Small satellite locking and releasing device for 4D printing bionic power amplification

Abstract

The invention discloses a four-dimensional (4D) printing bionic power amplification moonlet locking and releasing device, which belongs to the technical field of spaceflight and bionic 4D printing and comprises a main body shell, a protective blade, a driving spring, a launching bearing platform and a satellite connecting and locking platform. According to the device, a biological bionic power amplification mechanism is used for reference, a separation structure with a driving spring and a bistable round shell connected in series is designed by combining quick response of a bistable structure and large driving force of a latch structure, and the device has high-speed response and strong driving force; the characteristic that a 4D printing structure made of a special material can change in shape and performance under different conditions is utilized to realize logic sequence control locking and separation of the device. In conclusion, the device has the advantages of being simple in structure, high in reliability, small in impact, high in response speed, large in driving force and the like.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace and bionic 4D printing technology, and in particular relates to a small satellite locking and releasing device with 4D printing bionic power amplification. Background Art

[0002] Modern small satellites have the characteristics of low cost, high flexibility, rapid deployment and networking, and have become an important direction for the development of space technology. The locking and releasing device of the satellite is a mechanism that reliably connects the satellite and the rocket and realizes the separation of the satellite and the rocket after reaching the designated orbit. This mechanism needs to achieve reliable connection between the satellite and the rocket before reaching the designated orbit, and achieve reliable separation after reaching the orbit, and meet the requirements of the relative separation speed and satellite attitude of the satellite after separation; small satellites mainly use non-pyrotechnic locking and releasing devices, which mainly include electric drive reels, thermal cutting, stimulus response material drive and other devices. Among them, the stimulus response material device has the characteristics of small mass, compact size, multiple tests, and small separation impact force. At present, many excellent stimulus response material driven locking and releasing devices have been developed.

[0003] At present, 4D printing technology refers to the additive manufacturing structure, whose shape, characteristics and functions will change over time when subjected to specific stimuli (such as light, heat, water, etc.). It can realize the multi-structure integrated forming and controllable deformation of stimulus-responsive material-driven devices, but 4D printed structures usually have small driving force and slow deformation. The bionic power amplification mechanism is a common way for organisms to break through their own strength and speed limitations. Common ones include muscle-tendon combinations, latches and bistable states.

[0004] In summary, the present invention applies bionic power amplification to 4D printing structures to realize bionic 4D printing structures with power amplification behavior, so that the locking and releasing device driven by stimulus-responsive materials has the characteristics of high energy burst, high deformation speed and large deformation amplitude, thereby making up for the existing defects of such locking and releasing devices. At present, relevant research in this direction has also begun at home and abroad, and it has great application potential in aerospace vehicles such as small and micro satellites in the future. Summary of the invention

[0005] The purpose of the present invention is to reduce the impact during separation of small satellites, improve separation reliability, simplify the structure, and at the same time improve the response speed, driving force and deformation amplitude of the locking and releasing device driven by stimulus-responsive materials, and provide a small satellite locking and releasing device with 4D printing bionic power amplification.

[0006] 1.4D printed bionic power amplified small satellite locking and releasing device, including: main body shell, driving spring, launch bearing platform, satellite connection locking platform and protective cover;

[0007] The lower end of the driving spring is installed at the bottom of the main body shell, and the upper end is fixedly connected to the launch bearing platform;

[0008] The satellite is installed on the satellite connection and locking platform, and the satellite connection and locking platform is locked on the launch carrier platform.

[0009] The launch bearing platform comprises: a central bearing platform and a plurality of curved beams (the central bearing platform is fixedly connected to the polygonal columnar wall of the main body shell through the plurality of curved beams;

[0010] The bending beam is arc-shaped and has a three-layer gradient material structure, which is a thermal drive layer I, a stiffness retention layer and a thermal drive layer II in sequence. The thermal drive layer is provided with a circular channel for placing a heating wire.

[0011] The thermal drive layer is nickel-titanium alloy NiTi, copper-based alloy Cu-Al-Ni or iron-based alloy Fe-Mn-Si; the stiffness retention layer is stainless steel 316L, stainless steel 17-4PH), titanium alloy Ti-6Al-4V or aluminum alloy AlSi10Mg.

[0012] The stiffness retaining layer of the bending beam is connected to the polygonal columnar wall, the connecting portion of the stiffness retaining layer is inclined inwards, and the angle between the layer and the polygonal columnar wall is less than 90 degrees, and the bending beam is wavy when concave.

[0013] A stabilizing seat is arranged below the curved beam, and an arc-shaped protrusion is arranged on the stabilizing seat. The curved beam is in a wave shape when it is concave.

[0014] The driving spring is provided with a spring locking device to control the expansion and contraction of the driving spring.

[0015] The driving spring comprises a fixed platform and a double helical combination spring;

[0016] The double-helical combination spring is a shape memory alloy, and is composed of two crossed helical springs, and the starting directions of the two spring helices differ by 180°.

[0017] The central bearing platform is composed of a 10-sided columnar wall and upper and lower end plates, and a circular hole is provided in the center of the upper end plate; a rectangular groove is provided every other face of the 10-sided columnar wall of the central bearing platform, and positioning grooves are symmetrically provided in the middle of the upper and lower end faces of the rectangular groove;

