mechanisms in the stacked satellite launch process is of paramount importance and value, addressing the future demand for high-density multi-satellite launches.

[0003] Domestic and international research has focused on developing clamping and release mechanisms for the launch of multi-layered stacked satellites. The clamping of multi-layered stacked satellites typically employs threaded pre-tightening. Unlocking and separation are generally achieved by releasing the limiting positions of the clamping rod or clamping plate through a built-in unlocking mechanism. Current unlocking mechanisms generally use release nuts, expansion bolts, or pin pullers, requiring a large unlocking driving force to release the connection limits of the clamping components. The greater the clamping force, the greater the driving force, and the smaller the unlocking margin. Furthermore, the sudden release of clamping force can generate a significant impact, potentially damaging the satellite. Therefore, there is an urgent need to develop clamping and release mechanisms with low driving force and minimal impact. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the inventors have conducted intensive research and provided a multi-layer combined satellite clamping and release mechanism and method based on multi-level levers, which solves at least one of the following technical problems: reliably clamping and separating multi-layer stacked satellites; and / or reducing the driving force requirement and increasing the unlocking margin through multi-level levers; and / or reducing the separation impact by adopting non-pyrotechnic driving energy and a clamping force slow-release scheme.

[0005] The technical solution provided by this invention is as follows:

[0006] In a first aspect, a multi-layer combined satellite clamping and releasing mechanism is provided, wherein multiple load-bearing columns are installed on the outer edge of the satellite, and adjacent satellites are positioned by docking through the load-bearing columns after being stacked and combined layer by layer; the clamping and releasing mechanism includes a preload nut, a clamping plate, a release spring, a clamping rod, a one-way rotating hinge, and an unlocking component;

[0007] The lower parts of the two clamping rods are connected to the unlocking assembly at the bottom via one-way rotating hinges. The one-way rotating hinges achieve one-way rotation of the hinges through built-in one-way bearings. The unlocking assembly fits tightly against the support column of the bottom satellite. After the satellites are stacked, the clamping plate fits tightly against the support column of the top satellite.

[0008] The tops of the two clamping rods pass through the two pre-set connection holes of the clamping plate and are connected to the pre-tightening nut through the external thread at the top of the clamping rods to provide downward clamping force to the satellite support column. The clamping force is released when the unlocking assembly unlocks the satellite. A separation spring is installed between the clamping release mechanism and the satellite support column. The separation spring is pressed against and compressed against the outer surface of the satellite support column, providing the driving force for the clamping rods to unfold after separation.

[0009] In conjunction with the first aspect, multiple crossbeams are installed on the two clamping rods, and at least one crossbeam is equipped with a release spring.

[0010] In conjunction with the first aspect, the unlocking assembly includes a base housing, a locking rod, a locking rod push spring, a locking rocker arm, a limiting shaft, and a drive mechanism; the drive mechanism includes a drive rocker arm, a drive tension spring, and an unlocking mechanism; the clamping rod is connected to the locking rod via a one-way rotating hinge, and the locking rod is limited by the limiting structure of the base housing and the locking rocker arm; the locking rod push spring is installed to the base housing via fasteners, and the spring force pushes the bottom of the locking rod, providing an upward thrust to the locking rod after unlocking;

[0011] The locking rocker arm and the limiting shaft are fixed on the base housing and can both rotate axially. Both ends of the limiting shaft are designed as near-cylindrical structures with irregular surfaces. The outer cylindrical surfaces of the near-cylindrical structures at both ends cooperate with the two locking rockers to limit the locking rockers from rotating in the unlocking direction. When the drive mechanism drives the limiting shaft to start rotating, the contact surface between the locking rocker arm and the limiting shaft remains in close contact and begins to rotate slightly along the irregular surface, releasing part of the clamping force in advance. When the limiting shaft rotates until the outer cylindrical surface is completely disengaged from the locking rocker arm, the locking rocker arm rotates, the limiting structure releases the limiting of the locking rod, and the locking rod moves upward under the action of the clamping force reaction force and the pushing force of the locking rod push spring, releasing the clamping of the satellite support column.

[0012] The middle part of the limiting shaft is fixed to one end of the drive rocker arm and can transmit torque and rotational displacement. A drive tension spring is fixed on the drive rocker arm, and the other end of the drive tension spring is fixed to the base housing, providing the drive torque required for unlocking the drive rocker arm. The other end of the drive rocker arm is limited by the unlocking mechanism, restricting its rotation in the unlocking direction. When the unlocking mechanism releases the limitation on the drive rocker arm, the drive rocker arm rotates under the action of the drive tension spring, thereby driving the limiting shaft to rotate.

