A deployment structure and satellite system based on shape memory material

Abstract

The present invention provides an expansion structure and satellite system based on shape memory materials, and relates to the technical field of space expansion structures. The expansion structure provided by the present invention, when in a folded state, has the left and right arc-shaped pieces in a first arc state, the elastic folding rod is folded into a multi-section elastic rod, and the multi-section elastic rod is confined in a clamp formed by a left clamp and a right clamp. The first-level locking piece performs a primary locking on the elastic folding rod; the left and right arc-shaped pieces jointly perform a secondary locking on the elastic folding rod. When the expansion structure needs to be expanded, the first-level locking piece is first heated to form a straight plate shape, achieving a primary unlocking; then the left and right arc-shaped pieces are heated to form a second arc shape, achieving a secondary unlocking; then, the elastic folding rod returns to a straight state, placing the expansion structure in an expanded state. The expansion structure based on shape memory materials provided by the present invention has higher reliability and less impact during expansion.

Description

Technical Field

[0001] The present invention relates to the technical field of space deployment structures, and in particular to a deployment structure and a satellite system based on shape memory materials. Background Art

[0002] In modern aerospace engineering, mechanically deployed space structures, such as satellite solar panels and antennas, typically utilize complex mechanical locking mechanisms to achieve locking and deployment. These traditional deployment structures typically rely on a series of mechanical components, including gears, hinges, and locking pins. This makes the overall structure bulky, and the complex mechanical components and joints may be subject to friction, wear, and structural fatigue, resulting in poor reliability. Furthermore, the remote control and deployment of these structures are often accompanied by significant impact forces, which can affect the stability and service life of sensitive equipment. Summary of the Invention

[0003] The problem solved by the present invention is how to obtain an unfolding structure with less impact and higher reliability during unfolding.

[0004] To solve the above problems, the present invention provides an expansion structure based on shape memory material, comprising a multi-link clamp, an elastic folding rod, a first-stage locking plate, a second-stage locking assembly and a base;

[0005] The elastic folding rod has a first end and a second end, the first end is mounted on the base, the elastic folding rod comprises n elastic rods connected in sequence, the elastic folding rod can be bent at the connection between adjacent elastic rods so that the n elastic rods are folded in sequence, where n is an integer greater than 2;

[0006] The multi-joint clamp includes a left clamp and a right clamp that are arranged opposite to each other, the left clamp includes n left arc segments connected in sequence, and the right clamp includes n right arc segments connected in sequence, the n left arc segments and the n right arc segments are used to enclose and form n clamps; the n clamps are used to respectively embrace the n folded sections of the elastic rod; the left arc segment and the right arc segment of one end clamp of the n clamps are respectively the first left arc segment and the first right arc segment, and the left arc segment and the right arc segment of the other end clamp of the n clamps are respectively the second left arc segment and the second right arc segment;

[0007] The first-stage locking piece is made of a shape-memory material and is configured to switch between an arc shape and a straight plate shape. The first-stage locking piece is disposed on the outer wall of the first left arc segment or the first right arc segment. When the first-stage locking piece is in an arc shape, it is used to wrap around the outer wall of the clamp formed by the first left arc segment and the first right arc segment to prevent the first left arc segment and the first right arc segment from separating.

[0008] The second-stage locking assembly includes a left arc-shaped piece and a right arc-shaped piece arranged opposite to each other, and the left arc-shaped piece and the right arc-shaped piece are both made of shape memory material and are configured to switch between a first arc and a second arc; one end of the left arc-shaped piece along its bending direction is connected to the outer wall of the second left arc segment, and the other end of the left arc-shaped piece along its bending direction is connected to the base, and one end of the right arc-shaped piece along its bending direction is connected to the outer wall of the second right arc segment, and the other end of the right arc-shaped piece along its bending direction is connected to the base; when the left arc-shaped piece and the right arc-shaped piece are both in the first arc shape, the left clamp and the right clamp are combined to form the n clamps; when the left arc-shaped piece and the right arc-shaped piece are both in the second arc shape, the left clamp and the right clamp are separated from each other.

