4D printed bionic power amplified small satellite locking and releasing device

Abstract

The present invention discloses a 4D printed bionic power amplified small satellite locking and releasing device, which belongs to the field of aerospace and bionic 4D printing technology. It includes: a main body shell, protective blades, a drive spring, a launch support platform and a satellite connection locking platform. The device draws on the bionic power amplification mechanism of organisms, combines the rapid response of the bistable structure and the large driving force of the latch structure, and designs a separation structure in which the drive spring and the bistable circular shell are connected in series. The device has both high-speed response and strong driving force; the 4D printed structure of special materials is used to change its shape and performance under different conditions to realize the logical sequence control locking and separation of the device. In summary, the present invention has the advantages of simple structure, high reliability, small impact, fast response speed, and large driving force.

Description

Technical Field

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

[0002] Modern small satellites, characterized by low cost, high flexibility, rapid deployment, and suitability for networking, have become a key area of ​​space technology development. A satellite's locking and release mechanism reliably connects the satellite and rocket, enabling separation after reaching the designated orbit. This mechanism must ensure reliable connection before reaching the designated orbit, reliable separation after reaching orbit, and meet requirements for relative separation speed and satellite attitude after separation. Small satellites primarily utilize non-pyrotechnic locking and release mechanisms, which include electrically driven reels, thermal cutting, and stimuli-responsive material-driven devices. Stimuli-responsive material-driven devices offer advantages such as low mass, compact size, multiple test capabilities, and low separation impact. Numerous excellent stimuli-responsive material-driven locking and release mechanisms have been developed.

[0003] Currently, 4D printing technology refers to additive manufacturing structures whose shape, characteristics and functions change over time when exposed to specific stimuli (such as light, heat, water, etc.). This can achieve multi-structure integrated forming and controllable deformation of stimulus-responsive material-driven devices. However, 4D printed structures usually have low driving force and slow deformation. Bionic power amplification mechanisms are a common way for organisms to break through their own strength and speed limitations. Common examples include muscle-tendon combinations, latches and bistability.

[0004] In summary, this invention applies biomimetic power amplification to 4D-printed structures, achieving biomimetic 4D-printed structures with power amplification behavior. This allows the stimuli-responsive material-driven locking and release mechanism to exhibit high energy bursts, high deformation speeds, and large deformation amplitudes, thereby overcoming the existing shortcomings of such locking and release mechanisms. Currently, related research in this area has begun both domestically and internationally, and it holds great potential for future application in aerospace vehicles such as small and micro satellites. Summary of the Invention

[0005] The purpose of the present invention is to provide a small satellite locking and releasing device with 4D printing bionic power amplification in order to reduce the impact during small satellite separation, 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.

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

[0007] The lower end of the driving spring is mounted on the bottom of the main housing, 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 includes: 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 curved 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. The thermal drive layer is provided with a circular channel for placing the 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 curved 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. The curved beam is wavy when concave.

[0013] A stabilizing seat is provided below the curved beam, and an arc-shaped protrusion is provided 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 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°.

[0017] The central bearing platform is composed of a 10-sided columnar wall and upper and lower end plates, with a circular hole in the center of the upper end plate; a rectangular groove is formed on 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 drive beams. The locking body shell is a columnar structure with a hollow cavity, and its outer wall is evenly distributed with 5 fan ring grooves that cooperate with the locking blocks and connect the hollow cavity inside it. 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 block is provided with locking block limit strips that slide with the positioning groove and the limit groove 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 to the satellite assembly; the five bistable drive beams are evenly fixedly connected to the upper and lower ends of the internal 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. The five bistable drive beams serve as the driving sources of 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 concave after heating, and the inner thermal drive layer is convex after heating. 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 made of nickel-titanium alloy with a bidirectional 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 composed 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-responsive 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 drive beam, the protection blade as a bistable hyperbolic plate, the launch 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, ensuring that the structures formed by additive manufacturing have bistability.

[0022] The bistable driven beam, dimensionless parameters It determines whether the structure is bistable. H is the arch height of the bistability driving beam, and h is the beam thickness. 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 bistable round shell composed of the launch platform has 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 conditions for bistability: .

