Space storage transfer device and transfer method for multiple types of modular cubesat

Abstract

The invention relates to the technical field of aerospace, in particular to a space storage and transfer device and method for multiple types of modular cubesat. The space storage transfer device comprises a fixed supporting structure; the storage device comprises storage side plates and vertical pressing devices, the storage side plates are arranged on the fixed supporting structure, and the vertical pressing devices are arranged on the two sides of the fixed supporting structure; the transfer device comprises a bottom magnet yoke, a sliding guide rail, a coil winding and a mover tray, the bottom magnet yoke is arranged on the fixed supporting structure and located below the storage side plate, the sliding guide rail is located on the bottom magnet yoke, the coil winding is arranged on the bottom magnet yoke, the mover tray is arranged on the sliding guide rail and used for containing the cubesat, and after the coil winding is powered on, the cubesat is wound around the coil winding. The coil winding generates electromagnetic force in the magnetic field of the bottom magnet yoke to drive the rotor tray to move on the sliding guide rail. And the same kind of cubic satellites are stacked and stored, the storage capacity is effectively improved, and the storage position of the cubic satellites is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a space storage and transportation device and a transportation method for multiple types of modular cubic satellites. Background Art

[0002] As human beings explore space more and more deeply, the coordinated work of multiple satellites has become a necessary direction of space research. CubeSats have the advantages of small size and mass, short development cycle and good flexibility. The satellite clusters they form can well complete the current tasks.

[0003] In order to reduce costs, a rocket launch usually carries a large number of cubic satellites. The on-orbit collaborative operation of multiple cubic satellites requires a large-capacity storage device. At the same time, the corresponding storage device should be equipped with a transfer device to transport the multi-specification cubic satellites stored in the storage to a location suitable for launch.

[0004] Currently, there is no application of on-orbit storage and transfer systems for space cube satellites. Traditional ground storage and transfer systems can accommodate a large number of payload types, but their volume and mass are large and are not suitable for storage and transfer in space environments. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the ground storage and transportation system in the prior art can accommodate a large number of load types, but has a large volume and mass and is not suitable for storage and transportation in the space environment, thereby providing a space storage and transportation device and transportation method for multiple types of modular cubic satellites.

[0006] In order to solve the above technical problems, the present invention provides a space storage and transfer device for various types of modular cubic satellites, including: a fixed support structure; a storage device, including a storage side plate and a vertical pressing device, the storage side plate is arranged on the fixed support structure, and the vertical pressing device is arranged on both sides of the fixed support structure; a transfer device, including a bottom yoke, a sliding guide rail, a coil winding, and a mover tray, the bottom yoke is arranged on the fixed support structure and is located below the storage side plate, the sliding guide rail is located on the bottom yoke, the coil winding is arranged on the bottom yoke, the mover tray is arranged on the sliding guide rail, and the mover tray is used to accommodate the cubic satellite, the coil winding After the group is energized, the coil winding generates an electromagnetic force in the magnetic field of the bottom magnetic yoke to drive the mover tray to move on the sliding guide rail; the locking and releasing device includes a mounting frame, a claw, a fixing plate, an SMA tubular actuator, and a slotted bolt. The mounting frame is located at the bottom of the bottom magnetic yoke, the claw is arranged on the mounting frame, the fixing plate is installed on the side wall of the mounting frame, the slotted bolt is arranged on the fixing plate and the mounting frame, and the SMA tubular actuator is sleeved on the slotted bolt. When locking, the claw is suitable for inserting into the bottom magnetic yoke and the mover tray. When releasing, the SMA tubular actuator is heated, and the restoring force generated by the SMA tubular actuator drives the slotted bolt to break, and the claw is separated from the fixing plate.

[0007] Furthermore, the mover tray includes a mover module and a transfer tray, and the mover module is arranged at the bottom of the transfer tray and is located on the sliding guide rail.

[0008] Furthermore, the mover module includes a mounting plate and an upper magnetic yoke, a permanent magnet unit, and a universal bead. The upper magnetic yoke is embedded in the mounting plate, the permanent magnet unit is located at the bottom of the upper magnetic yoke, and the universal bead is located at the bottom of the mounting plate and is arranged on the sliding guide rail.