[0013] In conjunction with the first aspect, the near-semi-cylindrical structures at both ends of the limiting shaft have a gradually decreasing radius of curvature along the rotation direction of the limiting shaft.

[0014] In conjunction with the first aspect, the locking rocker arm includes a rotating shaft and a lever, the lever cooperating with a limiting shaft, and a limiting structure machined on the rotating shaft to limit the locking rod.

[0015] In conjunction with the first aspect, the lower end of the clamping rod has a single or double lug, the upper end of the locking rod has a double lug, and the one-way rotating hinge includes a one-way bearing and a rotating shaft. The single or double lug at the lower end of the clamping rod is inserted between the double lugs of the locking rod. The one-way bearing is fixed on the double lugs. The rotating shaft passes through the one-way bearing, the double lugs at the upper end of the locking rod, and the lower lug of the clamping rod and is tightly connected to the lower lug of the clamping rod. The rotational connection between the clamping rod and the locking rod is completed by the rotating shaft passing through the one-way bearing, the double lugs at the upper end of the locking rod, and the lower lug of the clamping rod.

[0016] In conjunction with the first aspect, the unlocking mechanism includes two motors, two unlocking levers, two small bearings, and a seesaw. The two motors are fixed to the base housing by fasteners. The two unlocking levers are respectively connected to the output shafts of the two motors. The ends of the two unlocking levers are fixed to the small bearings by fasteners, and the outer rings of the small bearings are in contact with the seesaw. The seesaw is rotatably connected to the end of the drive rocker arm by a hinge, and can rotate around the length direction of the drive rocker arm. During normal unlocking, the two motors rotate in opposite directions, and the two unlocking levers swing to both sides, releasing the constraint on the seesaw. The drive rocker arm rotates and unlocks under the action of the drive tension spring. When a single motor fails, if any motor works, a single unlocking lever swings, one side of the seesaw is released from constraint, while the other side remains unrestrained. The seesaw rotates along the length direction of the drive rocker arm, and the seesaw releases the constraint by tilting up on one side, achieving redundant unlocking by dual motors.

[0017] In conjunction with the first aspect, the driving mechanism includes a gear reducer and a servo motor. The output end of the gear reducer is connected to the limit shaft, and the input end of the gear reducer is connected to the servo motor. The gear reducer amplifies the driving torque output by the servo motor and directly drives the limit shaft to rotate, thereby unlocking the clamping and releasing mechanism.

[0018] In conjunction with the first aspect, the driving mechanism includes a pull rod driven rocker arm, a pull rod, an electric push rod, and a star-shaped turntable; wherein the pull rod driven rocker arm is connected to a limiting shaft, the pull rod driven rocker arm and the pull rod are connected by a universal joint, the four pull rods are connected to the star-shaped turntable by universal joints, the star-shaped turntable is connected to the satellite bracket by a hinge at the center of the turntable, and can rotate along the plumb line, the electric push rod and the star-shaped turntable are connected by a connecting structure, the lateral push of the electric push rod is converted into the torsion of the star-shaped turntable, and the multiple pull rods are pulled simultaneously, driving the multiple pull rods to drive the rocker arm to rotate, so as to realize the synchronous unlocking of the clamping release mechanism.

[0019] In a second aspect, a multi-layer combined satellite compression and release method is provided, characterized in that it employs the multi-layer combined satellite compression and release mechanism described in the first aspect, comprising:

[0020] During the clamping process, the clamping separation mechanism is connected to the satellite bracket. The support column of the bottom satellite and the bottom unlocking component are tightly fitted together through a conical surface. The stacked satellites are stacked layer by layer. The clamping plate and the support column of the top satellite are tightly fitted together through a conical surface. The tops of the two clamping rods pass through the two pre-set connection holes of the clamping plate and are connected to the pre-tightening nut through the external thread at the top of the clamping rods to provide downward clamping force to the support column of the satellite.

