A space storage and transfer device and transfer method for multi-type modular cubic satellites

Abstract

The present invention relates to the field of aerospace technology, and specifically to a space storage and transfer device and transfer method for various types of modular cubic satellites; the space storage and transfer device comprises: a fixed support structure; a storage device comprising storage side panels and a vertical downward pressure device, wherein the storage side panels are arranged on the fixed support structure, and the vertical downward pressure devices are arranged on both sides of the fixed support structure; a transfer device comprising a bottom magnetic yoke, a sliding guide rail, a coil winding, and a mover tray, wherein the bottom magnetic yoke is arranged on the fixed support structure and is located below the storage side panels, the sliding guide rail is located on the bottom magnetic yoke, the coil winding is arranged on the bottom magnetic yoke, the mover tray is arranged on the sliding guide rail, and the mover tray is used to accommodate the cubic satellite, and after the coil winding 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. Stacking and storing similar cubic satellites effectively improves the storage capacity and ensures the storage position of the cubic satellite.

Description

Technical Field

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

[0002] As humankind's exploration of space deepens, the coordinated operation of multiple satellites has become a necessary aspect of space research. CubeSats offer the advantages of small size and mass, a short development cycle, and excellent flexibility. The satellite clusters they form are well-suited to accomplishing current missions.

[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 have 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 they are large in size and mass 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 existing technology 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 various 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 magnetic yoke, a sliding guide rail, a coil winding, and a mover tray, the bottom magnetic 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 magnetic yoke, the coil winding is arranged on the bottom magnetic 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 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 provided 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 via 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 screws. The outer panel and the inner panel are spaced apart and arranged on the fixed support structure to form a storage area. The storage area is used to accommodate cubic satellites. The ball 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 that match 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 transfer method for 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 magnetic 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 multi-type modular CubeSat space storage and transfer device provided by this invention solves the current problem of storing and transferring large numbers of multiple types of CubeSats in space. It can store a large number of CubeSats of various types and quickly transfer them to launch windows, achieving on-orbit storage and transfer of multiple types of modular CubeSats. Stacking similar CubeSats effectively increases storage capacity, and using storage side panels and a movable roof to restrain the CubeSats ensures their storage position.

[0018] The vertical downward pressure is achieved by using motors and winding wheels installed on both sides of the fixed support structure in conjunction with the pulleys on the movable top plate, which increases space utilization and reduces complex mechanical transmission. The planar transfer uses an improved magnetic levitation motor, which changes the suspension force to 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 a 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 spatial 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 pushing task. Compared with conventional linear actuation methods such as screw and chain transmission, it avoids complex transmission. The vertical downward pressure device placed 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 uses 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. After 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, is small in size, light in weight, and highly efficient.

[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 embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any 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 the 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 structural diagram of the mover tray of the spatial 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 the mover module of the 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 the pallet of the 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] Figure 9 A cross-sectional view 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;

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

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

[0036] Figure 12 A schematic structural diagram of the mounting plate of the 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 and releasing device; 5. Outer plate; 6. Inner plate; 7. Ball screw; 8. Movable 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. Fixing plate; 28. SMA tubular actuator; 29. ​​Slotted bolt; 30. Cube satellite; 31. Mounting area; 32. Externally threaded bearing; 33. Slot; 34. Slide; 35. Block; 36. Fixing parts. DETAILED DESCRIPTION

[0039] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0040] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0042] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0043] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate 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 panels on the fixed support structure 1, a mounting position is provided for the storage side panels. A vertical pressing device is provided on the storage side panels to press down the cubic satellite 30 in the storage side panels 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 can be locked and released using the locking and releasing device 4. When locked, the claw 26 is suitable for inserting into the bottom magnetic 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 energization, 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 cube satellite 30.

[0047] The purpose of locking the locking and releasing device 4 is to clamp all the CubeSats 30 for easy transportation, and to fix the space storage and transfer device of various modular CubeSats together with the payload inside the rocket to prevent the movement of all the CubeSats 30. The purpose of releasing it is to facilitate the transportation of each CubeSat 30.