[0009] Furthermore, the transfer pallet includes a pallet and a permanent magnetic block, the permanent magnetic block is embedded in a slot of the pallet, and the pallet is connected to the mover module by screws.

[0010] Furthermore, the sliding guide rails enclose a plurality of installation areas, and the coil windings are arranged in the installation areas.

[0011] Furthermore, the storage side panel includes an outer panel, an inner panel and ball-end screws, the outer panel and the inner panel are spaced apart on the fixed support structure and form a storage area, the storage area is used to accommodate cubic satellites, and the ball-end screws are arranged on the lower side of the outer panel and the inner panel.

[0012] Furthermore, the vertical downward pressure device includes a movable top plate, a pulley, a steel wire rope, a winding wheel and a motor, the motor is arranged on one side of the fixed support structure, the winding wheel is arranged on the other side of the fixed support structure, the movable top plate is arranged on the cubic satellite, the pulley is arranged at both ends of the movable top plate, one end of the steel wire rope is wound around the output shaft of the motor, and the other end is wound around the winding wheel through the pulley.

[0013] Furthermore, the movable top plate is provided with an external thread bearing, and the outer plate and the inner plate are provided with grooves matching with the external thread bearing.

[0014] Furthermore, the bottom magnetic yoke and the upper magnetic yoke are both made of iron-nickel soft magnetic alloy material, and the permanent magnet unit and the permanent magnet block are made of neodymium-iron-boron alloy hard magnetic material.

[0015] The present invention also provides a method for transferring a space storage and transfer device using the various types of modular cubic satellites, including: before the storage and transfer device enters space, it is first necessary to lock it using a locking release device, and use a slotted bolt and a fixed plate to cooperate with the mounting frame to insert the claw into the bottom yoke and the mover tray to provide an upward locking force to achieve locking; when released, the SMA tubular actuator is heated, and the restoring force generated by the SMA tubular actuator drives the slotted bolt to break, the claw is separated from the fixed plate, and the coil winding is energized to drive the mover tray to move on the sliding guide rail.

[0016] The technical solution of the present invention has the following advantages:

[0017] The space storage and transportation device for multiple types of modular cubic satellites provided by the present invention solves the current problem of storage and transportation of multiple types and large numbers of cubic satellites in space, and can store multiple types and large numbers of cubic satellites and quickly transport them to the launch window, thus realizing the on-orbit storage and transportation of multiple types of modular cubic satellites. Stacking and storing cubic satellites of the same type effectively improves the storage capacity, and uses the storage side panels and movable top panels to limit the cubic satellites to ensure the storage position of the cubic satellites.

[0018] The motors and winding wheels installed on both sides of the fixed support structure cooperate with the pulleys on the movable top plate to complete the vertical downward pressure, thereby increasing the utilization rate of the space and reducing the complex mechanical transmission. The planar transportation uses an improved magnetic levitation motor, which changes the suspension force into the adsorption force of the Halbach permanent magnet group and the bottom magnetic yoke to ensure that it will not fall off the guide rail in the space environment. At the same time, it avoids mechanical transmission, reduces mass, improves efficiency, and can adapt well to various types of cubic satellites.

[0019] The space storage and transportation device for various types of modular cubic satellites provided by the present invention has a large storage quantity, a wide variety, a fast transportation speed, and a high space utilization rate, and can well meet the current space requirements for cubic satellite storage and transportation.

[0020] Compared with conventional cubic satellite storage platforms, this multi-type modular cubic satellite space storage and transfer device can accommodate a large number of cubic satellites of various types and can quickly transfer the stored cubic satellites to designated locations.

[0021] In addition, the vertical downward pressure device uses a steel wire rope in conjunction with a movable top plate to complete the downward pressure pushing task. Compared with conventional linear actuation methods such as screw and chain transmission, it avoids complex transmission. The vertical downward pressure device installed on the outside does not occupy the internal space of the storage device, effectively improving the space utilization rate of the storage area; the steel wire rope has a small mass and volume, which reduces the weight of the device.

