A connecting rod bolt type inter-satellite sequential unlocking device and an unlocking method thereof

Abstract

This invention relates to a linkage pin-type inter-satellite sequential unlocking device and its unlocking method. The linkage pin-type inter-satellite sequential unlocking device includes multiple stacked columns, each stacked column is provided with two locking pins. Except for the top stacked column, the other stacked columns are provided with a linkage pin-type locking structure. The other stacked columns, except for the top stacked column, can be locked and engaged with the two locking pins on the adjacent stacked column above through the linkage pin-type locking structure. The linkage pin-type locking structure includes a guide rod, a spring, a first pin, and a second pin. The lower ends of the guide rod are respectively hinged to one end of the first pin and one end of the second pin through a rotating rod assembly. The upper end of the guide rod extends movably from the top of the stacked column and abuts against the adjacent stacked column above. The two ends of the spring are respectively connected to the upper end of the guide rod and the stacked column through which the guide rod passes. The other ends of the first pin and the second pin can be respectively inserted and positioned in the locking holes of the two locking pins.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, specifically to a linkage pin-type inter-satellite sequential unlocking device and its unlocking method. Background Technology

[0002] "Multiple satellites launched by a single rocket" refers to launching two or more satellites into their designated orbits using a single launch vehicle. Compared to the traditional one-satellite-one-rocket launch method, multiple satellite launches can fully utilize the rocket's carrying capacity, significantly shorten the constellation formation time, improve launch efficiency, and thus fully leverage the constellation's functionality.

[0003] In multi-satellite launches, the technology for securing and separating multiple satellites is the first key technology that needs to be solved. Currently, there are two layout types for multi-satellite launches: wall-mounted with a central support tube and stacked. In the stacked layout, satellites are directly connected and stacked axially. Compared to the wall-mounted layout, this saves the mass and volume of the central support tube, resulting in higher launch efficiency and making it more suitable for the rapid networking of large numbers of satellites. However, current large constellation launches use a method where the satellite is "thrown off" by the rocket's orbital maneuver after unlocking the stacking and securing device. This method relies on the rocket's orbital maneuver to separate the satellite, but the satellite's attitude after separation is highly unpredictable, posing a risk of collision and potential damage to the spacecraft. This is not conducive to the stacked release of multiple satellites in a single launch. Summary of the Invention

[0004] In order to solve one or more technical problems existing in the prior art, the present invention provides a linkage pin type inter-satellite sequential unlocking device and its unlocking method.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: The present invention provides a linkage pin type inter-satellite sequential unlocking device, including multiple stacked columns, which are arranged in sequence. Each stacked column is provided with two locking pins. Except for the top stacked column, the other stacked columns are provided with a linkage pin type locking structure. Except for the top stacked column, the other stacked columns can be locked with the two locking pins on the adjacent stacked column above through the linkage pin type locking structure. The two locking pins are arranged in parallel and extend from the bottom of their respective stacked columns.

[0006] The linkage pin-type locking structure includes a guide rod, a spring, a first pin, and a second pin. The lower ends of the guide rod are hinged to one end of the first pin and one end of the second pin via a rotating rod assembly. The upper end of the guide rod extends movably from the top of the stacked column and abuts against an adjacent stacked column above it. The two ends of the spring are connected to the upper end of the guide rod and the stacked column through which the guide rod passes, respectively. The first pin and the second pin are slidably connected to the stacked column. The other ends of the first pin and the second pin can be inserted and positioned in the locking holes of the two locking pins, respectively.