[0009] Optionally, the arc lengths of the first arc and the second arc are equal, the central angle of the first arc is 90 degrees, and the central angle of the second arc is 30-60 degrees.

[0010] Optionally, a first groove-protrusion pair is provided on the opposing surfaces of the first left arc segment and the first right arc segment, and the first groove-protrusion pair includes a first protrusion and a first groove for mutual engagement; a second groove-protrusion pair is provided between the opposing surfaces of the second left arc segment and the second right arc segment, and the second groove-protrusion pair includes a second protrusion and a second groove for mutual engagement.

[0011] Optionally, when the unfolding structure is in the unfolded state, the elastic folding rod is in the straightened state, and the elastic folding rod has n through holes formed at intervals along its length direction. The elastic folding rod is elastically folded at the through holes to switch from the straightened state to the folded state.

[0012] Optionally, the through hole is a special-shaped through hole.

[0013] Optionally, the through holes have the same spacing.

[0014] Optionally, the shape memory material is selected from one of epoxy-based shape memory polymer composite materials, cyanate-based shape memory polymer composite materials, polyimide-based shape memory polymer composite materials, styrene-based shape memory polymer composite materials, phenolic-based shape memory polymer composite materials and polyaryletherketone-based shape memory polymer composite materials.

[0015] Optionally, a heating unit and a controller are further included, wherein the heating unit is used to heat the first-stage locking piece, the left arc-shaped piece and the right arc-shaped piece, and the heating unit is electrically connected to the controller.

[0016] Optionally, the heating unit includes thin-film electric heaters respectively provided on the first-stage locking piece, the left arc-shaped piece, and the right arc-shaped piece.

[0017] The present invention also provides a satellite system, comprising the shape memory material-based unfolding structure, a satellite structure and a mechanical gripper as described above, wherein the shape memory material-based unfolding structure is installed on the satellite structure, and the mechanical gripper is installed at the second end of the elastic folding rod of the shape memory material-based unfolding structure, and the mechanical gripper is used to capture space debris around the satellite structure.

[0018] Compared with the prior art, the present invention provides an unfolding structure based on shape memory material. When it is in a folded state, the left arc piece and the right arc piece are in a first arc state, the left clamp and the right clamp are combined to form multiple clamps, and the elastic folding rod is folded into a multi-section elastic rod, which is confined in the clamp formed by the left clamp and the right clamp; in this state, the first-level locking piece is arc-shaped, which is wrapped around the outer wall of the clamp surrounded by the first left arc segment and the first right arc segment to form a constraint on the first left arc segment and the first right arc segment, thereby preventing the two from separating, and the first-level locking piece performs a primary locking on the elastic folding rod in the folded state; the left arc piece and the right arc piece jointly form a constraint on the second left arc segment and the second right arc segment, thereby preventing the two from separating, and the left arc piece and the right arc piece jointly perform a secondary locking on the elastic folding rod in the folded state. When the deployment structure needs to be switched from the folded state to the unfolded state, the first-stage locking piece can be heated to switch from a circular arc shape to a straight plate shape, thereby releasing the constraints on the first left arc segment and the first right arc segment, and placing the deployment structure in the first unlocked state; then, the left arc piece and the right arc piece are heated to switch from the first arc shape to the second arc shape, releasing the constraints on the second left arc segment and the second right arc segment, thereby releasing the constraints on the elastic folding rod in the folded state, and placing the deployment structure in the second unlocked state; then, the elastic folding rod returns from the folded state to the straight state under the elastic action of the elastic action, placing the deployment structure in the unfolded state. It can be seen that the deployment structure based on shape memory material provided by the present invention can achieve multi-level locking to ensure that the deployment structure is in a stable folded state through innovative structural design and the shape memory effect of shape memory material. The shape memory material uses shape change to achieve locking and unlocking, without friction, wear and structural fatigue, and can be used repeatedly, with higher reliability. In addition, the deployment structure can also achieve graded unlocking and deployment, thereby ensuring less impact during deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the structure of the shape memory material-based expanded structure in a collapsed state according to an embodiment of the present invention;