[0021] During the unlocking and separation process, the drive mechanism drives the limiting shaft to rotate. After the limiting shaft rotates to a certain angle, the outer cylindrical surfaces of the nearly semi-cylindrical structures at both ends simultaneously disengage from the two locking rocker arms. The locking rocker arms rotate, releasing the limiting of the locking rod. Under the reaction force of the clamping force and the pushing force of the locking rod push spring, the locking rod moves upward, releasing the clamping of the satellite support column. At this time, the clamping plate disengages from the top satellite support column. The separation spring provides the initial driving torque, driving the clamping rod and the components mounted on the clamping rod to rotate around the one-way rotation hinge. The one-way rotation hinge is determined by the internal one-way bearing to rotate only around the unfolding direction. After the clamping rod and the components mounted on the clamping rod rotate together around the one-way rotation hinge to the limiting angle, they are locked under the combined action of the limiting at the clamping rod-locking rod transition point and the one-way rotation hinge. Subsequently, the stacked satellites are completely separated under the action of the built-in separation spring.

[0022] The multi-layer combined satellite clamping and releasing mechanism and method based on multi-stage levers provided by the present invention have the following beneficial effects:

[0023] (1) The present invention provides a multi-layer combined satellite clamping and release mechanism based on multi-level levers. It adopts a modular design. One mechanism can realize the reliable clamping and separation of one clamping point. According to the actual number and layout of clamping points, multiple clamping and release mechanisms can be matched to realize the reliable clamping and separation of multi-layer stacked satellites. When unlocking, multiple mechanisms can be powered on and unlocked simultaneously. And by adjusting the length of the clamping rod, it can adapt to the usage requirements of satellites with different numbers of layers.

[0024] (2) The present invention provides a multi-layer combined satellite compression and release mechanism based on multi-level levers, which proposes a variety of non-pyrotechnic energy drive schemes, which can effectively reduce separation impact and enable the mechanism to be reused multiple times;

[0025] (3) The present invention provides a multi-layer combined satellite clamping and releasing mechanism based on multi-level levers. The unlocking component adopts a dual-motor redundant unlocking mechanism, which can trigger unlocking as long as one motor is working, thus ensuring the reliability of the mechanism unlocking. Furthermore, by adding a small bearing to the unlocking lever, sliding friction is converted into rotational friction, reducing frictional resistance torque and improving driving force margin;

[0026] (4) The present invention provides a multi-layer combined satellite clamping and releasing mechanism based on multi-level levers. The driving rocker arm and the unlocking rocker arm amplify the lever arm of the driving force through the lever action, reduce the requirement for the size of the driving force, realize the function of triggering the unlocking of a large load-bearing capacity with a small driving force, and improve the unlocking margin.

[0027] (5) The present invention provides a multi-layer combined satellite clamping and release mechanism based on multi-level levers. Both ends of the limiting shaft are designed as near-semi-cylindrical structures with irregular surfaces. The radius of curvature of the near-semi-cylindrical structure gradually decreases along the rotation direction of the limiting shaft. The limiting shaft with irregular cross-section can realize the slow release of pre-tightening force, further reducing separation impact.

[0028] (6) The present invention provides a multi-layer combined satellite clamping and release mechanism based on multi-level levers, which uses a one-way rotating hinge to connect the clamping rod and the unlocking component. The one-way rotating hinge ensures that the hinge can only rotate around the unfolding direction through the internal one-way bearing. This one-way rotating hinge design prevents the clamping rod from rebounding, avoids the clamping rod from colliding with the satellite, and ensures the safety of satellite separation. Attached Figure Description

[0029] Figure 1 A schematic diagram of a clamping and releasing mechanism for clamping stacked satellites;

[0030] Figure 2 This is a schematic diagram of the satellite's structure.

[0031] Figure 3 This is a schematic diagram of the cross-section of the satellite's load-bearing column;

[0032] Figure 4 This is a schematic diagram of the components of the compression and release mechanism;

[0033] Figure 5 A schematic diagram of the external structure of the unlocking component;

[0034] Figure 6 A schematic diagram of the internal components of the unlocking component;

[0035] Figure 7 This is a schematic diagram illustrating the locking and unlocking process of the locking lever in the unlocking assembly;

[0036] Figure 8 This is a schematic diagram of the slow release process of the irregularly shaped surface of the limiting shaft;

[0037] Figure 9 This is a schematic diagram illustrating the composition and unlocking process of the redundant unlocking mechanism;

[0038] Figure 10 A schematic diagram of the redundant unlocking process under single-motor fault conditions.

[0039] Figure 11 This is a servo motor gearbox drive solution.

[0040] Figure 12 A lever-linkage drive scheme;

[0041] Figure 13 A schematic diagram of the unlocking and separation process of the compression release mechanism. Detailed Implementation

[0042] The features and advantages of the present invention will become clearer and more explicit from the following detailed description.