[0018] The satellite connection locking platform 4 includes a connection platform body, 5 locking blocks, and a reset spring. The connection platform body is composed of an upper boss, a locking body shell and 5 bistable driving beams. The locking body shell is a columnar structure with a hollow cavity, and its outer wall is evenly provided with 5 fan ring grooves that cooperate with the locking blocks, connecting the hollow cavity inside it, and the fan ring grooves are symmetrically provided with limit grooves on the upper and lower sides; the 5 locking blocks are located in the fan ring grooves provided in the locking body shell, and the locking blocks are provided with locking block limit strips that slide with the positioning grooves and the limit grooves on the upper and lower sides; the sliding cooperation between the locking block limit strip and the positioning groove only exists in the locked state of the device; the locking block limit strip A return spring is provided between the inner root of the strip and the top of the limit groove; a bolt hole II is provided on the upper boss for connecting with the satellite assembly; the five bistable drive beams are evenly fixedly connected to the upper and lower ends of the inner cavity of the locking body shell, and the bistable drive beam is a three-layer gradient material structure, which is an outer thermal drive layer, a drive beam stiffness retention layer and an inner thermal drive layer from the outside to the inside, and the five bistable drive beams serve as drive sources for the five locking blocks respectively; the outer thermal drive layer and the inner thermal drive layer are both nickel-titanium alloy parts with shape memory effect, the outer thermal drive layer is in a concave state after heating, and the inner thermal drive layer is in a convex state after heating, and the heating power supply is located inside the small satellite.

[0019] The protective cover is composed of multiple protective blades, which are bistable curved plates of nickel-titanium alloy with a two-way memory effect. One side is a smooth plane, and the other side has multiple long auxiliary heating strips with the same longitudinal curvature as the blade evenly distributed along the width of the blade. The auxiliary heating strip has a circular channel on its inner side for placing the heating wire.

[0020] The main body shell includes: a polygonal columnar wall, n frame fixing bosses, and a protective blade fixing frame, wherein the n frame fixing bosses are all arranged on the outside of the polygonal columnar wall; the protective blade fixing frame is an integrated structure consisting of a protective blade fixing edge and n stretchable fixing blocks, the protective blade fixing edge is an arc-shaped regular n-gon structure, and the stretchable fixing blocks are sequentially arranged at the vertices of the arc-shaped regular n-gon structure of the protective blade fixing edge; the outer side of the stretchable fixing block is fixedly connected to the upper protrusion of the frame fixing boss, and the height of the plane on the frame fixing boss is less than or equal to the height of the top surface of the polygonal columnar wall; the bottom of the n protective blades and each side of the arc-shaped regular n-gon of the protective blade fixing edge are sequentially overlapped and fixedly connected, the protective blade is a stimulus response component, and the protective blade fixing edge is an elastic component; the stretchable fixing block is a "J"-shaped combined stretchable structure.

[0021] The bistable curved beam, the protective blade as a bistable hyperbolic plate, the launch bearing platform and the side wall of the main shell together form a bistable circular shell; through Q, and Three dimensionless parameters constrain the geometric shapes and material properties of the three bistable structures, respectively, to ensure that the structures formed by additive manufacturing have bistable characteristics;

[0022] The bistable bending beam, dimensionless parameters It determines whether the structure is bistable. H is the arch height of the curved beam, and h is the thickness of the beam. By adjusting the Q value to be greater than 2.31, it can be made bistable.

[0023] The protection blade, dimensionless parameter Determines whether the structure is bistable, the width of the protective blade is w, the thickness is h, and the main curvature of the plate = max , and They are the main curvatures of the curved plate of the protective blade 5 along the width and long axis directions, and by adjusting When the value is greater than 1, it can be made bistable;

[0024] The launch platform consists of a bistable round shell with dimensionless parameters It determines whether the structure is bistable. The angle of opening of the bistable circular shell is , the radius of curvature is R, the shell thickness is h and the material Poisson's ratio is , which defines the bistable circular shell ≤1.3, we can get the condition for its bistable state: .

[0025] The present invention provides a 4D printed bionic power-amplified small satellite locking and releasing device, which consists of a main body shell, a driving spring, a launch bearing platform, a satellite connection locking platform and a protective blade. The protective blade is in a closed state before the satellite reaches orbit, which can effectively prevent external objects (such as space debris, micrometeorites, etc.) from causing damage to the satellite body. The locking device is distributed on the satellite connection locking platform and cooperates with the launch bearing platform. It is driven by a bistable driving beam to ensure that the satellite and the carrier rocket remain firmly connected before the separation orbit, and are quickly unlocked after receiving the separation command. The ejection separation mechanism consists of a driving spring and a launch bearing platform. Drawing on the bionic power amplification mechanism, combined with the rapid response of the bistable structure and the large driving force of the latch structure, a separation structure in which a driving spring and a bistable circular shell are connected in series is designed. The device has both high-speed response and strong driving force, thereby significantly improving the efficiency and reliability of the separation operation.

[0026] In summary, the 4D printed bionic power-amplified small satellite locking and releasing device provided by the present invention has the following beneficial effects and advantages:

[0027] 1. The present invention adopts 4D printing technology to construct a satellite locking and releasing device. Each functional module can be formed at one time, and the internal structure, materials used and deformation mode can be custom programmed during the production process. The structure has a higher degree of integration, a lighter weight, and a more precise deformation. The device is purely material-driven and has higher reliability when used in extreme space environments.

[0028] 2. The present invention utilizes the biological power amplification mechanism and uses a bistable structure as a limiting latch for the system energy release to speed up the system's response speed. At the same time, the latch structure is used to amplify the driving force of the system's separation and ejection, thereby compensating for the shortcoming of the small driving force of a single bistable structure. Compared with the existing shape memory material-driven locking and releasing device, this device has a higher response speed and greater driving force.

[0029] 3. The present invention utilizes a shape memory alloy drive spring as a latch energy storage structure. At room temperature, the spring has low stiffness and can be compressed without a large driving force. After heating, the stiffness is increased to achieve autonomous energy storage. The structure is simpler and the energy accumulation speed is faster. At low temperatures, it can be used as a seismic isolation buffer mechanism for satellites, which can effectively reduce the damage to internal instruments caused by vibration during the satellite's transportation.