[0020] Figure 2 Schematic diagram of the state of the multi-link clamp, the first-stage locking plate, and the second-stage locking assembly when the expanded structure based on the shape memory material according to an embodiment of the present invention is in the collapsed state;

[0021] Figure 3 Schematic diagram of the state of the multi-link clamp, the first-stage locking plate, and the second-stage locking assembly when the unfolded structure based on the shape memory material according to an embodiment of the present invention is in the unfolded state;

[0022] Figure 4 This is a schematic structural diagram of the left clamp in an embodiment of the present invention;

[0023] Figure 5 This is a schematic structural diagram of the right clamp in an embodiment of the present invention;

[0024] Figure 6 Schematic diagram of the structure of the shape memory material-based unfolded structure in the first-level unlocking state according to an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of the structure of the shape memory material-based unfolded structure in the secondary unlocked state according to an embodiment of the present invention;

[0026] Figure 8 Schematic diagram of the structure of the unfolded structure based on the shape memory material in the unfolded state according to an embodiment of the present invention;

[0027] Figure 9 is a schematic diagram of an elastic folding rod in an extended state according to an embodiment of the present invention;

[0028] Figure 10 is a schematic diagram of an elastic folding rod in a folded state according to an embodiment of the present invention;

[0029] Figure 11 Schematic diagram of the structure of the satellite system when the expanded structure based on the shape memory material is in the collapsed state according to an embodiment of the present invention;

[0030] Figure 12 Schematic diagram of the structure of the satellite system when the unfolded structure based on the shape memory material is in the unfolded state according to an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. Multi-joint clamp; 11. Left clamp; 111. First left arc segment; 112. Second left arc segment; 12. Right clamp; 121. First right arc segment; 122. Second right arc segment; 13. First protrusion; 14. First groove; 15. Second protrusion; 16. Second groove; 2. Elastic folding rod; 21. First end; 22. Second end; 23. Elastic rod; 24. Through hole; 3. First-stage locking plate; 4. Base; 5. Left arc piece; 6. Right arc piece; 7. Inclined surface; 8. Mechanical gripper; 9. Satellite structure; 10. Space debris. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0034] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0035] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first" and "second" mentioned in the present invention are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "multiple" means two or more.

[0036] It should be noted that shape memory materials have the following characteristics: at room temperature, the material has a high modulus. By heating the material to above its glass transition temperature (Tg), the material's modulus decreases, allowing it to be shaped into a temporary shape. This shape is retained even after the temperature is lowered to below the material's glass transition temperature (Tg). When the material's temperature is raised above its glass transition temperature (Tg), the material can return to its original shape. In addition, shape memory polymers can also switch shape in response to other external stimuli, such as magnetic or optical signals.

[0037] like Figure 1 As shown, the unfolding structure based on shape memory material provided by the embodiment of the present invention includes a multi-link clamp 1, an elastic folding rod 2, a first-stage locking piece 3, a second-stage locking assembly and a base 4;

[0038] The elastic folding rod 2 has a first end 21 and a second end 22. The first end 21 is mounted on the base 4. The elastic folding rod 2 includes n elastic rods 23 elastically connected in sequence. The elastic folding rod 2 can be bent at the connection between adjacent elastic rods 23 so that the n elastic rods 23 are folded in sequence, where n is an integer greater than 2.

[0039] like Figure 2-5 As shown, the multi-joint clamp 1 includes a left clamp 11 and a right clamp 12 that are arranged opposite to each other. The left clamp 11 includes n left arc segments connected in sequence, and the right clamp 12 includes n right arc segments connected in sequence. The n left arc segments and the n right arc segments are used to enclose and form n clamps; the n clamps are used to respectively embrace the n folded sections of the elastic rod 23; the left arc segment and the right arc segment of one end clamp of the n clamps are respectively a first left arc segment 111 and a first right arc segment 121, and the left arc segment and the right arc segment of the other end clamp of the n clamps are respectively a second left arc segment 112 and a second right arc segment 122.