[0022] At the same time, the planar transfer utilizes an improved planar motor, which is transformed into a planar motor with adsorption force. Compared with the planar motor, it can use a small number of coils to complete the actuation. When the coil is energized, the mover tray can be moved to the next coil area, and the adsorption force generated can adapt to the spatial environment. Compared with conventional planar transfer and linear actuation devices, it does not require mechanical transmission, has a small size, light weight and high efficiency.

[0023] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of the space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0026] Figure 2 A front view of a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0027] Figure 3 A top view of a transfer device for a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0028] Figure 4 A side view of a transfer device for a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0029] Figure 5A schematic diagram of the structure of the mover tray of the space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0030] Figure 6 A schematic diagram of the structure of a mover module of a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0031] Figure 7 A schematic diagram of the structure of a pallet of a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0032] Figure 8 A schematic diagram of the structure of the locking and releasing device of the space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0033] Fig. 9 A cross-sectional view of a locking and releasing device of a space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0034] Fig.10 A schematic diagram of the structure of the outer side plate of the space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0035] Fig.11 A schematic diagram of the structure of the inner side plate of the space storage and transfer device for various types of modular cubic satellites provided by the present invention;

[0036] Fig.12 A schematic structural diagram of a mounting plate for a space storage and transfer device for various types of modular cubic satellites provided by the present invention.

[0037] Description of reference numerals:

[0038] 1. Fixed support structure; 2. Storage device; 3. Transfer device; 4. Locking release device; 5. Outer plate; 6. Inner plate; 7. Ball screw; 8. Active top plate; 9. Pulley; 10. Wire rope; 11. Winding wheel; 12. Motor; 13. Bottom yoke; 14. Sliding guide; 15. Coil winding; 16. Mover tray; 17. Mover module; 18. Transfer tray; 19. Mounting plate; 20. Upper yoke; 21. Permanent magnet unit; 22. Universal ball; 23. Tray; 24. Permanent magnet block; 25. Mounting frame; 26. Claw; 27. Fixed plate; 28. SMA tubular actuator; 29. ​​Slotted bolt; 30. Cube star; 31. Mounting area; 32. External threaded bearing; 33. Slot; 34. Slide; 35. Block; 36. Fixing parts. DETAILED DESCRIPTION

[0039] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0040] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0041] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0042] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0044] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0045] See also Figures 1 to 12 As shown, the present invention provides a space storage and transfer device for various types of modular cubic satellites, including: a fixed support structure 1; a storage device 2, including a storage side plate and a vertical pressing device, the storage side plate is arranged on the fixed support structure 1, and the vertical pressing device is arranged on both sides of the fixed support structure 1; a transfer device 3, including a bottom magnetic yoke 13, a sliding guide rail 14, a coil winding 15, and a mover tray 16, the bottom magnetic yoke 13 is arranged on the fixed support structure 1 and is located below the storage side plate, the sliding guide rail 14 is located on the bottom magnetic yoke 13, the coil winding 15 is arranged on the bottom magnetic yoke 13, the mover tray 16 is arranged on the sliding guide rail 14, and the mover tray 16 is used to accommodate the cubic satellite 30, and after the coil winding 15 is energized, the coil winding 15 is on the bottom magnetic yoke The electromagnetic force generated in the magnetic field of the yoke 13 drives the mover tray 16 to move on the sliding guide rail 14; the locking and releasing device 4 includes a mounting frame 25, a claw 26, a fixing plate 27, an SMA tubular actuator 28, and a slotted bolt 29. The mounting frame 25 is located at the bottom of the bottom magnetic yoke 13, the claw 26 is arranged on the mounting frame 25, the fixing plate 27 is installed on the side wall of the mounting frame 25, the slotted bolt 29 is arranged on the fixing plate 27 and the mounting frame 25, and the SMA tubular actuator 28 is sleeved on the slotted bolt 29. When locking, the claw 26 is suitable for being inserted into the bottom magnetic yoke 13 and the mover tray 16. When releasing, the SMA tubular actuator 28 is heated, and the restoring force generated by the SMA tubular actuator 28 drives the slotted bolt 29 to break, and the claw 26 is separated from the fixing plate 27.