[0030] 4. The present invention is provided with protective blades, which can effectively prevent external objects (such as space debris, micro-meteorites, etc.) from causing damage to the satellite body, and utilizes a bistable hyperbolic plate structure to achieve opening and closing, with fast response speed, simple structure and small additional weight.

[0031] 5. The present invention is a non-pyrotechnic separation device with small separation impact, no explosive debris after separation, and high stability and reliability during separation.

[0032] 6. The present invention adopts additive manufacturing technology, which has low production cost and high freedom in structural design, and is in line with the design concept of low cost, short cycle and non-standard structure of small satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the locked state, and (b) is the separated state;

[0034] Figure 2 It is a schematic diagram of the three-dimensional structure of the main shell of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention;

[0035] Figure 3 Schematic diagram of the protective blade fixing frame of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the state of the fixing frame when the protective blade is closed, and (b) is the state of the fixing frame when the protective blade is opened;

[0036] Figure 4 Schematic diagram of the driving spring of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the initial memory state of the driving spring, and (b) is the compressed state of the driving spring;

[0037] Figure 5 Schematic diagram of the launch platform of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is a convex state and (b) is a concave state;

[0038] Figure 6 It is a schematic diagram of the satellite connection locking platform of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, in the unlocked state; Figure 7 It is a schematic diagram of the satellite connection locking platform of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, in the locked state;

[0039] Figure 8 Schematic diagram of the protective blade of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the locking state, and (b) is the releasing state;

[0040] Fig. 9 It is a schematic diagram of the stable state transition process of the bistable structure of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention, wherein (a) is the transition process of the bending beam of the launch bearing platform, and (b) is the transition process of the bistable driving beam;

[0041] Fig.10 It is a schematic diagram of the second main body shell stereoscopic structure of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention;

[0042] Fig.11 It is a working schematic diagram of the second launch bearing platform of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention, in a concave state; Fig.12 It is a working schematic diagram of the second launch bearing platform of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention, and the upper convex state;

[0043] Fig.13 Schematic diagram of the second driving spring of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the initial memory state of the driving spring, and (b) is the compressed locking state of the driving spring.

[0044] In the attached picture:

[0045] 1. Main body shell; 101. Polygonal columnar wall; 102. Polygonal bottom plate; 102a. Bolt hole I; 103. Frame fixing boss; 103a. Upper protrusion; 103b. Upper plane; 104. Protective blade fixing frame; 104a. Protective blade fixing edge; 104b. Stretchable fixing block; 105. Opening slot; 106. Stable seat;

[0046] 2. Driving spring; 201. Fixed platform; 202. Double helical combination spring; 203. Spring locking device;

[0047] 3. Launching bearing platform; 301. Central bearing platform; 302. Bending beam W; 302a. Thermal drive layer I; 302b. Stiffness maintaining layer; 302c. Thermal drive layer II; 302d. Connecting part; 303. Rectangular groove; 304. Positioning groove;

[0048] 4. Satellite connection locking platform; 401. Connection platform body; 401a. Bolt hole II; 401b. Upper boss; 401c. Locking body shell; 401d. Bistable drive beam; 401e. Sector ring slot; 401f. Limiting groove; 401g. Outer thermal drive layer; 401h. Inner thermal drive layer; 401i. Drive beam stiffness retention layer; 402. Locking block; 402a. Locking block limiting strip; 403. Reset spring;

[0049] 5. Protect blades; 501. Auxiliary heating strip. DETAILED DESCRIPTION

[0050] Embodiment 1:

[0051] Please see attached Figure 1-9, a small satellite locking and releasing device with 4D printed bionic power amplification, comprising: a main shell 1, a driving spring 2, a launch bearing platform 3, a satellite connection locking platform 4 and 5 protective blades 5, wherein: the main shell 1 comprises: a polygonal columnar wall 101, 5 frame fixing bosses 103, and a protective blade fixing frame 104, wherein the 5 frame fixing bosses 103 are all arranged on the outside of the polygonal columnar wall 101, and the upper plane 103b of the frame fixing boss 103 is flush with the top surface of the polygonal columnar wall 101; the protective blade fixing frame 104 is an integrated structure The structure is composed of a protective blade fixing edge 104a and five stretchable fixing blocks 104b. The protective blade fixing edge 104a is an arc-shaped regular pentagonal structure. The stretchable fixing blocks 104b are sequentially arranged at the vertices of the arc-shaped regular pentagonal structure of the protective blade fixing edge 104a. The stretchable fixing blocks 104b are a "J"-shaped combined stretchable structure. When the protective blade fixing frame 104 is retracted, it stretches. One side of the stretchable fixing block 104b is fixedly connected to the protective blade fixing edge 104a, and the other side is fixedly connected to the upper protrusion 103a of the frame fixing boss 103. The bottom surface of the stretchable fixed block 104b is flush with the bottom surface of the protective blade fixing edge 104a, and there is a minimum printing distance between the printer and the top surface of the polygonal cylindrical wall 101; the frame fixing boss 103 can be translated from convex to concave relative to the top surface of the polygonal cylindrical wall 101; each side of the arc-shaped regular pentagon of the bottom protective blade fixing edge 104a is overlapped and fixedly connected with the five protective blades 5 in sequence; the lower part of the main body shell 1 is provided with a polygonal bottom plate 102, on which a bolt hole Ⅰ102a for assembly with the rocket body is opened; the driving spring 2 and the launch bearing plane The platform 3 is arranged in sequence at the upper center of the polygonal bottom plate 102; the satellite connection locking platform 4 is arranged inside the launch bearing platform 3, and a bistable locking structure is arranged between the two; the five curved beams 302 of the launch bearing platform 3 are fixedly connected to the central bearing platform 301 inwardly and to the inner wall of the polygonal columnar wall 101 outwardly, and a circular shell bistable structure is formed among the three, and the inner side bending angle of the curved beam 302 is 0°, which gradually increases from the inside to the outside; the locking state of the curved beam 302 is a concave arc, and the initial state is a convex arc, and the transition state of the steady-state change is "W" shaped.