[0040] like Figure 2 As shown, the first-stage locking piece 3 is made of a shape-memory material and is configured to switch between an arc shape and a straight plate shape. The first-stage locking piece 3 is disposed on the outer wall of the first left arc segment 111 or the first right arc segment 121. When the first-stage locking piece 3 is in an arc shape, it is used to wrap around the outer wall of the clamp formed by the first left arc segment 111 and the first right arc segment 121 to prevent the first left arc segment 111 and the first right arc segment 121 from separating.

[0041] like Figure 2As shown, the second-stage locking assembly includes a left arc-shaped piece 5 and a right arc-shaped piece 6 that are relatively arranged. The left arc-shaped piece 5 and the right arc-shaped piece 6 are both made of shape memory material and are configured to switch between a first arc and a second arc; one end of the left arc-shaped piece 5 along its bending direction is connected to the outer wall of the second left arc segment 112, and the other end of the left arc-shaped piece 5 along its bending direction is connected to the base 4, and one end of the right arc-shaped piece 6 along its bending direction is connected to the outer wall of the second right arc segment 122, and the other end of the right arc-shaped piece 6 along its bending direction is connected to the base 4; when the left arc-shaped piece 5 and the right arc-shaped piece 6 are both in the first arc shape, the left clamp 11 and the right clamp 12 are combined to form the n clamps; when the left arc-shaped piece 5 and the right arc-shaped piece 6 are both in the second arc shape, the left clamp 11 and the right clamp 12 are separated from each other.

[0042] like Figure 1 As shown, the unfolding structure based on the shape memory material provided by the embodiment of the present invention, when it is in the folded state, the left arc-shaped piece 5 and the right arc-shaped piece 6 are in the first arc-shaped state, the left clamp 11 and the right clamp 12 are surrounded to form multiple clamps, and the elastic folding rod 2 is folded into a multi-section elastic rod 23, and the multi-section elastic rod 23 is confined in the clamp formed by the left clamp 11 and the right clamp 12; in this state, the first-level locking piece 3 is arc-shaped, which is wrapped around the first left arc segment 111 and the first right On the outer wall of the clamp surrounded by the arc segment 121, a constraint is formed on the first left arc segment 111 and the first right arc segment 121, thereby preventing the two from separating. The first-level locking piece 3 performs a primary locking on the elastic folding rod 2 in the folded state; the left arc segment 5 and the right arc segment 6 jointly form a constraint on the second left arc segment 112 and the second right arc segment 122, thereby preventing the two from separating. The left arc segment 5 and the right arc segment 6 jointly perform a secondary locking on the elastic folding rod in the folded state. When it is necessary to switch the unfolding structure from the folded state to the unfolded state, the first-level locking piece 3 can be heated first to switch it from a circular arc shape to a straight plate shape, thereby releasing the constraint on the first left arc segment 111 and the first right arc segment 121, so that the unfolding structure is in a first-level unlocked state, such as Figure 6 Then the left arc piece 5 and the right arc piece 6 are heated to switch from the first arc to the second arc, so as to release the constraints on the second left arc segment 112 and the second right arc segment 122, while driving the left clamp 11 and the right clamp 12 to separate (as shown in FIG. Figure 3 As shown), thereby releasing the restriction on the elastic folding rod 2 in the folded state, so that the unfolded structure is in the secondary unlocking state, as shown Figure 7 Subsequently, the elastic folding rod 2 returns to the straight state from the folded state under the action of the elastic restoring force, so that the unfolded structure is in the unfolded state, as shown Figure 8As shown in the figure, the shape memory material-based deployment structure provided by the embodiments of the present invention, through innovative structural design and utilizing the shape memory effect of the shape memory material, can achieve multi-level locking to ensure that the deployment structure remains in a stable collapsed state. The shape memory material uses shape changes to achieve locking and unlocking, eliminating friction, wear, and structural fatigue, allowing for repeated use and greater reliability. Furthermore, the deployment structure can achieve staged unlocking and deployment, ensuring minimal impact during deployment.