[0046] By setting the storage side panel on the fixed support structure 1, an installation position is provided for the storage side panel, and a vertical pressing device is set on the storage side panel, which can press down the cubic satellite 30 in the storage side panel in the vertical direction. By setting the transfer device 3, the cubic satellite 30 can be placed in the mover tray 16 for accommodation, and at the same time, it is locked and released by using the locking and releasing device 4. When locked, the claw 26 is suitable for inserting into the bottom yoke 13 and the mover tray 16, and cooperates with the fixing part 36 of the vertical pressing device to ensure that the cubic satellite 30 is in a stable state and prevent the cubic satellite 30 from moving; when released, in order to move a single cubic satellite 30, the SMA tubular actuator 28 can be heated, and the restoring force generated by the SMA tubular actuator 28 drives the slotted bolt 29 to break, so that the claw 26 is separated from the fixed plate 27. During transportation, the coil winding 15 can be energized. After being energized, the coil winding 15 generates electromagnetic force in the magnetic field of the bottom magnetic yoke 13 to drive the mover tray 16 to move on the sliding guide rail 14, thereby realizing the transportation of the cubic satellite 30.

[0047] The purpose of locking the locking release device 4 is to clamp all the cubic satellites 30 for easy transportation, and to fix the space storage and transportation devices of various types of modular cubic satellites together with the payload inside the rocket to prevent the movement of all cubic satellites 30. The purpose of releasing is to facilitate the transportation of each cubic satellite 30.

[0048] The fixed support structure 1 comprises two fixed profiles, which are symmetrically arranged, and the bottom yoke 13 is arranged on the fixed profiles.

[0049] In some optional embodiments, the sliding guide rails 14 enclose a plurality of installation areas 31 , and the coil windings 15 are disposed in the installation areas 31 .

[0050] The coil windings 15 are arranged in the installation area 31 and are located above the bottom magnetic yoke 13. Four coil windings 15 are arranged in each installation area 31 and are symmetrically arranged.

[0051] The number of the mounting areas 31 on the sliding guide rail 14 can be set according to actual conditions.

[0052] In some optional embodiments, the mover tray 16 includes a mover module 17 and a transfer tray 18 , and the mover module 17 is disposed at the bottom of the transfer tray 18 and is located on the sliding guide rail 14 .

[0053] Among them, the mover module 17 includes a mounting plate 19 and an upper magnetic yoke 20, a permanent magnet unit 21, and a universal bead 22. The upper magnetic yoke 20 is embedded in the mounting plate 19, the permanent magnet unit 21 is located at the bottom of the upper magnetic yoke 20, and the universal bead 22 is located at the bottom of the mounting plate 19 and is arranged on the sliding guide rail 14.

[0054] By arranging the upper magnetic yoke 20 and the permanent magnet unit 21 in the mounting plate 19, the mounting plate 19 can be used to fix the upper magnetic yoke 20 and the permanent magnet unit 21, thereby ensuring the stability of the installation of the upper magnetic yoke 20 and the permanent magnet unit 21. At the same time, a universal bead 22 is also provided at the bottom of the mounting plate 19, and the mover module 17 can move on the sliding guide rail 14 using the universal bead 22, thereby achieving the purpose of transportation.

[0055] During transportation, the coil windings 15 can be energized. After being energized, the coil windings 15 generate electromagnetic force in the magnetic field between the upper magnetic yoke 20, the permanent magnet unit 21, and the bottom magnetic yoke 13 to move the mover module 17. Different coil windings 15 are energized to generate lateral or vertical forces, and two adjacent coil windings 15 generate magnetic forces perpendicular to each other. Since the transfer tray 18 is installed on the mover module 17, the cubic satellite 30 is driven to move on the sliding track.