[0048] The fixed support structure 1 comprises two fixed profiles, which are symmetrically arranged, and the bottom magnetic 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 mounting area 31 and are located above the bottom magnetic yoke 13. Four coil windings 15 are arranged in each mounting 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 . 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 provided on the sliding guide rail 14.

[0054] By placing the upper magnetic yoke 20 and permanent magnet unit 21 within the mounting plate 19, the mounting plate 19 can be used to secure the upper magnetic yoke 20 and permanent magnet unit 21 in position, ensuring the stability of the installation of the upper magnetic yoke 20 and permanent magnet unit 21. Furthermore, a universal bead 22 is provided at the bottom of the mounting plate 19, which allows the mover module 17 to move on the sliding guide rail 14, 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. By energizing different coil windings 15, horizontal or vertical forces are generated, and the 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 cube 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 provided on the bottom of each mounting plate 19 .

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

[0058] The transfer tray 18 includes a tray 23 and a permanent magnet block 24 . The permanent magnet 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 CubeSat 30 is placed in the tray 23 , and the permanent magnet block 24 generates attraction to the iron sheet at the bottom of the CubeSat 30 , playing an adsorption role, and assisting the CubeSat 30 to enter the tray 23 .

[0060] There are slideways 34 on both sides of the interior of the tray 23. The slideways 34 are used to cooperate with the universal beads 22 on the cubic satellite 30 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 constitute 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, symmetrically arranged on the fixed support structure 1, and only one inner panel 6, arranged between the two outer panels 5. The two outer panels 5 and the inner panel 6 together form a storage area, so the storage area can accommodate two rows of cubesats 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 is mounted on the side of the fixed support structure 1 by bolts, and the inner plate 6 is mounted 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 provision of the clamping block 35 facilitates positioning of two adjacent rows of cubic satellites 30 , thereby preventing the cubic satellites 30 from moving.

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

[0067] In some optional embodiments, the vertical downward pressure device includes 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 the 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 the 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 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, driving the wire rope 10 to be tightened. The force generated by the tightening pushes the movable top plate 8 downward, and then starts to press down, ensuring 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 means of bolts.

[0070] Specifically, the movable top plate 8 is provided with an external threaded bearing 32, and the outer plate 5 and the inner plate 6 are provided with grooves that cooperate with the external threaded bearing 32. The external threaded bearing 32 cooperates with the groove to prevent the movable top plate 8 from getting stuck during the pushing process.

[0071] The vertical pressing device further includes three fixing members 36 , wherein the fixing members 36 are 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 an iron-nickel soft magnetic alloy material, and the permanent magnet unit 21 and the permanent magnet block 24 are made of a neodymium-iron-boron alloy hard magnetic material.

[0073] The permanent magnet unit 21 is a Halbach permanent magnet array, and the magnetization direction from left to right is: 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 lock it using a locking release device, and use the slotted bolt 29 and the fixed plate 27 to cooperate with the mounting frame 25 to insert the claw 26 into the bottom magnetic 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 for the various types of modular cubic satellites:

[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 card slots 33 on the mounting plate 19, and the pallet 23 is lifted up by the three conical heads on the claws 26 and provides an upward locking force. At the same time, the upper fixing piece 36 is clamped to fix the mover module 17 and the transfer pallet 18, 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] During release, that is, before the transfer begins, the SMA tubular actuator 28 can be heated. The restoring force generated by the SMA tubular actuator 28 breaks the slotted bolt 29, separating the claw 26 from the fixing plate 27, and releasing the locked state. The tray 23 falls onto the sliding guide rail 14. At this time, the tray 23 and the sliding guide rail 14 are in full contact, that is, there is no gap between the tray 23 and the sliding guide rail 14, resulting in a certain gap between the second-layer cubesat 30 and the third-layer cubesat 30.