[0043] In some embodiments of the present invention, illustratively, Figure 1 As shown, n is 4.

[0044] In some embodiments of the present invention, illustratively, Figure 2 As shown, the left arc segment and the right arc segment constituting the upper end clamp among the n clamps are respectively the first left arc segment 111 and the first right arc segment 121, and the left arc segment and the right arc segment constituting the lower end clamp among the n clamps are respectively the second left arc segment 112 and the second right arc segment 122.

[0045] In some embodiments of the present invention, illustratively, Figure 2 and Figure 3 As shown, the first-stage locking piece 3 is arranged on the outer wall of the first right arc-shaped segment 121 .

[0046] In some embodiments of the present invention, the arc lengths of the first arc and the second arc are equal, the central angle of the first arc is 90 degrees, and the central angle of the second arc is 30-60 degrees. Figure 2 As shown, when the unfolded structure is in the folded state, the left arc piece 5 and the right arc piece 6 are both in the first arc state, the central angle of the first arc is 90 degrees, and the left arc piece 5 and the right arc together constrain the second left arc segment 112 and the second right arc segment 122 to prevent the two from separating; when the unfolded structure needs to be switched to the unfolded state, the left arc piece 5 and the right arc piece are constrained under the condition that the constraints on the first left arc segment 111 and the first right arc segment 121 are released. The sheet 6 is heated to switch from the first arc to the second arc. Since the arc lengths of the first arc and the second arc are equal, the central angle of the second arc is significantly smaller than that of the first arc, thereby causing the left arc sheet 5 and the right arc sheet 6 to move away from each other, so that the distance between the upper end of the left arc sheet 5 and the right arc sheet 6 becomes larger, thereby releasing the constraints on the second left arc segment 112 and the second right arc segment 122, and at the same time driving the left clamp 11 and the right clamp 12 to separate (as shown in FIG. Figure 3 As shown), the restriction on the elastic folding rod 2 in the folded state is released, and then the elastic folding rod 2 is restored from the folded state to the straight state under the action of elasticity, so that the unfolding structure is in the unfolded state.

[0047] In some embodiments of the present invention, a first groove-protrusion pair is provided on the opposing surfaces of the first left arc segment 111 and the first right arc segment 121, and the first groove-protrusion pair includes a first protrusion 13 and a first groove 14 for interfitting with each other; a second groove-protrusion pair is provided between the opposing surfaces of the second left arc segment 112 and the second right arc segment 122, and the second groove-protrusion pair includes a second protrusion 15 and a second groove 16 for interfitting with each other. For example, Figure 4 and Figure 5 As shown, the first protrusion 13 is provided on the vertical surface of the upper end of the first right arc segment 121, and the first groove 14 is provided on the vertical surface of the upper end of the first left arc segment 111; the second protrusion 15 is provided on the vertical surface of the lower end of the second right arc segment 122, and the second groove 16 is provided on the vertical surface of the lower end of the second left arc segment 112. In this embodiment, when the unfolded structure is in the folded state, the first left arc segment 111 and the first right arc segment 121 are reliably connected by the first groove-protrusion pair, and the second left arc segment 112 and the second right arc segment 122 are reliably connected by the second groove-protrusion pair. Under the cooperation of the first groove-protrusion pair, the second groove-protrusion pair, the first-level locking plate 3, the left arc plate 5, and the right arc plate 6, the left clamp 11 and the right clamp 12 are in a more stably combined state, thereby making the folded state of the unfolded structure more stable and more reliable. In some embodiments of the present invention, such as Figure 9 As shown, when the unfolding structure is in the unfolded state, the elastic folding rod 2 is in the straight state. The elastic folding rod 2 is formed with n through holes 24 at intervals along its length direction. The elastic folding rod 2 is elastically folded at the through holes 24 to switch from the straight state to the folded state, as shown in FIG. Figure 10 shown.