[0056] Specifically, the upper magnetic yoke 20 and the universal beads 22 are connected to the mounting plate 19 by screws, and four universal beads 22 are symmetrically arranged at the bottom of each mounting plate 19 .

[0057] The claw 26 in the locking release device 4 has three conical heads, which are respectively engaged in three slots 33 of the mounting plate 19 .

[0058] The transfer tray 18 includes a tray 23 and a permanent magnetic block 24 . The permanent magnetic block 24 is embedded in a slot of the tray 23 . The tray 23 is connected to the mover module 17 via screws.

[0059] During actual use, the cubic satellite 30 is placed in the tray 23 , and the permanent magnetic block 24 generates attraction to the iron sheet at the bottom of the cubic satellite 30 , plays an adsorption role, and assists the cubic satellite 30 to enter the tray 23 .

[0060] There are slideways 34 on both sides of the tray 23 , and the slideways 34 are used to cooperate with the universal beads 22 on the cubic satellite 30 , so as to ensure the position and movement direction during the pressing process.

[0061] In this embodiment, the storage side panel includes an outer panel 5, an inner panel 6 and a ball screw 7. The outer panel 5 and the inner panel 6 are spaced apart on the fixed support structure 1 and form a storage area. The storage area is used to accommodate the cubic satellite 30. The ball screw 7 is arranged on the lower side of the outer panel 5 and the inner panel 6.

[0062] There are two outer panels 5, which are symmetrically arranged on the fixed support structure 1, and there is only one inner panel 6, which is arranged between the two outer panels 5. The two outer panels 5 and one inner panel 6 together form a storage area, so the storage area can have two rows of cubic satellites 30.

[0063] The bottom of the outer side wall has a hollow structure, and the hollow structure is provided to facilitate the transportation of the mover module 17 .

[0064] The outer plate 5 has different partition positions according to the specifications of the storage cubic satellite 30. The outer plate 5 is installed on the side of the fixed support structure 1 by bolts, and the inner plate 6 is installed on the fixed support structure 1 by bolts.

[0065] At the same time, a clamping block 35 is provided on the side wall of the outer plate 5 . The arrangement of the clamping block 35 facilitates the positioning of the cubic satellites 30 in two adjacent rows, thereby preventing the cubic satellites 30 from moving.

[0066] Specifically, three layers of cubic satellites 30 are arranged from top to bottom, the cubic satellite 30 on the bottom layer is installed in the transfer pallet 18, and the cubic satellites 30 on the first and second layers are arranged above the cubic satellite 30 on the third layer; wherein, the cubic satellite 30 on the second layer can be clamped by ball screws 7 to prevent the cubic satellite 30 on the second layer from falling when the cubic satellite 30 on the third layer is transferred.

[0067] In some optional embodiments, the vertical downward pressure device includes a movable top plate 8, a pulley 9, a wire rope 10, a winding wheel 11 and a motor 12, wherein the motor 12 is arranged on one side of the fixed support structure 1, and the winding wheel 11 is arranged on the other side of the fixed support structure 1. The movable top plate 8 is arranged on the cubic satellite 30, and the pulley 9 is arranged at both ends of the movable top plate 8. One end of the wire rope 10 is wound around the output shaft of the motor 12, and the other end is wound around the winding wheel 11 through the pulley 9.

[0068] In actual use, the output shaft of the motor 12 rotates to tighten the wire rope 10, and the force generated by the tightening is used to push the movable top plate 8 downward, and then it starts to press down to ensure that the cubic satellites 30 in each row and column are in a clamped state.

[0069] The motor 12 and the winding wheel 11 are mounted on the fixed support structure 1 by bolts.

[0070] Specifically, the movable top plate 8 is provided with an external thread bearing 32, and the outer side plate 5 and the inner side plate 6 are provided with a groove that matches the external thread bearing 32. The external thread bearing 32 matches the groove, thereby preventing the movable top plate 8 from getting stuck during the pushing process.

[0071] The vertical pressing device further includes fixing members 36 , wherein there are three fixing members 36 , and the fixing members 36 can be used to further fix the positions of the outer plate 5 and the inner plate 6 .