[0052] The protective blade 5 is a bistable curved plate of nickel-titanium alloy with a bidirectional memory effect, which is concave and closed at low temperatures and concave and expanded after heating; one side of the protective blade 5 is a smooth plane, and the other side has a plurality of long auxiliary heating strips 501 with the same longitudinal curvature as the blade evenly distributed along the width of the blade, and the auxiliary heating strip 501 has a circular channel on its inner side for placing a heating wire, and the heating wire is connected to the power supply inside the rocket body.

[0053] The launch bearing platform 3 includes a central bearing platform 301 and five curved beams 302 connected together. The central bearing platform 301 is composed of a 10-sided columnar wall and upper and lower end plates, and a circular hole is opened in the center of the upper end plate; the 10-sided columnar wall of the central bearing platform 301 has a rectangular groove 303 opened every other face, and positioning grooves 304 are symmetrically arranged in the middle of the upper and lower end faces of the rectangular groove 303. Five curved beams 302 are fixedly connected on the five ungrooved faces. The curved beams 302 are a three-layer gradient material structure, which are a thermal drive layer I 302a, a stiffness retention layer 302b and a thermal drive layer II from top to bottom. 302c, the heat drive layer I 302a and the heat drive layer II 302c are shorter in length and are located in the middle of the stiffness retention layer 302b. Two circular channels are provided inside the heat drive layer I 302a and the heat drive layer II 302c for placing heating wires, and the heating wires are connected to the power supply inside the launch vehicle; the heat drive layer I 302a is a nickel-titanium alloy part with shape memory effect, which deforms with the stiffness retention layer 302b at low temperatures and presents a concave state after heating; the heat drive layer II 302c is a nickel-titanium alloy part with shape memory effect, which deforms with the stiffness retention layer 302b at low temperatures and presents a convex state after heating;

[0054] The driving spring 2 includes a fixed platform 201 and a double-helical combination spring 202. The fixed platform 201 is arranged on the upper and lower sides of the double-helical combination spring 202. The double-helical combination spring 202 is a shape memory alloy, which is composed of two crossed helical springs, and the starting directions of the two spring helices differ by 180°; the central axis of the driving spring 2 coincides with the central axis of the main shell 1, the lower fixed platform 201 coincides with the upper end surface of the polygonal bottom plate 102, and the upper fixed platform 201 coincides with the bottom surface of the central bearing platform 301 of the launch bearing platform 3; the driving spring 2 has low stiffness at low temperatures and increases stiffness after heating.

[0055] The satellite connection locking platform 4 includes a connection platform body 401, five locking blocks 402, and a reset spring 403. The connection platform body 401 is composed of an upper boss 401b, a locking body shell 401c and five bistable drive beams 401d. The locking body shell 401c is a columnar structure with a hollow cavity, and its outer wall is evenly provided with five fan ring grooves 401e that cooperate with the locking blocks 402 to communicate with the hollow cavity inside it. The fan ring grooves 401e are symmetrically provided with limit grooves 401f on the upper and lower sides; the five locking blocks 402 are located in the fan ring grooves 401e provided in the locking body shell 401c, and the locking blocks 402 are provided with positioning grooves 30 4 and the limiting groove 401f slidingly cooperate with the locking block limiting strip 402a; the sliding cooperation between the locking block limiting strip 402a and the positioning groove 304 only exists in the locked state of the device; a reset spring 403 is provided between the inner root of the locking block limiting strip 402a and the top of the limiting groove 401f, and the reset spring 403 is in a compressed state to provide the reset force of the locking block 402; the upper boss 401b is provided with a bolt hole II 401a for connecting with the satellite assembly; the five bistable drive beams 401d are evenly fixedly connected with the upper and lower ends of the internal cavity of the locking body shell 401c, and the bistable drive beam is a three-layer gradient material structure, from the outside to the inside are the outer thermal drive layer 401g , a driving beam stiffness maintaining layer 401i and an inner thermal driving layer 401h, and five bistable driving beams 401d are respectively used as driving sources for five locking blocks 402; the outer thermal driving layer 401g and the inner thermal driving layer 401h are both nickel-titanium alloy parts with shape memory effect, the outer thermal driving layer 401g is in a concave state after heating, and the inner thermal driving layer 401h is in a convex state after heating, and the heating power supply is located inside the small satellite; when the device is in an unlocked state, the outer side of the locking block 402 is on the same cylindrical surface as the cylindrical wall of the locking body shell 401c.

[0056] The shape memory metal of the 4D printed bionic power amplified small satellite locking and releasing device uses nickel-titanium alloy (NiTi), and the non-shape memory alloy uses 316 stainless steel.

[0057] Embodiment 2:

[0058] See also Figure 1-11, a small satellite locking and releasing device with 4D printed bionic power amplification, comprising: a main body shell 1, a driving spring 2, a launch bearing platform 3, a satellite connection locking platform 4 and 5 protective blades 5, wherein: compared with Example 1, the main body shell 1 has a polygonal columnar wall 101 with evenly distributed open grooves 105 penetrating the plane, and 5 stable seats 106 evenly distributed along the plane side of the polygonal columnar wall 101; the support seat 106 is a columnar structure, the bottom of which is fixedly connected to the polygonal bottom plate 102, and is provided with an arc-shaped protrusion, which has the same curved shape as the bottom when the curved beam 302 is concave, and a groove is provided on the inner side of the arc for placing the thermal drive layer II 302; other features are the same as the main body shell 1 in Example 1.