[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 carrier 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 carrier platform. It is driven by a bistable drive beam, which can 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 carrier platform. It draws on the bionic power amplification mechanism and combines the fast response of the bistable structure and the large driving force of the latch structure to design a separation structure in which the driving spring and the bistable circular shell are connected in series. 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 uses 4D printing technology to construct a satellite locking and release device. Each functional module can be molded in one go, and the internal structure, materials used, and deformation methods can be custom-programmed during the manufacturing process. This results in a higher degree of structural integration, lighter weight, and more precise deformation. Furthermore, the device is purely material-driven, making it more reliable when used in the extreme environment of space.

[0028] 2. The present invention utilizes the biological power amplification mechanism, using a bistable structure as a limiting latch for the system's energy release to accelerate the system's response speed. At the same time, the latch structure is used to amplify the driving force for the system's separation and ejection, compensating for the shortcoming of the low driving force of a single bistable structure. Compared with existing shape memory material-driven locking and release devices, 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 increases to achieve autonomous energy storage. The structure is simpler and the energy accumulation speed is faster. At low temperatures, it serves as a seismic isolation and buffering mechanism for satellites, effectively reducing damage to internal instruments caused by vibration during satellite transportation.

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

[0031] 5. The present invention is a pyrotechnic separation device with low 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 This is a schematic diagram of the overall structure of the 4D printed bionic power amplified small satellite locking and releasing device of the present invention, wherein (a) is the locked state and (b) is the separated state;

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

[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) shows the state of the fixing frame when the protective blade is closed, and (b) shows the state of the fixing frame when the protective blade is open;

[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 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;

[0039] Figure 7 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;

[0040] Figure 8 Schematic diagram of the protective blade of the locking and releasing device of the small satellite of the present invention using 4D printing bionic power amplification, wherein (a) is the locked state and (b) is the released state;

[0041] Figure 9 Schematic diagram of the bistable structure steady-state transition process of the small satellite locking and releasing device of the 4D printed bionic power amplification of the present invention, wherein (a) is the transition process of the launch platform bending beam, and (b) is the transition process of the bistable driving beam;

[0042] Figure 10 This is a schematic diagram of the third embodiment of the main body shell of the small satellite locking and releasing device of the present invention;

[0043] Figure 11 This is a working diagram of the second launch carrier platform of the small satellite locking and releasing device of the present invention with 4D printing bionic power amplification, in a concave state;

[0044] Figure 12 This is a working diagram of the second launch platform of the small satellite locking and releasing device of the 4D printing bionic power amplification of the present invention, in which the upper part is convex;

[0045] Figure 13 This is a 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, where (a) is the initial memory state of the driving spring and (b) is the compressed locking state of the driving spring.

[0046] In the attached figure:

[0047] 1. Main body housing; 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. Open slot; 106. Stabilizing seat;

[0048] 2. Driving spring; 201. Fixed platform; 202. Double helical combination spring; 203. Spring locking device;

[0049] 3. Launching platform; 301. Central platform; 302. Bending beam W; 302a. Thermal drive layer I; 302b. Stiffness retention layer; 302c. Thermal drive layer II; 302d. Connecting portion; 303. Rectangular groove; 304. Positioning groove;

[0050] 4. Satellite connection and locking platform; 401. Connection platform body; 401a. Bolt hole II; 401b. Upper boss; 401c. Locking body housing; 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. Return spring;

[0051] 5. Protect blades; 501. Auxiliary heating strip. DETAILED DESCRIPTION

[0052] Example 1:

[0053] Please see the attached Figure 1-9, a small satellite locking and releasing device with 4D printing bionic power amplification, comprising: a main body shell 1, a driving spring 2, a launch carrier platform 3, a satellite connection locking platform 4 and 5 protective blades 5, wherein: the main body shell 1 comprises: a polygonal cylindrical 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 cylindrical wall 101, and the upper plane 103b of the frame fixing boss 103 is flush with the top surface of the polygonal cylindrical wall 101; the protective blade fixing frame 104 is an integrated structure The structure consists 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 sequentially overlapped and fixedly connected with the five protective blades 5; 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 base plate 102; the satellite connection locking platform 4 is arranged inside the launch carrier platform 3, and a bistable locking structure is provided between the two; the five curved beams 302 of the launch carrier platform 3 are fixedly connected inwardly with the central carrier platform 301 and outwardly with the inner wall of the polygonal cylindrical wall 101, and the three form a circular shell bistable structure, the inner side bending angle of the curved beam 302 is 0°, and gradually increases from the inside to the outside; the locking state of the curved beam 302 is a concave arc, the initial state is a convex arc, and the transition state of the steady-state change is "W" shaped.

[0054] The protective blade 5 is a bistable curved plate of nickel-titanium alloy with a bidirectional memory effect. It 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 multiple long auxiliary heating strips 501 with the same longitudinal curvature as the blade evenly distributed along the width of the blade. 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.

[0055] 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 cylindrical wall and upper and lower end plates, and a circular hole is opened in the center of the upper end plate; the 10-sided cylindrical wall of the central bearing platform 301 has a rectangular groove 303 opened every other face, and the middle of the upper and lower end faces of the rectangular groove 303 is symmetrically provided with positioning grooves 304. 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, thermal drive layer I 302a and thermal drive layer II 302c are relatively short and located in the middle of the stiffness retention layer 302b. Two circular channels are provided on the inner sides of each thermal drive layer I 302a and thermal drive layer II 302c for placing heating wires connected to the power supply within the launch vehicle. The thermal drive layer I 302a is a nickel-titanium alloy with a shape memory effect. At low temperatures, it deforms with the stiffness retention layer 302b and assumes a concave state after heating. The thermal drive layer II 302c is a nickel-titanium alloy with a shape memory effect. At low temperatures, it deforms with the stiffness retention layer 302b and assumes a convex state after heating.

[0056] 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 coil springs, and the starting directions of the two spring coils differ by 180°; the central axis of the driving spring 2 coincides with the central axis of the main body shell 1, the lower side fixed platform 201 coincides with the upper end face of the polygonal bottom plate 102, and the upper side fixed platform 201 coincides with the bottom face of the central bearing platform 301 of the launch bearing platform 3; the driving spring 2 has low stiffness at low temperature and increases stiffness after heating.

[0057] 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. Five fan ring slots 401e are evenly distributed on its outer wall to cooperate with the locking blocks 402, connecting the hollow cavity inside it. The fan ring slots 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 slots 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 sliding fit locking block limit strip 402a; the sliding fit of 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 limiting groove 401f, and the return 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 II401a for connecting to 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, 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 serve as driving sources for the five locking blocks 402 respectively; the outer thermal driving layer 401g and the inner thermal driving layer 401h are both nickel-titanium alloy parts with shape memory effect. After heating, the outer thermal driving layer 401g is concave, and the inner thermal driving layer 401h is convex. The heating power supply is located inside the small satellite; when the device is in the unlocked state, the outer side of the locking block 402 and the cylindrical wall of the locking body shell 401c are on the same cylindrical surface.

[0058] 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.

[0059] Example 2:

[0060] See also Figure 1-11The 4D-printed bionic power-amplified small satellite locking and releasing device comprises: a main body shell 1, a drive spring 2, a launch carrier platform 3, a satellite connection locking platform 4, and five protective blades 5. Compared with Example 1, the main body shell 1 has open grooves 105 uniformly distributed throughout the plane of the polygonal cylindrical wall 101, and five stabilizing seats 106 uniformly distributed along the plane side of the polygonal cylindrical wall 101. The support seat 106 is a columnar structure with a bottom fixedly connected to the polygonal bottom plate 102 and provided with an arc-shaped protrusion. The arc-shaped protrusion has the same curved shape as the bottom of the curved beam 302 when it is concave. A groove is provided on the inner side of the arc for accommodating the thermal drive layer II 302. Other features are the same as those of the main body shell 1 in Example 1.