[0072] In this embodiment, the bottom magnetic yoke 13 and the upper magnetic yoke 20 are both made of iron-nickel soft magnetic alloy material, and the permanent magnet unit 21 and the permanent magnet block 24 are made of neodymium-iron-boron alloy hard magnetic material.

[0073] The permanent magnet unit 21 is a Halbach permanent magnet array, and the magnetization directions from left to right are: top S and bottom N, left N and right S, top N and bottom S, or top N and bottom S, left S and right N, top S and bottom N.

[0074] The present invention also provides a method for transferring various types of modular cubic satellite space storage and transfer devices, including: before the storage and transfer device enters space, it is first necessary to use a locking release device to lock it, and use a slotted bolt 29 and a fixed plate 27 to cooperate with the mounting frame 25 to insert the claw 26 into the bottom yoke 13 and the mover tray 16 to provide an upward locking force to achieve locking; when released, the SMA tubular actuator 28 is heated, and the restoring force generated by the SMA tubular actuator 28 drives the slotted bolt 29 to break, and the claw 26 is separated from the fixed plate 27. After the coil winding 15 is energized, it drives the mover tray 16 to move on the sliding guide rail 14.

[0075] The specific transfer method of the space storage and transfer device of the multi-type modular cubic satellite is as follows:

[0076] The space storage and transfer device 3 is initially locked by the locking release device 4, which is installed under the transfer device 3. When the space storage and transfer device 3 enters the predetermined orbit with the mother satellite platform, the stacked cubic satellites 30 and the movable top plate 8, as well as the mover module 17 equipped with the transfer pallet 18 are locked; when locked, the three conical heads on the claws 26 cooperate with the slots 33 on the mounting plate 19, and the pallet 23 is lifted up by the three conical heads on the claws 26, and an upward locking force is provided. At the same time, the mover module 17 and the transfer pallet 18 can be fixed by clamping with the upper fixing piece 36, thereby achieving locking. At this time, since the pallet 23 is lifted up, a certain gap is left between the pallet 23 and the sliding guide rail 14;

[0077] When releasing, that is, before the transfer begins, the SMA tubular actuator 28 can be heated, and the restoring force generated by the SMA tubular actuator 28 breaks the slotted bolt 29, and the claw 26 is separated from the fixing plate 27, and the locked state is released; the tray 23 falls on the sliding guide rail 14, at this time, the tray 23 and the sliding guide rail 14 are completely in contact, that is, there is no gap between the tray 23 and the sliding guide rail 14, so that a certain gap is generated between the second-layer cubic satellite 30 and the third-layer cubic satellite 30.

[0078] Before the transportation begins, the cubic satellites 30 are stacked in the storage area. After the lock is released, the entire row of cubic satellites 30 is maintained in the unlocked position, which is ensured by the movable top plate 8, the outer plate 5, the inner plate 6 and the ball screw 7. The vertical pressing device can carry two layers of cubic satellites 30, and the bottom movable tray 16 can carry one layer of cubic satellites 30. In order to avoid the influence of the load to be transported on the storage load, a certain gap will be generated between the storage device 2 and the tray 23 after unlocking. The vertical pressing device selects one side to install the motor 12, and the other side is fixed by the winding wheel 11. One end of the wire rope 10 is wound around the shaft where the motor 12 is located, and the other end is fixed to the winding wheel 11 on the other side after passing the pulley 9 installed on both sides of the movable top plate 8;

[0079] When the power is turned on, the output shaft of the motor 12 rotates, driving the steel wire rope 10 to be tightened, and the force generated by the tightening is used to push the movable top plate 8 downward to start pressing down. In order to prevent the movable top plate 8 from getting stuck during the pushing process, an external threaded bearing 32 can be installed at the position where the movable top plate 8 contacts the outer plate 5 and the inner plate 6;