[0007] The beneficial effects of this invention are as follows: The linkage pin-type inter-satellite sequential unlocking device of this invention has strong load-bearing capacity, high reliability, and a simple and compact structure, enabling smooth separation of the load through sequential release. The invention has fewer parts, making overall installation simpler, and its light weight makes it more suitable for the aerospace field. Because the upper and lower stacked pillars are only attached together to form a guide, the separation angular velocity during separation is very small, thus solving the problem of excessive separation angular velocity. In the locked state, the linkage pin-type locking structure forms a dead point with the first pin, the second pin, and the guide rod, making the overall configuration very stable and easy to unlock, ensuring the reliability of unlocking.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the rotating rod assembly includes a first rotating rod and a second rotating rod. The lower ends of the guide rod are respectively hinged to one end of the first rotating rod and one end of the second rotating rod. The other ends of the first rotating rod and the second rotating rod are respectively hinged to one end of the first pin and one end of the second pin.

[0010] When the linkage pin-type locking structure is in the locked state, the other end of the first pin and the other end of the second pin are respectively inserted and positioned in the locking holes of the two locking pins. The first pin, the second pin, the first rotating rod, and the second rotating rod are located on the same straight line and are all arranged perpendicular to the guide rod. When the linkage pin-type locking structure is in the locked state, the other end of the first pin and the other end of the second pin are respectively disengaged from the locking holes of the two locking pins. The first pin and the second pin are located on the same straight line and are all arranged perpendicular to the guide rod. The upper end of the spring drives the guide rod to move upward, and the first rotating rod and the second rotating rod deflect under the drive of the guide rod.

[0011] The beneficial effect of adopting the above-mentioned further solution is that by setting the first rotating rod and the second rotating rod, the connection between the guide rod and the pin rod is facilitated.

[0012] Furthermore, a first connecting rod and a second connecting rod are respectively vertically fixed on both sides of the lower end of the guide rod. The first connecting rod is hinged to one end of the first rotating rod through a first rotating shaft, and the second connecting rod is hinged to one end of the second rotating rod through a second rotating shaft.

[0013] The beneficial effect of adopting the above-mentioned further solution is that by setting the first link and the second link, a stable connection between the guide rod and the pin rod can be facilitated.

[0014] Furthermore, the other end of the first rotating rod is hinged to one end of the first pin rod via a third rotating shaft, and the other end of the second rotating rod is hinged to one end of the second pin rod via a fourth rotating shaft.

[0015] Furthermore, except for the top stacked column, each of the other stacked columns is fixed with a first guide block and a second guide block. The first guide block has a first guide through hole, and the second guide block has a second guide through hole. The first guide through hole and the second guide through hole are coaxially arranged and are both perpendicular to the guide rod. The first pin is slidably inserted into the first guide through hole, and the second pin is slidably inserted into the second guide through hole.

[0016] The beneficial effect of adopting the above-mentioned further solution is that by setting the first guide block and the second guide block, the stable assembly of the pin rod is facilitated.

[0017] Furthermore, the other end of the first pin is provided with a first connector, and the other end of the second pin is provided with a second connector. Both the first connector and the second connector are isosceles trapezoidal structures or right trapezoidal structures. The locking hole on the locking pin is an isosceles trapezoidal hole or right trapezoidal hole adapted to the isosceles trapezoidal structure or right trapezoidal structure.

[0018] The beneficial effect of adopting the above-mentioned further solution is that by setting the first connector and the second connector as isosceles trapezoidal structure or right trapezoidal structure, the fit between the connector and the locking hole is a bevel fit, which makes it easier to unlock when the pin is pulled out and improves reliability.

[0019] Furthermore, the base of the isosceles trapezoidal structure or right-angled trapezoidal structure is fixed to the other end face of the first or second pin.

[0020] Furthermore, the top edge of the isosceles trapezoidal structure or right trapezoidal structure is arranged parallel to the guide rod.

[0021] Furthermore, a positioning block is fixed to the inner side of the stacked column, and the guide rod slides through the positioning block.

[0022] The beneficial effect of adopting the above-mentioned further solution is that by setting a positioning block, it is convenient to slide between the guide rod and the stacking column.