[0078] Before the transfer 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 downward pressure device can carry two layers of cubic satellites 30, and the movable tray 16 at the bottom can carry one layer of cubic satellites 30. In order to avoid the impact of the load to be transferred on the storage load, a certain gap will be generated between the storage device 2 and the tray 23 after unlocking. The vertical downward pressure device is installed with a motor 12 on one side and fixed with a winding wheel 11 on the other side. One end of the wire rope 10 is wound around the shaft of the motor 12, and the other end is fixed to the winding wheel 11 on the other side after passing through the pulleys 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 wire rope 10 to be tightened. The force generated by the tightening pushes the movable top plate 8 downward and begins to press 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 contains four coil windings 15, and a permanent magnet unit 21 is installed in the mover module 17, when 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, causing the mover module 17 to move. Energizing different coil windings 15 generates horizontal or vertical forces, and adjacent coil windings 15 generate mutually perpendicular magnetic forces, causing the mover module 17 to drive the CubeSat 30 to move horizontally or vertically along the sliding track on a plane, thereby achieving the transfer of the CubeSat 30 on the third layer.

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

[0082] The movable top plate 8 is then used to continue to press down the first layer of CubeSats 30. Under the action of the movable top plate 8, the ball screws 7 loosen the second layer of CubeSats 30, causing the second layer of CubeSats 30 to fall down, while the first layer of CubeSats 30 continue to be clamped by the ball screws 7.

[0083] When the second layer of CubeSats 30 are pushed onto the tray 23, the first layer of CubeSats 30 will be stationary under the clamping action of the ball screws 7. The permanent magnets 24 in the tray 23 will generate attraction for the iron sheet at the bottom of the second layer of CubeSats 30, helping the second layer of CubeSats 30 to enter the tray 23. When the second layer of CubeSats 30 enters the tray 23, the universal beads 22 on the second layer of CubeSats 30 will move along the slide 34, ensuring the stability of the position of the CubeSats 30 in the tray 23. Then, the transportation of the second layer of CubeSats 30 will begin.

[0084] The vertical pressing device suspends pressing down. After the second layer of cubic satellites 30 are transferred away, the transfer tray 18 returns to the bottom of the vertical pressing device. The vertical pressing device will restart pressing down and continue to press down the first layer of cubic satellites 30 using the movable top plate 8. Under the action of the movable top plate 8, the ball screws 7 loosen the first layer of cubic satellites 30, causing the first layer of cubic satellites 30 to fall. Then the transfer of the first layer of cubic satellites 30 begins. This is the transfer of a row of cubic satellites 30.

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

[0086] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A space storage and transfer device for multiple types of modular cubic satellites, characterized by: include: Fixed support structure (1); A storage device (2) comprising storage side panels and vertical pressing devices, wherein the storage side panels are arranged on the fixed support structure (1), and the vertical pressing devices are arranged on both sides of the fixed support structure (1); A 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), wherein 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), and 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), and 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. The multi-type modular CubeSat space storage and transshipment device 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 multi-type modular CubeSat space storage and transfer device according to claim 2, characterized in that: The mover module (17) includes 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); the universal bead (22) is located at the bottom of the mounting plate (19) and is provided on the sliding guide rail (14).

4. The multi-type modular CubeSat space storage and transfer device according to claim 3, characterized in that: The transfer tray (18) comprises a tray (23) and a permanent magnet block (24), wherein the permanent magnet 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 multi-type modular CubeSat space storage and transfer device 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 multi-type modular CubeSat space storage and transfer device 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. 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).

7. The multi-type modular CubeSat space storage and transfer device 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), wherein the motor (12) is arranged on one side of the 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 the 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 the output shaft of the motor (12), and the other end is wound around the winding wheel (11) through the pulley (9).

8. The multi-type modular CubeSat space storage and transfer device according to claim 7, characterized in that: An external threaded bearing (32) is provided on the movable top plate (8), and grooves matching the external threaded bearing (32) are provided on the outer plate (5) and the inner plate (6).

9. The multi-type modular CubeSat space storage and transfer device according to claim 8, characterized in that: The bottom magnetic yoke (13) and the upper magnetic yoke (20) are both made of an iron-nickel soft magnetic alloy material, and the permanent magnet unit (21) and the permanent magnet block (24) are made of a neodymium-iron-boron alloy hard magnetic material.

10. A method for transporting multiple types of modular cube 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 fixed plate (27), and the vertical downward pressing device presses the cubic star (30) downward to above 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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