[0059] The launching bearing platform 3 includes a central bearing platform 301 and five curved beams 302 connected to each other. Compared with Example 1, the stiffness retaining layer 302b of the curved beam 302 is connected to the polygonal cylindrical wall 101, and the connecting portion 302d of the stiffness retaining layer 302b is inclined inwardly, and the angle between the curved beam 302b and the polygonal cylindrical wall 101 is always less than 90 degrees. The curved beam 302 is wavy when concave; when the bistable circular shell changes from concave to convex, it cooperates with the open groove 105 to achieve a smoother transition and increase the upward throw stroke.

[0060] Compared with Example 1, the driving spring 2 is further provided with a spring locking device 203 to control the extension and retraction of the driving spring 2; the form of the spring locking device 203 is not limited and it can be any existing locking structure, such as an electromagnetic lock, a mechanical lock or a shape memory material lock; when the spring locking device 203 is in the locked state, the launching platform 3 does not shake and the overall stability is higher.

[0061] The shape memory metal of the 4D printed bionic power-amplified small satellite locking and releasing device uses a copper-based alloy (Cu-Al-Ni), and the non-shape memory alloy uses a titanium alloy (Ti-6Al-4V). The other component features are the same as those in Example 1.

[0062] Based on the 4D printed bionic power-amplified small satellite locking and releasing device structure, the main body shell 1, drive spring 2, launch carrier platform 3 and 5 protective blades 5 can be integrally formed and manufactured using metal additive manufacturing technology or can be manufactured separately and then assembled, and the satellite connection locking platform 4 needs to be integrally formed and manufactured using metal additive manufacturing technology.

[0063] The design, working principle and specific use method of the 4D printed bionic power amplified small satellite locking and releasing device provided by the present invention are as follows:

[0064] 1. Design principle of bistable structure:

[0065] The satellite locking and releasing system involves three bistable structures: the bistable bending beam 401d, the protection blade 5 is a bistable hyperbolic plate, and the launch platform 3 and the side wall of the main shell 1 together form a bistable circular shell; through Q, and The three dimensionless parameters respectively constrain the geometric shapes and material properties of the three bistable structures, ensuring that the structures formed by additive manufacturing have bistable characteristics; the bistable bending beam 401d, the aspect ratio Determines whether the structure is bistable, H is the arch height of the curved beam, h is the beam thickness, and by adjusting the Q value to be greater than 2.31, it can be made bistable; the protective blade 5, It determines whether the structure is bistable. The width of the protective blade 5 is w and the thickness is h. = max , and They are the main curvatures of the curved plate of the protective blade 5 along the width and long axis directions, and by adjusting When the value is greater than 1, it can be made bistable; the bistable round shell composed of the launch carrier platform 3, It determines whether the structure is bistable. The angle of opening of the bistable circular shell is , the radius of curvature is R, the shell thickness is h and the material Poisson's ratio is , which defines the bistable circular shell ≤1.3, we can get the condition for its bistable state: .

[0066] 2. Working principle of power-amplifying ejection separation with latch and bistable series connection: Principle of power-amplifying ejection separation with latch and bistable series connection: The separation method draws on the latch and bistable power amplification mechanism of biology, and can be used in small satellite locking and release devices with 4D printed bionic power amplification, which have the characteristics of high energy burst, high deformation speed and large deformation amplitude, making up for the defects of slow response speed and small driving force of small satellite separation devices driven by existing metal excitation response materials; the latch amplification mechanism uses a physical capture mechanism to limit the release of energy, and continuously accumulates energy after being stimulated, and instantly releases energy when the latch is opened to achieve force and speed amplification, which requires an energy accumulation process and a complex latch removal structure, and has a slow response speed; the bistable power amplification mechanism uses a physical capture mechanism to limit the release of energy, and continuously accumulates energy after being stimulated, and instantly releases energy when the latch is opened to achieve force and speed amplification, which requires an energy accumulation process and a complex latch removal structure, and has a slow response speed; The large mechanism utilizes the energy barrier to cross during the process of the structure changing from one steady state to another, so as to achieve rapid response and speed amplification, but the driving force is relatively small; the power amplification ejection separation method uses the driving spring as the energy storage mechanism of the latch structure, and the round shell bistable launch carrier platform 3 is used as the energy release latch of the system, which is distributed in series in the vertical direction; the latch and bistable series separation method combines the bistable structure and the latch structure, and realizes autonomous energy storage, so that the separation ejection system has both rapid response capability and large driving force; in the locked state, the launch carrier platform 3 is in a concave state, and the bottom end of the satellite connection locking platform 4 contacts the driving spring 2, compressing the driving spring 2; the stiffness coefficient of the double helical combination spring 202 before heating is k 1 , the stiffness coefficient when transformed into austenite phase is k 2 , k 1 <k 2 , compressing the spring to the specified position in the martensitic state only requires a small driving force to complete; the heated driving spring 2 is in a compressed state, and the difference between the length at this time and the original length is x, and the driving force F 1 for The stored energy is The trigger force of the launch platform 3 from the concave steady state to the convex steady state is greater than the driving force F of the driving spring 2. 1 , limiting the deformation of the double helical combination spring 202, serving as an energy release latch for the entire system; after heating the bending beam 302, the launch carrier platform 3 is transformed from a concave steady state to a convex steady state, the latch opens, the energy stored in the drive spring 2 is released, and the satellite is ejected.

[0067] Embodiment 3:

[0068] A method for manufacturing a small satellite locking and releasing device with 4D printing bionic power amplification, comprising:

[0069] Step 1: Identify parts that use metallic stimuli-responsive materials:

[0070] The double helical combination spring 202, thermal drive layer I 302a, thermal drive layer II 302c, outer thermal drive layer 401g, inner thermal drive layer 401h and protective blade 5 are all made of excitation-responsive metal materials, and other structures are made of metal materials without excitation-responsive effect; the excitation-responsive metal materials include nickel-titanium alloy (NiTi), copper-based alloy (Cu-Al-Ni), iron-based alloy (Fe-Mn-Si), etc.; the metal materials without excitation-responsive effect include stainless steel (316L and 17-4PH), titanium alloy (Ti-6Al-4V), and aluminum alloy (AlSi10Mg).