[0023] This invention also provides an unlocking method for a linkage pin-type inter-satellite sequential unlocking device, comprising the following steps: the top stacked column is initially pressed by a star-rocket pressing and releasing mechanism; after the star-rocket pressing and releasing mechanism is released, the guide rod in the adjacent second stacked column below the top stacked column moves upward under the action of a spring, causing the first pin and the second pin to move relative to each other; the other end of the first pin and the other end of the second pin respectively disengage from the locking hole of their respective locking pins, releasing the locking pins in the top stacked column, thus separating the top stacked column; at this time, the remaining stacked columns are still in a pressed state; after the top stacked column is separated under the action of a spring in the adjacent second stacked column below, the second stacked column is separated under the action of a spring in the third stacked column below, thereby causing multiple stacked columns to separate sequentially.

[0024] The beneficial effects of this invention are as follows: The unlocking method of this invention, because a portion of the upper and lower layers of the stacked pillars are tightly attached to form a guiding effect, results in a very small separation angular velocity during separation, thus solving the problem of excessive separation angular velocity. The linkage pin-type locking structure creates a structural dead point, making the entire mechanism highly stable. The entire mechanism is driven by mechanical mechanisms, resulting in high overall reliability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the internal main structure of the linkage pin-type inter-satellite sequential unlocking device of the present invention in the locked state.

[0026] Figure 2 for Figure 1 Enlarged structural diagram of section A in the middle;

[0027] Figure 3 This is a side view of the locked state of the linkage pin-type inter-satellite sequential unlocking device of the present invention.

[0028] Figure 4 This is a schematic diagram of the internal main structure of the linkage pin-type inter-satellite sequential unlocking device of the present invention in the unlocked state.

[0029] Figure 5 for Figure 4 Enlarged structural diagram of section B in the middle;

[0030] Figure 6 This is a side view of the unlocked state of the linkage pin-type inter-satellite sequential unlocking device of the present invention.

[0031] Figure 7 This is a three-dimensional structural diagram of the guide rod of the present invention;

[0032] Figure 8 This is a three-dimensional structural diagram of the first pin rod of the present invention.

[0033] The attached diagram lists the components represented by each number as follows:

[0034] 1. Top stacking post; 11. Second stacking post; 12. Third stacking post; 13. Locking pin; 14. Positioning block; 15. Locking hole; 16. First guide block; 17. Second guide block; 18. First guide through hole; 19. Second guide through hole; 190. Pressure block;

[0035] 2. Guide rod; 21. Spring; 22. First pin; 23. Second pin; 24. First rotating rod; 25. Second rotating rod; 26. First connecting rod; 27. Second connecting rod; 28. First pivot; 29. ​​Second pivot; 290. Third pivot; 291. Fourth pivot; 292. First connector; 293. Second connector. Detailed Implementation

[0036] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0037] Example 1

[0038] like Figures 1-8 As shown, this embodiment of a linkage pin type inter-satellite sequential unlocking device includes multiple stacked columns, which are arranged in sequence. Each stacked column is provided with two locking pins. Except for the top stacked column 1, the other stacked columns are provided with a linkage pin type locking structure. Except for the top stacked column 1, the other stacked columns can be locked with two locking pins 13 on the adjacent stacked column above through the linkage pin type locking structure. The two locking pins 13 are arranged in parallel and extend from the bottom of their respective stacked columns.

[0039] The linkage pin-type locking structure includes a guide rod 2, a spring 21, a first pin 22, and a second pin 23. The lower ends of the guide rod 2 are hinged to one end of the first pin 22 and one end of the second pin 23 via rotating rod assemblies. The upper end of the guide rod 2 extends movably from the top of the stacking column and abuts against an adjacent stacking column above it. The two ends of the spring 21 are connected to the upper end of the guide rod 2 and the stacking column through which the guide rod 2 passes, respectively. The first pin 22 and the second pin 23 are slidably connected to the stacking column, respectively. The other ends of the first pin 22 and the second pin 23 can be inserted and positioned in the locking holes 15 of the two locking pins 13, respectively.

[0040] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in one specific embodiment, a positioning block 14 is fixed to the inner side of the stacking column, and the guide rod 2 slides through the positioning block 14. The positioning block facilitates the sliding engagement between the guide rod and the stacking column.