[0080] Since the transfer device 3 includes multiple modules, each module includes four coil windings 15, and a permanent magnet unit 21 is installed in the mover module 17, after power is turned on, the coil windings 15 generate electromagnetic force in the magnetic field between the upper magnetic yoke 20, the permanent magnet unit 21, and the bottom magnetic yoke 13 to move the mover module 17, and energize different coil windings 15 to generate horizontal or vertical forces, and two adjacent coil windings 15 generate magnetic forces perpendicular to each other, so that the mover module 17 drives the cubic satellite 30 to move horizontally or vertically on the plane along the sliding track, that is, the transfer of the cubic satellite 30 on the third layer is realized;

[0081] The vertical pressing device stops pressing, and the second layer of the cubic satellite 30 will be stationary under the action of the ball screw 7. After the third layer of the cubic satellite 30 is transported away, the transfer tray 18 returns to the bottom of the vertical pressing device, and the vertical pressing device will start pressing again;

[0082] The first layer of the cubic satellite 30 is further pressed down by the movable top plate 8. Under the action of the movable top plate 8, the ball screw 7 loosens the second layer of the cubic satellite 30, so that the second layer of the cubic satellite 30 falls down, and the first layer of the cubic satellite 30 continues to be clamped by the ball screw 7.

[0083] When the second layer of cubic satellites 30 are pushed to the top of the tray 23, the first layer of cubic satellites 30 will be stationary under the clamping action of the ball screws 7, and the permanent magnet blocks 24 in the tray 23 will generate attraction to the iron sheet at the bottom of the second layer of cubic satellites 30, helping the second layer of cubic satellites 30 to enter the tray 23. When the second layer of cubic satellites 30 enter the tray 23, the universal beads 22 on the second layer of cubic satellites 30 will move along the slide 34, ensuring the stability of the position of the cubic satellites 30 in the tray 23, and then the transportation of the second layer of cubic satellites 30 will begin;

[0084] The vertical pressing device stops pressing down, and after the second layer of cubic satellites 30 are transported away, the transfer tray 18 returns to the bottom of the vertical pressing device, and the vertical pressing device starts pressing down again, and then uses the movable top plate 8 to continue to press down the first layer of cubic satellites 30. Under the action of the movable top plate 8, the ball screw 7 loosens the first layer of cubic satellites 30, causing the first layer of cubic satellites 30 to fall, and then the first layer of cubic satellites 30 begins to be transported. This is the transportation of a row of cubic satellites 30.

[0085] Of course, during the transportation process, multiple rows of cubesats 30 can be rotated simultaneously.

[0086] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A space storage and transportation device for multiple types of modular cubic satellites, characterized in that: include: A fixed support structure (1); A storage device (2), comprising storage side plates and vertical pressing devices, wherein the storage side plates are arranged on the fixed support structure (1), and the vertical pressing devices are arranged on both sides of the fixed support structure (1); The transfer device (3) comprises a bottom magnetic yoke (13), a sliding guide rail (14), a coil winding (15), and a mover tray (16), wherein the bottom magnetic yoke (13) is arranged on a fixed support structure (1) and is located below the storage side plate, the sliding guide rail (14) is located on the bottom magnetic yoke (13), the coil winding (15) is arranged on the bottom magnetic yoke (13), the mover tray (16) is arranged on the sliding guide rail (14), and the mover tray (16) is used to accommodate a cubic satellite (30), and when the coil winding (15) is energized, the coil winding (15) generates an electromagnetic force in the magnetic field of the bottom magnetic yoke (13) to drive the mover tray (16) to move on the sliding guide rail (14); The locking and releasing device (4) comprises a mounting frame (25), a clamping claw (26), a fixing plate (27), an SMA tubular actuator (28), and a slotted bolt (29). The mounting frame (25) is located at the bottom of the bottom magnetic yoke (13). The clamping claw (26) is arranged on the mounting frame (25). The fixing plate (27) is installed on the side wall of the mounting frame (25). The slotted bolt (29) is arranged on the fixing plate (27) and the mounting frame (25). The SMA tubular actuator (28) is sleeved on the slotted bolt (29). When locking, the clamping claw (26) is inserted into the bottom magnetic yoke (13) and the mover tray (16). When releasing, the SMA tubular actuator (28) is heated, and the restoring force generated by the SMA tubular actuator (28) drives the slotted bolt (29) to break, and the clamping claw (26) is separated from the fixing plate (27).