[0061] The launching bearing platform 3 includes a central bearing platform 301 and five curved beams 302 connected together. 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 inward, 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.

[0062] 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 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 launch support platform 3 does not shake and the overall stability is higher.

[0063] 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.

[0064] 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 five protective blades 5 can be integrally formed and manufactured using metal additive manufacturing technology or assembled after being manufactured separately. The satellite connection locking platform 4 needs to be integrally formed and manufactured using metal additive manufacturing technology.

[0065] The design, working principle and specific usage of the 4D printed bionic power amplified small satellite locking and releasing device provided by the present invention are as follows:

[0066] 1. Design principle of bistable structure:

[0067] The satellite locking and releasing system involves three bistable structures: the bistable driving beam 401d, the protective blade 5 is a bistable hyperbolic plate, 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 constrain the geometric shapes and material properties of the three bistable structures respectively, ensuring that the structures formed by additive manufacturing have bistable characteristics; the bistable driving beam 401d, the aspect ratio Determines whether the structure is bistable, H is the arch height of the bistable driving beam 401d, 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, 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 conditions for bistability: .

[0068] 2. Working principle of power amplification ejection separation with latch and bistable in series: Working principle of power amplification ejection separation with latch and bistable in series: The separation method draws on the latch and bistable power amplification mechanism of biology, and can make up for the defects of slow response speed and small driving force of small satellite separation device 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 releases energy instantly 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 the process of the structure changing from one steady state to another to cross the energy barrier to achieve fast response and speed amplification, but the driving force is too slow. The power is relatively small; the power amplification ejection separation method uses a drive spring as an energy storage mechanism of the latch structure, and the circular shell bistable launch carrier platform 3 serves 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 drive spring 2, compressing the drive spring 2; the stiffness coefficient of the double helical combination spring 202 before heating is k1, and the stiffness coefficient when it is transformed into the austenite phase is k2, k1<k2, and the spring is compressed to the specified position in the martensite state, which only requires a small driving force to complete; the heated drive 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 F1 is , 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 F1 of the driving spring 2, which limits the deformation of the double-helical combination spring 202 and serves as the energy release latch of the entire system; after heating the bending beam 302, the launch platform 3 is transformed from the concave steady state to the convex steady state, the latch opens, the energy stored in the driving spring 2 is released, and the satellite is ejected.

[0069] Example 3:

[0070] A method for manufacturing a small satellite locking and releasing device with 4D printing bionic power amplification, comprising:

[0071] Step 1: Identify components that use metallic stimuli-responsive materials:

[0072] 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).

[0073] Step: 2: Selection of multiple materials;

[0074] 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.

[0075] Step 3: Multi-material structure design and partitioning and layering;

[0076] 1) Design 3D models of multi-material components using computer-aided design (CAD) software;

[0077] 2) Set up material distribution by area according to design requirements;

[0078] When manufacturing the bending beam 302 and the bistable driving beam 401d, a three-layer material structure should be designed, which is, from top to bottom, an excitation-responsive metal material-ordinary metal-excitation-responsive metal material. This is because the excitation-responsive metal material has low stiffness at room temperature, and the ordinary metal layer in the middle can serve as a stiffness-retaining layer for the deformation driving part. When the excitation-responsive metal material on one side is heated, its stiffness will be greater than that of the ordinary metal in the middle layer. At this time, the driving part will deform and achieve the driving 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 ordinary metals include stainless steel (316L and 17-4PH), titanium alloy (Ti-6Al-4V), and aluminum alloy (AlSi10Mg).

[0079] 3) When slicing, set the different material distribution areas and molding sequence, and generate material parameters and path planning;

[0080] When using additive manufacturing technology to produce the protective blade fixing frame 104, double-helical combination spring 202, bending beam 302, bistable drive beam 401d, and protective blade 5, stress programming is performed on each component. By designing the printing speed, path, and layer height, the deformation direction of the component can be effectively programmed. When the printing speed gradient increases from the bottom to the top layer, the component will bend upward; when the printing path is parallel to the long direction of the component, the component will bend along the long direction; when the printing path and the component are at an angle, the component will twist and deform.