[0041] In this embodiment, the positioning block 14 can be set at the inner middle position near the top of the stacking column.

[0042] Specifically, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in this embodiment, each stacking column is provided with a pressure block 190, which is located in the middle of the inner side near the lower end of the stacking column. When the entire linkage pin-type inter-satellite sequential unlocking device is in the locked state, the top of the guide rod 2 in the lower stacking column abuts against the bottom of the pressure block 190. The top of the guide rod 2 can be vertically fixed to the connecting plate, and the connecting plate can be used to achieve abutment engagement with the pressure block 190. Figure 1 The arrangement of the linkage pin-type inter-satellite sequential unlocking device is taken as a reference. There are three stacked columns, from top to bottom: top stacked column 1, second stacked column 11, and third stacked column 12. Each stacked column is connected to a payload or satellite. The payload or satellite is also stacked in the same way as the multiple stacked columns, but they are not connected to each other. The stacking of payloads or satellites is locked by the connection between the stacked columns. The second stacked column 11 and the third stacked column 12 are equipped with a linkage pin-type locking structure and a positioning block 14. The top stacked column 1 and the second stacked column 11 are equipped with a pressure block 190 and two locking pins 13. The connection between the third stacked column 12 and the rocket can also adopt the unlocking device of this application. The pressure block 190 is located between the two locking pins 13. The two locking pins 13 are arranged along the stacking direction of the multiple stacked columns. The guide rod 2 is arranged between the two locking pins 13 in the vertical direction.

[0043] This embodiment presents a linkage pin-type inter-satellite sequential unlocking device with strong load-bearing capacity, high reliability, and a simple and compact structure. It enables smooth load separation through sequential release. The device uses fewer parts, simplifying overall installation and reducing weight, making it more suitable for the aerospace industry. Because the upper and lower stacked pillars are merely attached together to form a guide, the separation angular velocity during separation is very small, thus solving the problem of excessive separation angular velocity. In the locked state, the linkage pin-type locking structure forms a dead point with the first pin, the second pin, and the guide rod, resulting in a highly stable overall configuration and easy unlocking, ensuring reliable unlocking.

[0044] Example 2

[0045] Based on Embodiment 1, this embodiment provides a preferred solution for a rotating rod assembly. For example... Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the rotating rod assembly in this embodiment includes a first rotating rod 24 and a second rotating rod 25. The lower ends of the guide rod 2 are respectively hinged to one end of the first rotating rod 24 and one end of the second rotating rod 25. The other ends of the first rotating rod 24 and the second rotating rod 25 are respectively hinged to one end of the first pin rod 22 and one end of the second pin rod 23. By setting the first rotating rod and the second rotating rod, the connection between the guide rod and the pin rod is facilitated.

[0046] When the linkage pin-type locking structure is in the locked state, the other end of the first pin 22 and the other end of the second pin 23 are respectively inserted and positioned in the locking holes 15 of the two locking pins 13. The first pin 22, the second pin 23, the first rotating rod 24 and the second rotating rod 25 are located on the same straight line and are all arranged perpendicular to the guide rod 2. When the linkage pin-type locking structure is in the locked state, the other end of the first pin 22 and the other end of the second pin 23 are respectively disengaged from the locking holes 15 of the two locking pins 13. The first pin 22 and the second pin 23 are located on the same straight line and are all arranged perpendicular to the guide rod 2. The upper end of the spring 21 drives the guide rod 2 to move upward, and the first rotating rod 24 and the second rotating rod 25 deflect under the drive of the guide rod 2.

[0047] like Figure 2 and Figure 5 As shown, preferably, a first connecting rod 26 and a second connecting rod 27 are vertically fixed to both sides of the lower end of the guide rod 2. The first connecting rod 26 is hinged to one end of the first rotating rod 24 via a first rotating shaft 28, and the second connecting rod 27 is hinged to one end of the second rotating rod 25 via a second rotating shaft 29. By setting the first connecting rod and the second connecting rod, a stable connection between the guide rod and the pin rod is facilitated.