[0071] Step: 2: Selection of multiple materials;

[0072] Select the required excitation-responsive metal material and the metal material without excitation-responsive effect, and ensure that the purity, particle size, shape of each material and the bonding properties of the two metals meet the requirements.

[0073] Step 3: Multi-material structure design and partitioning and stratification;

[0074] 1) Design 3D models of multi-material components using computer-aided design (CAD) software;

[0075] 2) Set up material distribution by region according to design requirements;

[0076] When manufacturing the bending beam 302 and the bistable driving beam 401d, a three-layer material structure should be designed, which is excitation-responsive metal material-ordinary metal-excitation-responsive metal material from top to bottom. This is because the excitation-responsive metal material has low stiffness at room temperature, and the middle ordinary metal layer can be used as a stiffness retention layer for the deformation driving part. When the excitation-responsive metal material on one side is heated, its stiffness will be greater than the ordinary metal in the middle layer. At this time, the driving part will deform to achieve the driving effect; the excitation-responsive metal material includes nickel-titanium alloy (NiTi), copper-based alloy (Cu-Al-Ni), iron-based alloy (Fe-Mn-Si), etc.; the ordinary metal includes stainless steel (316L and 17-4PH), titanium alloy (Ti-6Al-4V), and aluminum alloy (AlSi10Mg).

[0077] 3) When slicing, set the distribution areas and molding order of different materials, and generate material parameters and path planning;

[0078] When the additive manufacturing technology is used to produce: the protective blade fixing frame 104, the double helical combination spring 202, the bending beam 302, the bistable driving beam 401d and the protective blade 5, stress programming is performed on each part respectively. By designing the printing speed, path and layer height, the deformation direction of the part can be effectively programmed. When the printing speed gradient of the part from the bottom layer to the top layer increases, the part will bend upward; when the printing path is parallel to the long direction of the part, the part will bend along the long direction; when the printing path and the part have an angle, the part will be twisted and deformed;

[0079] Step 4: Manufacturing and forming;

[0080] Different materials are stacked layer by layer in the additive manufacturing equipment, and are formed by methods such as selective laser melting (SLM), selective laser sintering (SLS), and laser direct sintering (DMLS). During the multi-material printing process, the equipment automatically switches materials to achieve molding in different areas, ensuring the integrity and strength of the combination of multi-material layers, and building the final part layer by layer.

[0081] Embodiment 4:

[0082] The locking and releasing launch process of the small satellite locking and releasing device of 4D printed bionic power amplification includes:

[0083] 1. Satellite locking process of small satellite locking and releasing device with 4D printed bionic power amplification

[0084] Step 1: Satellite Lock

[0085] The satellite connection locking platform 4 of the small satellite is inserted into the central circular hole of the central bearing platform 301, and the five locking blocks 402 and the five rectangular grooves 303 are kept aligned. The internal power supply of the small satellite is used to heat the inner thermal drive layer 401h of the satellite connection locking platform 4. Due to the shape memory effect, the inner thermal drive layer 401h will gradually become a convex state, and at the same time drive the driving beam stiffness maintenance layer 401i and the inner thermal drive layer 401g to be concave inward. The intermediate transition state of the bistable beam 401d is wavy, until it crosses the energy barrier, the bistable beam 401d quickly becomes a convex stable state, and the locking block 402 is pushed outward by the bistable beam 401d to expand outward, and extends into the rectangular groove 303 along the positioning groove 304, and the satellite is locked;

[0086] Step 2: Latch Separation System Lock

[0087] Method 1 for locking the latch separation system: Use the internal power supply of the main rocket to heat the thermal drive layer I 302a of the launch platform 3, and the thermal drive layer I 302a gradually changes to a concave state, while driving the stiffness retention layer 302b and the thermal drive layer II 302c. During the heating process, the bending beam 302 gradually changes to a wavy shape until the energy barrier is broken through, and the bistable circular shell quickly changes from a convex stable state to a concave stable state. The double helical combination spring 202 is in a low temperature state at this time, in a martensite phase, has a small stiffness and can be easily compressed, and provides a small upward thrust, which does not affect the stability of satellite locking.

[0088] After the thermal drive layer I 302a is powered off, the stiffness retaining layer 302c provides a bistable circular shell stiffness. The launch carrier platform 3 serves as the energy release latch of the entire system, limiting the energy release of the satellite launch system. The latch separation system remains self-locking. At this time, the drive spring 2 acts as the satellite's seismic isolation buffer mechanism, which can effectively reduce the damage to the internal instruments caused by vibration during the satellite's transportation.

[0089] Method 2 for locking the latch separation system: Use the internal power supply of the main rocket to heat the thermal drive layer I 302a of the launch platform 3, and the thermal drive layer I 302a gradually becomes a concave state, while driving the stiffness retention layer 302b and the thermal drive layer II 302c. During the heating process, the connecting portion 302d uses the space of the open groove 105 to deform outward, and the curved beam 302 gradually bulges upward until it breaks through the energy barrier. The bistable circular shell quickly changes from the convex stable state to the concave stable state, and the lower side of the curved beam 302 fits with the upper part of the stable seat 106. The five stable seats 106 jointly define the position of the launch platform 3, thereby improving the stability of the system. At this time, the driving spring 2 is compressed, and the spring locking device 203 is locked. The latch separation system relies on the concave stable state of the bistable circular shell and the spring locking device 203 to remain locked. When the spring locking device 203 is in the locked state, the launch platform 3 does not shake, and the overall stability is higher.