[0048] In some embodiments of the present invention, Figure 9 As shown, the through hole 24 is a special-shaped through hole. Special-shaped through holes refer to non-standard circular through holes, such as oval or racetrack-shaped through holes. Due to their specific shape and smooth, continuous edges, the special-shaped through holes enable more even stress distribution during the elastic folding process of the elastic folding rod 2, avoiding stress concentration points that are easily caused by forced folding of traditional rods. This reduces the risk of localized damage and enhances the service life and safety of the elastic folding rod 2.

[0049] In some embodiments of the present invention, Figure 9 As shown, the spacings between the through holes 24 are the same, so that when the elastic folding rod 2 is in the folded state, the force on each elastic rod 23 is more uniform.

[0050] In some embodiments of the present invention, the shape-memory material is selected from the group consisting of an epoxy-based shape-memory polymer composite, a cyanate-based shape-memory polymer composite, a polyimide-based shape-memory polymer composite, a styrene-based shape-memory polymer composite, a phenolic-based shape-memory polymer composite, and a polyaryletherketone-based shape-memory polymer composite. These shape-memory materials are all polymeric and lightweight, thus reducing the weight of the deployed structure.

[0051] In some embodiments of the present invention, a heating unit (not shown) and a controller (not shown) are further included. The heating unit is used to heat the first-stage locking piece 3, the left arc-shaped piece 5, and the right arc-shaped piece 6. The heating unit is electrically connected to the controller. Thus, the heating control of the first-stage locking piece 3, the left arc-shaped piece 5, and the right arc-shaped piece 6 can be realized by the controller.

[0052] In some embodiments of the present invention, the heating unit includes thin-film electric heaters respectively provided on the first-stage locking piece 3 , the left arc-shaped piece 5 , and the right arc-shaped piece 6 .

[0053] In some embodiments of the present invention, Figure 1 As shown, the base 4 is provided with an inclined surface 7 , and the first end 21 of the elastic folding rod 2 is vertically mounted on the inclined surface 7 .

[0054] like Figure 11 and Figure 12 As shown, an embodiment of the present invention further provides a satellite system, comprising the above-mentioned shape memory material-based deployment structure, a satellite structure 9, and a mechanical gripper 8, wherein the shape memory material-based deployment structure is mounted on the satellite structure 9, and the mechanical gripper 8 is mounted at the second end 22 of the elastic folding rod 2 of the shape memory material-based deployment structure, and the mechanical gripper 8 is used to capture space debris 10 around the satellite structure 9. When it is not necessary to capture the space debris 10, the shape memory material-based deployment structure is in a folded state, as shown in FIG. Figure 11 As shown, when it is necessary to capture space debris 10, the unfolding structure based on shape memory material is switched from a folded state to an unfolded state by heating, so that the elastic folding rod 2 is switched from a folded state to an extended state, thereby driving the mechanical gripper 8 to capture the space debris 10.