[0081] Step 4: Manufacturing and forming;

[0082] In additive manufacturing equipment, different materials are deposited layer by layer, and then formed using methods such as selective laser melting (SLM), selective laser sintering (SLS), and direct laser sintering (DMLS). During the multi-material printing process, the equipment automatically switches materials to achieve the desired molding area, ensuring the integrity and strength of the multi-material bond between the layers, and gradually building the final part.

[0083] Example 4:

[0084] The locking and releasing launch process of the 4D printed bionic power amplified small satellite locking and releasing device includes:

[0085] 1. Satellite locking process of small satellite locking and releasing device using 4D printed bionic power amplification

[0086] Step 1: Satellite Lock

[0087] The satellite connection and locking platform 4 of the small satellite is inserted into the central circular hole of the central support platform 301, keeping the five locking blocks 402 aligned with the five rectangular slots 303. The power supply inside the small satellite is used to heat the inner thermal drive layer 401h of the satellite connection and locking platform 4. Due to the shape memory effect, the inner thermal drive layer 401h gradually becomes convex, while driving the drive beam stiffness maintenance layer 401i and the inner thermal drive layer 401g to become concave. The intermediate transition state of the bistable beam 401d is wavy until it crosses the energy barrier, at which point the bistable beam 401d quickly becomes a convex stable state. The locking block 402 is pushed outward by the bistable beam 401d and extends along the positioning slot 304 into the interior of the rectangular slot 303, thus locking the satellite.

[0088] Step 2: Latch Separation System Lock

[0089] 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. Thermal drive layer I 302a gradually changes to a concave state, while driving the stiffness retention layer 302b and thermal drive layer II 302c. During the heating process, the curved beam 302 gradually changes to a wavy shape until it breaks through the energy barrier. 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 and is in the martensite phase. It has low stiffness and can be easily compressed. It also provides little upward thrust, which does not affect the stability of satellite locking.

[0090] After the thermal drive layer I 302a is powered off, the stiffness retention layer 302c provides bistable circular shell stiffness. The launch carrier platform 3 acts 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 and buffering mechanism, which can effectively reduce the damage to the internal instruments caused by vibration during the satellite's transportation.

[0091] Method 2 for locking the latch separation system: Use the internal power supply of the main rocket to energize and heat the thermal drive layer I 302a of the launch platform 3. 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 connecting portion 302d utilizes 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 an upward convex stable state to a downward concave stable state. The lower side of the curved beam 302 fits with the upper part of the stabilizing seat 106. The five stabilizing 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.

[0092] Step 3: Secure the blade 5 closed:

[0093] 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, its 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 width 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 fixing frame 104 is convex as a whole;

[0094] 2. Satellite launch process of the small satellite locking and release device with 4D printed bionic power amplification

[0095] Step 1: Protect the blade 5 and unfold it:

[0096] The heating wire of the protective blade 5 is energized by 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 the expanded state under the 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 the expanded 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 width direction of the protective blade 5 and becomes concave; at the same time, the stretchable fixing block 104b is stretched in the radial direction, and the protective blade fixing frame 104 shrinks as a whole;

[0097] Step 2: Latch Separation System Stores Energy:

[0098] When the drive spring 2 is heated by electricity, the double-helical combination spring 202 transforms from the martensite phase to the austenite phase, and the spring stiffness increases. Due to the shape memory effect, the double-helical combination spring 202 returns to the length of the low-temperature state. At this time, the launch platform 3 is still in a concave state, which puts the drive spring 2 in a compressed state. The driving force of the drive spring 2 becomes larger, the elastic potential energy increases, and the latch release system stores energy.

[0099] Step 3: Satellite Unlock:

[0100] The power supply inside the small satellite is used to heat the outer thermal drive layer 401g of the satellite connection and locking platform 4. Due to the shape memory effect, the outer thermal drive layer 401g deforms inwardly, and at the same time drives the drive beam stiffness maintenance layer 401i and the inner thermal drive layer 401h to concave inwardly. The intermediate transition state of the bistable beam 401d is wavy until it crosses the energy barrier. The bistable beam 401d quickly changes to the concave stable state, and the locking block 402 loses its support and is pushed inward by the return spring 403 to reset. The satellite is unlocked.