2. A space storage and transportation device for multiple types of modular cubic satellites according to claim 1, characterized in that: The mover tray (16) comprises a mover module (17) and a transfer tray (18); the mover module (17) is arranged at the bottom of the transfer tray (18) and is located on the sliding guide rail (14).

3. The space storage and transportation device for multiple types of modular cubic satellites according to claim 2 is characterized in that: The mover module (17) comprises a mounting plate (19), an upper magnetic yoke (20), a permanent magnet unit (21), and a universal bead (22); the upper magnetic yoke (20) is embedded in the mounting plate (19), the permanent magnet unit (21) is located at the bottom of the upper magnetic yoke (20), and the universal bead (22) is located at the bottom of the mounting plate (19) and is arranged on the sliding guide rail (14).

4. A space storage and transportation device for multiple types of modular cubic satellites according to claim 2 or 3, characterized in that: The transfer tray (18) comprises a tray (23) and a permanent magnetic block (24); the permanent magnetic block (24) is embedded in a slot of the tray (23); and the tray (23) is connected to the mover module (17) via screws.

5. The space storage and transportation device for multiple types of modular cubic satellites according to claim 4, characterized in that: The sliding guide rails (14) enclose a plurality of installation areas (31), and the coil windings (15) are arranged in the installation areas (31).

6. The space storage and transportation device for multiple types of modular cubic satellites according to claim 5, characterized in that: The storage side panel comprises an outer panel (5), an inner panel (6) and a ball screw (7); the outer panel (5) and the inner panel (6) are arranged on the fixed support structure (1) at intervals and form a storage area, wherein the storage area is used to accommodate a cubic satellite (30); and the ball screw (7) is arranged on the lower side of the outer panel (5) and the inner panel (6).

7. The space storage and transportation device for multiple types of modular cubic satellites according to claim 6, characterized in that: The vertical downward pressing device comprises a movable top plate (8), a pulley (9), a steel wire rope (10), a winding wheel (11) and a motor (12); the motor (12) is arranged on one side of a fixed support structure (1); the winding wheel (11) is arranged on the other side of the fixed support structure (1); the movable top plate (8) is arranged on a cubic satellite (30); the pulley (9) is arranged at both ends of the movable top plate (8); one end of the steel wire rope (10) is wound around an output shaft of the motor (12); and the other end is wound around the winding wheel (11) through the pulley (9).

8. The space storage and transportation device for multiple types of modular cubic satellites according to claim 6, characterized in that: The movable top plate (8) is provided with an external thread bearing (32), and the outer plate (5) and the inner plate (6) are provided with grooves matching with the external thread bearing (32).

9. The space storage and transportation device for multiple types of modular cubic satellites according to claim 8, characterized in that: The bottom magnetic yoke (13) and the upper magnetic yoke (20) are both made of iron-nickel soft magnetic alloy material, and the permanent magnet unit (21) and the permanent magnet block (24) are made of neodymium-iron-boron alloy hard magnetic material.

10. A method for transporting multiple types of modular cubic satellites using the space storage and transport device according to any one of claims 1 to 9, characterized in that: include: Before the storage and transfer device enters space, it is first necessary to lock it using the locking release device (4), and use the slotted bolts (29) and the fixing plate (27) to cooperate with the mounting frame (25), insert the claws (26) into the bottom yoke (13) and the mover tray (16), and provide an upward locking force to achieve locking; When released, the SMA tubular actuator (28) is heated, and the restoring force generated by the SMA tubular actuator (28) drives the slotted bolt (29) to break, the claw (26) is separated from the fixing plate (27), and the vertical pressing device presses the cubic star (30) downward to the top of the mover tray (16). After the coil winding (15) is energized, it drives the mover tray (16) to move on the sliding guide rail (14).

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