[0043] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0044] This invention provides a multi-layer combined satellite clamping and release mechanism based on multi-stage levers. Multiple clamping and release mechanisms can be used to achieve clamping of multi-layer stacked satellites. Figure 1 The diagram illustrates the use of four clamping and releasing mechanisms to clamp multiple satellites, showing clamping and releasing mechanism 1, satellite 2, and satellite support 3. The bottom of clamping and releasing mechanism 1 is fixed to satellite support 3 by screws. After the satellites 2 are stacked and combined, they are clamped and connected into a whole by multiple clamping and releasing mechanisms 1 for multi-satellite launch.

[0045] like Figure 2 As shown, satellite 2 has a flat panel structure, with multiple support columns 2-1, such as four satellite support columns, installed along its outer edge. Figure 3 As shown, the two ends of the load-bearing column 2-1 are designed with positioning cone surfaces. One end face is a convex cone surface and the other end face is a concave cone surface, which are used to realize the positioning and shear resistance functions of the satellite stacking surface.

[0046] like Figure 4 As shown, the clamping and releasing mechanism 1 includes a preload nut 1-1, a clamping plate 1-2, a crossbeam 1-3, a release spring 1-4, clamping rods 1-5, a one-way rotating hinge 1-6, and an unlocking assembly 1-7. The lower parts of the two clamping rods 1-5 are connected to the bottom unlocking assembly 1-7 via the one-way rotating hinges 1-6. The one-way rotating hinges 1-6 achieve one-way rotation through built-in one-way bearings, ensuring that after unlocking, the clamping rods 1-5 can only rotate in the unfolding direction, preventing rebound and collision with the satellites during unfolding. The bottom satellite's support column 2-1 is tightly fitted to the bottom unlocking assembly 1-7 via a conical surface fit. After the satellites are stacked, the clamping plate 1-2 is tightly fitted to the top satellite's support column 2-1 via a conical surface fit.

[0047] The tops of the two clamping rods 1-5 pass through the two pre-set connecting holes of the clamping plate 1-2, and are pre-tightened by connecting to the pre-tightening nut 1-1 through the external threads at the top of the clamping rods 1-5, providing downward clamping force to the satellite support column 2-1. Multiple crossbeams 1-3, such as three crossbeams, are installed between the two clamping rods 1-5 to improve the synchronicity of their movement and overall rigidity. A separation spring 1-4 is threadedly connected to the top crossbeam 1-3. The separation spring 1-4 is pressed against and compressed against the outer surface of the satellite support column 2-1, providing the unfolding driving force after separation.

[0048] like Figure 5 and Figure 6 As shown, the unlocking assembly 1-7 includes a base housing 1-7-1, a locking rod 1-7-2, a locking rod push spring 1-7-3, a locking rocker arm 1-7-4, a limiting shaft 1-7-5, and a drive mechanism. The drive mechanism includes a drive rocker arm 1-7-6, a drive tension spring 1-7-7, and an unlocking mechanism 1-7-8.

[0049] like Figure 7 As shown, the clamping rod 1-5 is connected to the locking rod 1-7-2 via a one-way rotating hinge 1-6. Preferably, the lower end of the clamping rod 1-5 has a single or double lug, and the upper end of the locking rod 1-7-2 has a double lug. The one-way rotating hinge 1-6 includes a one-way bearing and a rotating shaft. The single or double lug at the lower end of the clamping rod 1-5 is inserted between the double lugs of the locking rod 1-7-2. The one-way bearing is fixed on the double lugs (e.g., fixed to the outside of the double lugs or inside the through hole by screws). The rotating shaft passes through the one-way bearing, the double lugs at the upper end of the locking rod 1-7-2, and the lug at the lower end of the clamping rod 1-5, and is tightly connected to the lower lug of the clamping rod 1-5. The rotating connection between the clamping rod 1-5 and the locking rod 1-7-2 is completed by the rotating shaft passing through the one-way bearing, the double lugs at the upper end of the locking rod 1-7-2, and the lug at the lower end of the clamping rod 1-5.

[0050] The locking rocker arm 1-7-4 is fixed on the base housing 1-7-1 and includes a rotating shaft and a lever. The lever cooperates with the limiting shaft 1-7-5. The rotating shaft is machined with limiting structures such as grooves and baffles. The locking rod 1-7-2 is limited by the limiting structure of the base housing 1-7-1 and the locking rocker arm 1-7-4 to prevent the locking rod from moving upward. The rotation of the lever drives the limiting shaft to rotate, and the limiting structure is released.