[0090] Step 3: Secure the blade 5 closed:

[0091] The power supply inside the rocket body is used to energize the heating wire of the protective blade 5. After the heating wire is energized, the temperature rises and is evenly transmitted to the entire protective blade 5 through the auxiliary heating strip 501. The protective blade 5 gradually deforms to a closed state under thermal stimulation. Since it is a bistable curved plate structure, the protective blade 5 is heated until it crosses the energy barrier and then quickly changes to a closed steady state, which accelerates the conversion time of the two forms of the protective blade 5. The protective blade fixed edge 104a follows the curvature change in the wide direction of the protective blade 5 and becomes a convex state; at the same time, the stretchable fixed block 104b is compressed in the radial direction, and the protective blade fixed frame 104 is convex as a whole.

[0092] 2. Satellite release and launch process of the small satellite locking and release device with 4D printed bionic power amplification

[0093] Step 1: Protect blade 5 unfolded:

[0094] The heating wire of the protective blade 5 is energized through the power supply inside the rocket body. After the heating wire is energized, the temperature rises and is evenly transmitted to the entire protective blade 5 through the auxiliary heating strip 501. The protective blade 5 gradually deforms to an unfolded state under thermal stimulation. Since it is a bistable curved plate structure, the protective blade 5 is heated until it crosses the energy barrier and quickly changes to an unfolded steady state, which accelerates the conversion time of the two forms of the protective blade 5. The protective blade fixed edge 104a follows the curvature change in the wide direction of the protective blade 5 and becomes concave; at the same time, the stretchable fixed block 104b is stretched radially, and the protective blade fixed frame 104 shrinks as a whole;

[0095] Step 2: Latch separation system stores energy:

[0096] When the driving spring 2 is electrically heated, the double helical combination spring 202 is transformed from the martensite phase to the austenite phase, the stiffness of the spring is increased, and due to the shape memory effect, the double helical combination spring 202 will return to the length of the low temperature state. At this time, the launch bearing platform 3 is still in a concave state, so that the driving spring 2 is in a compressed state, the driving force of the driving spring 2 becomes larger, the elastic potential energy increases, and the latch separation system stores energy;

[0097] Step 3: Satellite Unlock:

[0098] The power source inside the small satellite is used to heat the outer thermal drive layer 401g of the satellite connection locking platform 4. Due to the shape memory effect, the outer thermal drive layer 401g will deform to a concave state, and at the same time drive the driving beam stiffness retention layer 401i and the inner thermal drive layer 401h to be concave. The intermediate transition state of the bistable beam 401d is wavy, until it crosses the energy barrier, the bistable beam 401d quickly changes to a concave stable state, the locking block 402 loses support, and is pushed inward by the reset spring 403 to reset, and the satellite is unlocked;

[0099] Step 4: Satellite ejection and separation

[0100] a. Method 1 for satellite ejection separation: Use the internal power supply of the main rocket to heat the thermal drive layer II 302c of the launch carrier platform 3. The thermal drive layer II 302c will deform to a convex state, and at the same time drive the stiffness retention layer 302b and the thermal drive layer I 302a. During the heating process, the bending beam 302 gradually changes into a W shape. Under the joint action of the drive spring 2 and the thermal drive layer II 302c, the energy barrier is broken through, and the bistable circular shell quickly changes from a concave stable state to a convex stable state. The drive spring 2 is released, pushing the satellite to separate;

[0101] b. Method 1 for satellite ejection and separation: unlock the spring locking device 203, use the internal power supply of the main rocket to energize and heat the thermal drive layer II 302c of the launch carrier platform 3, and the thermal drive layer II 302c will deform outwardly. During the heating process, the connecting portion 302d uses the space of the open groove 105 to deform outwardly, and breaks through the energy barrier under the joint action of the drive spring 2 and the thermal drive layer II 302c. The bistable circular shell quickly changes from the concave stable state to the convex stable state. The curved beam 302 of this structure can make the satellite ejection process more stable and the ejection propulsion stroke longer.

Claims

1. 4D printed bionic power amplified small satellite locking and releasing device, including: A main body shell (1), a driving spring (2), a launch bearing platform (3), a satellite connection locking platform (4) and a protective cover; The lower end of the driving spring (2) is mounted on the bottom of the main housing (1), and the upper end is fixedly connected to the launch bearing platform (3); The satellite is mounted on a satellite connection and locking platform (4), and the satellite connection and locking platform (4) is locked on the launch bearing platform (3); The launch bearing platform (3) comprises: a central bearing platform (301) and a plurality of curved beams (302); the central bearing platform (301) is fixedly connected to the polygonal columnar wall (101) of the main body shell (1) via the plurality of curved beams (302); The bending beam (302) is arc-shaped and has a three-layer gradient material structure, which is a thermal drive layer I (302a), a stiffness retention layer (302b) and a thermal drive layer II (302c) in sequence. The thermal drive layer is provided with a circular channel for placing a heating wire.

2. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 1, characterized in that: The thermal drive layer is nickel-titanium alloy NiTi, copper-based alloy Cu-Al-Ni or iron-based alloy Fe-Mn-Si; the stiffness retention layer is stainless steel 316L, stainless steel 17-4PH), titanium alloy Ti-6Al-4V or aluminum alloy AlSi10Mg.

3. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 2, characterized in that: The stiffness retaining layer (302b) of the curved beam 302 is connected to the polygonal columnar wall (101), and the connecting portion (302d) of the stiffness retaining layer (302b) is inclined inwardly, with an angle with the polygonal columnar wall (101) being less than 90 degrees, so that the curved beam 302 is wavy when concave.

4. The 4D printed bionic power amplified small satellite locking and releasing device according to claim 1, 2 or 3, characterized in that: A stabilizing seat (106) is provided below the curved beam 302, and an arc-shaped protrusion is provided on the stabilizing seat (106). The curved beam (302) is wavy in shape when it is concave.