[0055] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A deployment structure based on shape memory material, characterized in that: It comprises a multi-link clamp (1), an elastic folding rod (2), a first-stage locking piece (3), a second-stage locking assembly and a base (4); The elastic folding rod (2) has a first end (21) and a second end (22), the first end (21) being mounted on the base (4), the elastic folding rod (2) comprising n elastic rods (23) elastically connected in sequence, the elastic folding rod (2) being capable of bending at the connection points of adjacent elastic rods (23) so that the n elastic rods (23) are folded in sequence, where n is an integer greater than 2; The multi-joint clamp (1) comprises a left clamp (11) and a right clamp (12) arranged opposite to each other, the left clamp (11) comprising n left arc segments connected in sequence, the right clamp (12) comprising n right arc segments connected in sequence, the n left arc segments and the n right arc segments being used to enclose and form n clamps; the n clamps being used to respectively and correspondingly embrace the n folded sections of the elastic rod (23); The left arc segment and the right arc segment of one end clamp among the n clamps are respectively a first left arc segment (111) and a first right arc segment (121); the left arc segment and the right arc segment of another end clamp among the n clamps are respectively a second left arc segment (112) and a second right arc segment (122); The first-stage locking piece (3) is made of a shape memory material and is configured to switch between an arc shape and a straight plate shape; the first-stage locking piece (3) is arranged on the outer wall of the first left arc segment (111) or the first right arc segment (121); when the first-stage locking piece (3) is in an arc shape, it is used to wrap the outer wall of the clamp surrounded by the first left arc segment (111) and the first right arc segment (121) to prevent the first left arc segment (111) and the first right arc segment (121) from separating; The second-stage locking assembly comprises a left arc-shaped piece (5) and a right arc-shaped piece (6) arranged opposite to each other, wherein the left arc-shaped piece (5) and the right arc-shaped piece (6) are both made of shape memory material and are configured to switch between a first arc shape and a second arc shape; one end of the left arc-shaped piece (5) along its bending direction is connected to the outer wall of the second left arc-shaped segment (112), the other end of the left arc-shaped piece (5) along its bending direction is connected to the base (4), and the right arc-shaped piece (6) along its bending direction is connected to the outer wall of the second left arc-shaped segment (112). One end in the curved direction is connected to the outer wall of the second right arc segment (122), and the other end of the right arc piece (6) along its curved direction is connected to the base (4); when the left arc piece (5) and the right arc piece (6) are both in the first arc shape, the left clamp (11) and the right clamp (12) are combined to form the n clamps; when the left arc piece (5) and the right arc piece (6) are both in the second arc shape, the left clamp (11) and the right clamp (12) are separated from each other.

2. The unfolded structure based on shape memory material according to claim 1, characterized in that: The arc lengths of the first arc and the second arc are equal, the central angle of the first arc is 90 degrees, and the central angle of the second arc is 30-60 degrees.

3. The unfolded structure based on shape memory material according to claim 1, characterized in that: A first groove-protrusion pair is provided on the opposing surfaces of the first left arc segment (111) and the first right arc segment (121), and the first groove-protrusion pair includes a first protrusion (13) and a first groove (14) for mutual engagement; a second groove-protrusion pair is provided between the opposing surfaces of the second left arc segment (112) and the second right arc segment (122), and the second groove-protrusion pair includes a second protrusion (15) and a second groove (16) for mutual engagement.

4. The unfolded structure based on shape memory material according to claim 1, characterized in that: When the unfolding structure is in the unfolded state, the elastic folding rod (2) is in the straightened state; the elastic folding rod (2) is formed with n through holes (24) at intervals along its length direction; the elastic folding rod (2) is elastically folded at the through holes (24) to switch from the straightened state to the folded state.

5. The unfolded structure based on shape memory material according to claim 4, characterized in that: The through hole (24) is a special-shaped through hole.

6. The unfolded structure based on shape memory material according to claim 4, characterized in that: The distances between the through holes (24) are the same.

7. The unfolded structure based on shape memory material according to claim 1, characterized in that: The shape memory material is selected from one of epoxy-based shape memory polymer composite materials, cyanate-based shape memory polymer composite materials, polyimide-based shape memory polymer composite materials, styrene-based shape memory polymer composite materials, phenolic-based shape memory polymer composite materials and polyaryletherketone-based shape memory polymer composite materials.

8. The unfolded structure based on shape memory material according to claim 1, characterized in that: It also includes a heating unit and a controller, wherein the heating unit is used to heat the first-stage locking piece (3), the left arc-shaped piece (5) and the right arc-shaped piece (6), and the heating unit is electrically connected to the controller.

9. The unfolded structure based on shape memory material according to claim 8, characterized in that: The heating unit comprises a thin film electric heater respectively arranged on the first-stage locking piece (3), the left arc-shaped piece (5) and the right arc-shaped piece (6).

10. A satellite system, characterized in that: It comprises an unfolding structure based on shape memory material, a satellite structure (9) and a mechanical gripper (8) as described in any one of claims 1 to 9, wherein the unfolding structure based on shape memory material is installed on the satellite structure (9), the mechanical gripper (8) is installed at the second end (22) of the elastic folding rod (2) of the unfolding structure based on shape memory material, and the mechanical gripper (8) is used to capture space debris (10) around the satellite structure (9).

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