[0051] The locking rod push spring 1-7-3 is installed on the base housing 1-7-1 by fasteners such as screws. The spring force pushes the bottom of the locking rod 1-7-2, and after the locking rod 1-7-2 is unlocked, it provides an upward thrust to the locking rod 1-7-2.

[0052] The limiting shaft 1-7-5 is fixed on the base housing 1-7-1 and can rotate axially, such as... Figure 8As shown, both ends of the limiting shaft 1-7-5 are designed as near-semi-cylindrical structures with irregular surfaces. The radius of curvature of the near-semi-cylindrical structure decreases along the rotation direction of the limiting shaft. The outer cylindrical surfaces of the near-semi-cylindrical structures at both ends cooperate with the two locking rocker arms 1-7-4 to achieve limiting, restricting the locking rocker arms 1-7-4 from rotating in the unlocking direction. Through the lever action, the locking rocker arms 1-7-4 effectively reduce the normal pressure between the locking rocker arms 1-7-4 and the limiting shaft 1-7-5, reducing the driving force requirement. When the drive mechanism drives the limiting shaft 1-7-5 to start rotating, the contact surface between the locking rocker arm 1-7-4 and the limiting shaft 1-7-5 remains in close contact and begins to rotate slightly along the irregular surface, releasing some of the clamping force in advance to reduce the separation impact. When the limiting shaft 1-7-5 rotates to a certain angle, the outer cylindrical surface completely disengages from the locking rocker arm 1-7-4, the locking rocker arm 1-7-4 rotates, and the limiting structure releases the limiting of the locking rod 1-7-2. Under the action of the clamping force reaction force and the pushing force of the locking rod pushing spring 1-7-3, the locking rod 1-7-2 moves upward, releasing the clamping of the satellite support column 2-1.

[0053] like Figure 6 As shown, the middle part of the limiting shaft 1-7-5 is fixed to one end of the drive rocker arm 1-7-6 and can transmit torque and rotational displacement. The drive tension spring 1-7-7 is fixed on the drive rocker arm 1-7-6, and the other end of the drive tension spring 1-7-7 is fixed on the base housing 1-7-1, providing the drive torque required for unlocking to the drive rocker arm 1-7-6. Moreover, the drive rocker arm 1-7-6 effectively reduces the drive force requirement through the lever action, so that unlocking can be triggered with a small drive force. The other end of the drive rocker arm 1-7-6 is limited by the unlocking mechanism 1-7-8, restricting its rotation in the unlocking direction. After power is applied, the unlocking mechanism 1-7-8 releases the limitation on the drive rocker arm 1-7-6, and the drive rocker arm 1-7-6 rotates under the action of the drive tension spring 1-7-7, thereby driving the limit shaft 1-7-5 to rotate. The limit shaft 1-7-5 disengages from the locking rocker arm 1-7-4, and the rotation of the locking rocker arm releases the limitation of the locking rod 1-7-2. The locking rod 1-7-2 moves upward to release the pressure on the satellite support column 2-1.

[0054] like Figure 9As shown, the unlocking mechanism 1-7-8 is a redundant unlocking mechanism, including two motors 1-7-8-1, two unlocking levers 1-7-8-2, two small bearings 1-7-8-3, and a seesaw 1-7-8-4. The two motors 1-7-8-1 are fixed to the base housing 1-7-1 by fasteners such as screws. The two unlocking levers 1-7-8-2 are respectively connected to the output shafts of the two motors 1-7-8-1. The ends of the two unlocking levers 1-7-8-2 are fixed to the small bearings 1-7-8-3 by fasteners such as screws. The outer ring of the small bearings 1-7-8-3 contacts the seesaw 1-7-8-4. When the unlocking levers 1-7-8-2 swing, the rotation of the small bearings 1-7-8-3 converts sliding friction into rotational friction, reducing the resistance torque of the unlocking levers 1-7-8-2 swinging. The seesaw 1-7-8-4 and the end of the drive rocker arm 1-7-6 are hinged and can rotate around the length of the drive rocker arm 1-7-6. During unlocking, the two motors 1-7-8-1 rotate in opposite directions by a certain angle, and the two unlocking levers 1-7-8-2 swing to both sides, releasing the constraint on the seesaw 1-7-8-4. The drive rocker arm 1-7-6 can then rotate under the action of the drive tension spring 1-7-7, thus unlocking the seesaw. Figure 9 As shown, when one of the motors 1-7-8-1 fails, only the unlocking lever 1-7-8-2 swings, one side of the seesaw 1-7-8-4 is released from constraint, while the other side remains unrestrained. Since the seesaw 1-7-8-4 can rotate along the length of the drive rocker arm 1-7-6, the seesaw 1-7-8-4 can also be released from constraint by tilting one side. The drive rocker arm 1-7-6 can rotate under the action of the drive tension spring 1-7-7, achieving redundant unlocking.