[0101] Step 4: Satellite ejection and separation

[0102] a. Satellite ejection separation method 1: The internal power source of the main rocket is used to heat the thermal drive layer II 302c of the launch platform 3. Thermal drive layer II 302c deforms outward into a convex state, simultaneously driving the stiffness retention layer 302b and thermal drive layer I 302a. During the heating process, the curved beam 302 gradually transforms into a W-shape. The energy barrier is broken through by the combined action of the drive spring 2 and thermal drive layer II 302c, and the bistable circular shell rapidly transforms from a concave stable state to a convex stable state. The drive spring 2 is released, pushing the satellite apart.

[0103] b. Satellite ejection and separation method 1: Unlock the spring locking device 203 and use the internal power supply of the main rocket to heat the thermal drive layer II 302c of the launch platform 3. Thermal drive layer II 302c deforms outwardly into a convex state. During the heating process, the connecting portion 302d utilizes the space in the open groove 105 to deform outward. Under the combined action of the drive spring 2 and thermal drive layer II 302c, the energy barrier is broken through, and the bistable circular shell quickly transitions from a concave stable state to a convex stable state. This curved beam 302 structure can make the satellite ejection process smoother 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 carrier 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 curved 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). The thermal drive layer is provided with a circular channel for placing a heating wire. The central bearing platform (301) is composed of a 10-sided columnar wall and upper and lower end plates, with a circular hole being provided at the center of the upper end plate; a rectangular groove (303) is provided on each alternate 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. Five fan ring slots (401e) that cooperate with the locking blocks (402) are evenly distributed on its outer wall to communicate with the hollow cavity inside. The fan ring slots (401e) are symmetrically provided with limiting grooves (401f) on both sides. The five locking blocks (402) are located in the fan ring slots (401e) provided in the locking body shell (401c). The block (402) is provided with a locking block limiting strip (402a) on the upper and lower sides thereof, which is in sliding cooperation with the positioning groove (304) and the limiting groove (401f); 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 return spring (403) is provided between the inner root of the locking block limiting strip (402a) and the top of the limiting 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 main body shell (401c); 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) serve as driving sources for five locking blocks (402) respectively; 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.

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. 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 when concave.

5. The 4D printed bionic power amplified small satellite locking and releasing device according to claim 4, characterized in that: The driving spring (2) is provided with a spring locking device (203) for controlling the expansion and contraction 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 protective cover is composed of a plurality of protective blades (5), and the protective blades (5) are bistable curved plates of nickel-titanium alloy with a two-way 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, and the inner side of the auxiliary heating strips (501) is provided with a circular channel for placing a heating wire.

8. The 4D printed bionic power amplified small satellite locking and releasing device according to claim 7, 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 and is composed 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-sided structure, and the stretchable fixing blocks (104b) are sequentially arranged on the arc-shaped regular n-sided edges of the protective blade fixing edge (104a). The apex of the shaped structure; the outer side of the stretchable fixing 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 bottom of the protective blade (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-responsive member, and the protective blade fixing edge (104a) is an elastic member; the stretchable fixing block (104b) is a "J"-shaped combined stretchable structure.

9. The 4D printed bionic power amplified small satellite locking and releasing device according to claim 8, characterized in that: The locking and releasing device comprises a bistable driving beam (401d), a protective blade (5) as a bistable hyperbolic plate, a launch bearing platform (3) and a side wall of the main body shell (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, ensuring that the structures formed by additive manufacturing have bistability. The bistable driving beam (401d), dimensionless parameters It determines whether the structure is bistability, H is the arch height of the bistable driving beam (401d), h is the beam thickness, and by adjusting the Q value to be greater than 2.31, it can be made bistability; The protective blade (5), dimensionless parameter 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) and the main body shell together form a bistable circular 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 conditions for bistability: .

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