5. The small satellite locking and releasing device of 4D printing bionic power amplification according to claim 3 or 4, characterized in that: The driving spring (2) is provided with a spring locking device (203) for controlling the extension and retraction of the driving spring (2).

6. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 1 or 2, characterized in that: The driving spring 2 comprises a fixed platform (201) and a double-helical combination spring (202); The double-helical combination spring (202) is made of shape memory alloy and is composed of two crossed helical springs, with the starting directions of the two spring helices differing by 180°.

7. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 6, characterized in that: The central bearing platform (301) is composed of a 10-sided columnar wall and upper and lower end plates, and a circular hole is provided in the center of the upper end plate; a rectangular groove (303) is provided on every other face of the 10-sided columnar wall of the central bearing platform (301), and positioning grooves (304) are symmetrically provided in the middle of the upper and lower end faces of the rectangular groove (303); The satellite connection locking platform 4 comprises a connection platform body (401), five locking blocks (402), and a reset spring (403); the connection platform body (401) is composed of an upper boss (401b), a locking body shell (401c), and five bistable drive beams (401d); the locking body shell (401c) is a columnar structure with a hollow cavity, and five fan ring slots (401e) are evenly distributed on its outer wall and matched with the locking blocks (402) to communicate with the hollow cavity inside the fan ring slot (401e); the fan ring slot (401e) is symmetrically provided with limit grooves (401f) on both sides; the five locking blocks (402) are located in the fan ring slot (401e) provided in the locking body shell (401c); the locking blocks The upper and lower sides of (402) are provided with locking block limit strips (402a) that are slidably matched with the positioning groove (304) and the limit groove (401f); the sliding match between the locking block limit strip (402a) and the positioning groove (304) only exists in the locked state of the device; a return spring (403) is provided between the inner root of the locking block limit strip (402a) and the top of the limit groove (401f); the upper boss (401b) is provided with a bolt hole II (401a) for connecting with the satellite assembly; the five bistable drive beams (401d) are evenly fixedly connected to the upper and lower ends of the internal cavity of the locking body shell (401c), and the bistable drive beam is a three-layer gradient material structure, which is an outer thermal drive layer (401g) from the outside to the inside. , a driving beam stiffness maintaining layer (401i) and an inner thermal driving layer (401h), and five bistable driving beams (401d) are respectively used as driving sources for five locking blocks (402); the outer thermal driving layer (401g) and the inner thermal driving layer (401h) are both nickel-titanium alloy parts with shape memory effect, the outer thermal driving layer (401g) is in a concave state after heating, and the inner thermal driving layer (401h) is in a convex state after heating, and the heating power supply is located inside the small satellite.

8. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 7, characterized in that: The protective cover is composed of a plurality of protective blades (5), wherein the protective blade (5) is a nickel-titanium alloy bistable curved plate with a bidirectional memory effect, one side of which is a smooth plane, and the other side of which is evenly distributed along the width direction of the blade with a plurality of long strip-shaped auxiliary heating strips (501) having the same longitudinal curvature as the blade, wherein the auxiliary heating strip (501) is provided with a circular channel on its inner side for accommodating a heating wire.

9. The 4D printed bionic power amplified small satellite locking and releasing device according to claim 8, characterized in that: The main body shell (1) comprises: a polygonal columnar wall (101), n ​​frame fixing bosses (103), and a protective blade fixing frame (104), wherein the n frame fixing bosses (103) are all arranged on the outside of the polygonal columnar wall (101); the protective blade fixing frame (104) is an integrated structure consisting of a protective blade fixing edge (104a) and n stretchable fixing blocks (104b), wherein the protective blade fixing edge (104a) is an arc-shaped regular n-gon structure, and the stretchable fixing blocks (104b) are sequentially arranged on the protective blade fixing edge (104a) and the arc-shaped regular n-gon structure. The structure is a vertex; the outer side of the stretchable fixed block (104b) is fixedly connected to the upper protrusion (103a) of the frame fixing boss (103); the height of the upper plane (103b) of the frame fixing boss (103) is less than or equal to the height of the top surface of the polygonal columnar wall (101); the bottoms of the n protective blades (5) and each side of the arc-shaped regular n-gon of the protective blade fixing edge (104a) are sequentially overlapped and fixedly connected; the protective blade (5) is a stimulus response member, and the protective blade fixing edge (104a) is an elastic member; the stretchable fixed block (104b) is a "J"-shaped combined stretchable structure.

10. The 4D printed bionic power-amplified small satellite locking and releasing device according to claim 9, characterized in that: The locking and releasing device comprises a bistable curved beam (401d), a protective blade (5) which is a bistable hyperbolic plate, a launch bearing platform (3) and a side wall of the main housing (1) which together form a bistable circular shell; through Q, and Three dimensionless parameters constrain the geometric shapes and material properties of the three bistable structures, respectively, to ensure that the structures formed by additive manufacturing have bistable characteristics; The bistable bending beam (401d) has dimensionless parameters It determines whether the structure is bistable. H is the arch height of the curved beam, and h is the thickness of the beam. By adjusting the Q value to be greater than 2.31, it can be made bistable. The protective blade (5), dimensionless parameter It determines whether the structure is bistable. The width of the protective blade (5) is w, the thickness is h, and the main curvature of the plate is = max , and The main curvatures of the curved plate of the protective blade (5) along the width and long axis directions are adjusted by When the value is greater than 1, it can be made bistable; The launch platform (3) is composed of a bistable round shell, and the dimensionless parameters It determines whether the structure is bistable. The angle of opening of the bistable circular shell is , the radius of curvature is R, the shell thickness is h and the material Poisson's ratio is , which defines the bistable circular shell ≤1.3, we can get the condition for its bistable state: .

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