[0055] In addition to the above-mentioned scheme of using unlocking mechanism 1-7-8, drive tension spring 1-7-7, and drive rocker arm 1-7-6 to drive the limit shaft 1-7-5 to rotate, another method can be adopted. Figure 10 and Figure 11 The driving scheme shown implements the driver. Figure 10 The proposed solution includes a gear reducer 1-7-9 and a servo motor 1-7-10. The output of gear reducer 1-7-9 is connected to the limit shaft 1-7-5, and the input of gear reducer 1-7-9 is connected to the servo motor 1-7-10. Gear reducer 1-7-9 amplifies the driving torque output from the servo motor and directly drives the limit shaft 1-7-5 to rotate, thus unlocking the device. This drive solution can precisely control the rotation speed and angle of the limit shaft 1-7-5, making it suitable for applications requiring precise control. Figure 11The solution includes a lever-driven rocker arm 1-7-11, a lever 1-7-12, an electric push rod 1-7-13, and a star-shaped turntable, such as a cross turntable 1-7-14. The lever-driven rocker arm 1-7-11 is connected to the limit shaft 1-7-5. The lever-driven rocker arm 1-7-11 and the lever 1-7-12 are connected via universal joints. The four levers 1-7-12 are connected to the cross turntable 1-7-14 via universal joints. The cross turntable is connected to the aircraft support via a hinge at the center of the cross and can rotate along the plumb line. The electric push rod 1-7-13 and the cross turntable 1-7-14 are connected via a connecting structure. The lateral push of the electric push rod 1-7-13 is converted into the torsion of the cross turntable 1-7-14, simultaneously pulling the four levers 1-7-12, driving the four lever-driven rocker arms 1-7-11 to rotate, thus achieving simultaneous unlocking of the four clamping release mechanisms. This scheme uses one driving element to drive four mechanisms to unlock synchronously, and is suitable for situations where high synchronization is required and the number of driving elements is small.

[0056] The present invention discloses a compression and release method for a multi-layer combined satellite compression and release mechanism based on multi-stage levers, as detailed below:

[0057] Compacting process: Connect the compaction separation mechanism to the satellite bracket 3. The support column 2-1 of the bottom satellite and the bottom unlocking component 1-7 are tightly fitted together through a conical surface. Stack the stacked satellites 2 layer by layer. The compaction plate and the support column 2-1 of the top satellite are tightly fitted together through a conical surface. The top ends of the two compaction rods 1-5 pass through the two pre-set connection holes of the compaction plate 1-2, and are connected to the pre-tightening nut 1-1 through the external thread at the top end of the compaction rods 1-5 to provide downward compaction force to the satellite support column 2-1.

[0058] Unlocking and separation process: The unlocking process is as follows Figure 13As shown, the limiting shaft 1-7-5 is driven to rotate. When the limiting shaft 1-7-5 rotates to a certain angle, the outer cylindrical surfaces of the nearly semi-cylindrical structures at both ends simultaneously disengage from the two locking rocker arms 1-7-4. The locking rocker arms 1-7-4 rotate, releasing the limiting of the locking rod 1-7-2. Under the action of the clamping force and the pushing force of the locking rod push spring 1-7-3, the locking rod 1-7-2 moves upward, releasing the clamping of the satellite support column 2-1. At this time, the clamping plate 1-2 disengages from the top satellite support column 2-1, and the separation spring 1-4 installed on the top crossbeam 1-3 provides the initial drive. The torque drives the clamping rod 1-5 and the components mounted on the clamping rod to rotate around the one-way rotating hinge 1-6. The one-way rotating hinge 1-6 ensures that the hinge can only rotate around the unfolding direction through the internal one-way bearing, avoiding rebound and collision with the satellite during the unfolding process. After the clamping rod 1-5 and the components mounted on the clamping rod rotate together around the one-way rotating hinge 1-6 to the limit angle, they are locked under the combined action of the limit at the clamping rod-locking rod junction and the one-way rotating hinge 1-6, completing all the actions of the mechanism. At this time, the stacked satellites are separated under the action of the built-in separation spring.

[0059] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0060] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A multi-layer combined satellite compression and release mechanism, characterized in that, Multiple load-bearing columns (2-1) are installed on the outer edge of the satellite. After being stacked and combined, adjacent satellites are positioned by docking through the load-bearing columns (2-1). The clamping and releasing mechanism includes a preload nut (1-1), a clamping plate (1-2), a release spring (1-4), a clamping rod (1-5), a one-way rotating hinge (1-6), and an unlocking component (1-7). The lower parts of the two clamping rods (1-5) are connected to the unlocking assembly (1-7) at the bottom via one-way rotating hinges (1-6). The one-way rotating hinges (1-6) achieve one-way rotation of the hinges through built-in one-way bearings. The unlocking assembly (1-7) fits tightly with the support column of the bottom satellite. After the satellites are stacked, the clamping plate (1-2) fits tightly with the support column (2-1) at the top. The tops of the two clamping rods (1-5) pass through the two pre-set connecting holes of the clamping plate (1-2) and are connected to the pre-tightening nut (1-1) through the external thread at the top of the clamping rods (1-5) to provide downward clamping force to the support column. The clamping force is released when the unlocking assembly unlocks the satellite. A separation spring (1-4) is installed between the clamping release mechanism and the support column. The separation spring (1-4) is pressed against and compressed against the outer surface of the support column, providing the driving force for the clamping rods to unfold after separation. The unlocking assembly (1-7) includes a base housing (1-7-1), a locking rod (1-7-2), a locking rod push spring (1-7-3), a locking rocker arm (1-7-4), a limiting shaft (1-7-5), and a drive mechanism; the drive mechanism includes a drive rocker arm (1-7-6), a drive tension spring (1-7-7), and an unlocking mechanism (1-7-8); the clamping rod (1-5) is connected to the locking rod (1-7-2) via a one-way rotating hinge (1-6), and the locking rod (1-7-2) is limited by the limiting structure of the base housing (1-7-1) and the locking rocker arm (1-7-4); the locking rod push spring (1-7-3) is installed with the base housing (1-7-1) via fasteners, and the spring force pushes the bottom of the locking rod (1-7-2), providing an upward thrust to the locking rod (1-7-2) after the locking rod (1-7-2) is unlocked; The locking rocker arm (1-7-4) and the limiting shaft (1-7-5) are fixed on the base housing (1-7-1) and can both rotate axially. Both ends of the limiting shaft (1-7-5) are designed as near-semi-cylindrical structures with irregular surfaces. The radius of curvature of the near-semi-cylindrical structures at both ends of the limiting shaft (1-7-5) gradually decreases along the rotation direction of the limiting shaft. The outer cylindrical surfaces of the near-semi-cylindrical structures at both ends cooperate with the two locking rocker arms (1-7-4) to limit the rotation of the locking rocker arms (1-7-4) in the unlocking direction. When the drive mechanism drives the limiting shaft (1-7-5)... As the locking rocker arm (1-7-4) begins to rotate, the contact surfaces of the locking rocker arm (1-7-4) and the limiting shaft (1-7-5) remain in close contact and begin to rotate slightly along the irregular surface, releasing part of the clamping force in advance. When the limiting shaft (1-7-5) rotates until the outer cylindrical surface is completely disengaged from the locking rocker arm (1-7-4), the locking rocker arm (1-7-4) rotates, and the limiting structure releases the limiting of the locking rod (1-7-2). Under the action of the clamping force reaction force and the pushing force of the locking rod pushing spring (1-7-3), the locking rod (1-7-2) moves upward, releasing the clamping of the support column (2-1). The middle part of the limiting shaft (1-7-5) is fixed to one end of the drive rocker arm (1-7-6) and can transmit torque and rotational displacement. The drive rocker arm (1-7-6) is fixed with a drive tension spring (1-7-7). The other end of the drive tension spring (1-7-7) is fixed to the base housing (1-7-1) to provide the drive torque required for unlocking the drive rocker arm (1-7-6). The other end of the drive rocker arm (1-7-6) is limited by the unlocking mechanism (1-7-8) to restrict its rotation in the unlocking direction. When the unlocking mechanism (1-7-8) releases the limitation on the drive rocker arm (1-7-6), the drive rocker arm (1-7-6) rotates under the action of the drive tension spring (1-7-7), thereby driving the limiting shaft (1-7-5) to rotate. The unlocking mechanism (1-7-8) is a redundant unlocking mechanism, including two motors (1-7-8-1), two unlocking levers (1-7-8-2), two small bearings (1-7-8-3), and a seesaw (1-7-8-4). The two motors (1-7-8-1) are fixed to the base housing (1-7-1) with fasteners. The two unlocking levers (1-7-8-2) are respectively connected to the output shafts of the two motors (1-7-8-1). The ends of the two unlocking levers (1-7-8-2) are fixed to the small bearings (1-7-8-3) with fasteners. The outer ring of the small bearings (1-7-8-3) contacts the seesaw (1-7-8-4). The seesaw (1-7-8-4) is connected to the drive rocker arm (1-7-6). The end of the rocker arm (1-7-6) is connected by a hinge and can rotate around the length of the drive rocker arm (1-7-6). During normal unlocking, the two motors (1-7-8-1) rotate in opposite directions, and the two unlocking levers (1-7-8-2) swing to both sides, releasing the constraint on the seesaw (1-7-8-4). The drive rocker arm (1-7-6) rotates and unlocks under the action of the drive tension spring (1-7-7). When a single motor fails, the single unlocking lever (1-7-8-2) swings, one side of the seesaw (1-7-8-4) is released from constraint, while the other side remains unrestrained. The seesaw (1-7-8-4) rotates along the length of the drive rocker arm (1-7-6), and the seesaw (1-7-8-4) releases its constraint by tilting up on one side.

2. The multi-layer combined satellite compression and release mechanism according to claim 1, characterized in that, Multiple crossbeams (1-3) are installed on the two clamping rods (1-5), and a release spring (1-4) is installed on at least one crossbeam (1-3).

3. The multi-layer combined satellite compression and release mechanism according to claim 1, characterized in that, The locking rocker arm (1-7-4) includes a rotating shaft and a lever. The lever cooperates with the limiting shaft (1-7-5). A limiting structure is machined on the rotating shaft to limit the locking rod (1-7-2).

4. The multi-layer combined satellite compression and release mechanism according to claim 1, characterized in that, The lower end of the clamping rod (1-5) has a single or double lug, and the upper end of the locking rod (1-7-2) has a double lug. The one-way rotating hinge (1-6) includes a one-way bearing and a rotating shaft. The single or double lug at the lower end of the clamping rod (1-5) is inserted between the double lugs of the locking rod (1-7-2). The one-way bearing is fixed on the double lugs. The rotating shaft passes through the one-way bearing, the double lugs at the upper end of the locking rod (1-7-2), and the lug at the lower end of the clamping rod (1-5), and is tightly connected to the lug at the lower end of the clamping rod (1-5). The rotating connection between the clamping rod (1-5) and the locking rod (1-7-2) is completed by the rotating shaft passing through the one-way bearing, the double lugs at the upper end of the locking rod (1-7-2), and the lug at the lower end of the clamping rod (1-5).

5. A method for releasing pressure on multi-layer combined satellites, characterized in that, The multi-layer combined satellite compression and release mechanism according to any one of claims 1 to 4 includes: During the pressing process, the pressing separation mechanism is connected to the satellite bracket. The support column of the bottom satellite and the bottom unlocking component (1-7) are fitted together by the conical surface. The stacked satellites (2) are stacked layer by layer. The pressing plate and the support column (2-1) of the top satellite are fitted together by the conical surface. The top ends of the two pressing rods (1-5) pass through the two pre-set connection holes of the pressing plate (1-2) and are connected to the pre-tightening nut (1-1) by the external thread at the top end of the pressing rods (1-5) to provide downward pressing force to the support column (2-1). During the unlocking and separation process, the limit shaft (1-7-5) is rotated by the drive mechanism. After the limit shaft (1-7-5) rotates to a certain angle, the outer cylindrical surfaces of the near-semi-cylindrical structures at both ends simultaneously disengage from the two locking rocker arms (1-7-4). The locking rocker arms (1-7-4) rotate, releasing the limit on the locking rod (1-7-2). Under the reaction force of the clamping force and the pushing force of the locking rod push spring (1-7-3), the locking rod (1-7-2) moves upward, releasing the clamping force on the support column (2-1). At this time, the clamping plate (1-2) disengages from the top support column (2-1). When the release spring (1-4) provides the initial driving torque, it drives the clamping rod (1-5) and the components mounted on the clamping rod to rotate around the one-way rotating hinge (1-6). The one-way rotating hinge (1-6) is determined by an internal one-way bearing to rotate only around the unfolding direction. When the clamping rod (1-5) and the components mounted on the clamping rod rotate together around the one-way rotating hinge (1-6) to the limit angle, they are locked by the limit at the clamping rod-locking rod junction and the combined action of the one-way rotating hinge (1-6). Subsequently, the stacked satellites are completely separated by the action of the built-in release spring.

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