[0048] like Figure 2 and Figure 5 As shown, preferably, the other end of the first rotating rod 24 is hinged to one end of the first pin rod 22 via a third rotating shaft 290, and the other end of the second rotating rod 25 is hinged to one end of the second pin rod 23 via a fourth rotating shaft 291.

[0049] In this embodiment, the payload or satellite body is compressed under the pressure of the rocket-planet compression and release device, placing the payload or satellite body under pressure on the rocket. At this time, the spring is compressed, the guide rod and rotating rod are hinged via a pivot, and the rotating rod and pin are also hinged via a pivot. The guide rod and rotating rod are on the same horizontal plane (0°), forming a structural dead point. Similarly, the rotating rod and pin are also on the same horizontal plane (0°), forming a structural dead point. The pin passes through the positioning block inside the second stacking column and locks with the locking hole on the locking pin inside the top stacking column, thus locking the top and second stacking columns. Because the guide rod, rotating rod, and pin are at the 0° dead point position, the entire mechanism is in a stable locked state.

[0050] Example 3

[0051] Based on Embodiment 1 or Embodiment 2, this embodiment provides an optional guide structure for the pin. For example... Figure 4 and Figure 5 As shown, in this embodiment, except for the top stacking column 1, each of the other stacking columns is fixed with a first guide block 16 and a second guide block 17. The first guide block 16 has a first guide through hole 18, and the second guide block 17 has a second guide through hole 19. The first guide through hole 18 and the second guide through hole 19 are coaxially arranged and both perpendicular to the guide rod 2. The first pin rod 22 is slidably inserted into the first guide through hole 18, and the second pin rod 23 is slidably inserted into the second guide through hole 19. By setting the first guide block and the second guide block, the stable assembly of the pin rod is facilitated.

[0052] Example 4

[0053] Based on any of the above embodiments, this embodiment provides a preferred structure for the latch rod. For example... Figure 2 , Figure 5 and Figure 8 As shown, in this embodiment, the other end of the first pin 22 is provided with a first connector 292, and the other end of the second pin 23 is provided with a second connector 293. Both the first connector 292 and the second connector 293 are isosceles trapezoidal or right trapezoidal structures. The locking hole 15 on the locking pin 13 is an isosceles trapezoidal hole or right trapezoidal hole adapted to the isosceles trapezoidal or right trapezoidal structure. By setting the first connector and the second connector to isosceles trapezoidal or right trapezoidal structures, the fit between the connector and the locking hole is a bevel fit, making it easier to unlock when the pin is pulled, thus improving reliability.

[0054] like Figure 8 As shown, in this embodiment, the bottom edge of the isosceles trapezoidal structure or right-angled trapezoidal structure is fixed to the other end face of the first pin 22 or the second pin 23.

[0055] Specifically, the top edge of the isosceles trapezoidal structure or the right trapezoidal structure is arranged parallel to the guide rod 2, and the hypotenuse of the right trapezoidal structure is arranged lower to facilitate unlocking.

[0056] Example 5

[0057] This embodiment provides an unlocking method for a linkage pin-type inter-satellite sequential unlocking device, including the following steps: The top stacking column 1 is initially pressed by a star-rocket pressing and releasing mechanism. After the star-rocket pressing and releasing mechanism is released, the guide rod 2 in the adjacent second stacking column 11 below the top stacking column 1 moves upward under the action of a spring 21, causing the first pin 22 and the second pin 23 to move relative to each other. The other end of the first pin 22 and the other end of the second pin 23 respectively disengage from the locking hole 15 of their respective locking pins 13, releasing the locking of the locking pins 13 in the top stacking column 1, thus separating the top stacking column 1. At this time, the remaining stacking columns are still in a pressed state. After the top stacking column 1 separates under the action of a spring 21 in the adjacent second stacking column 11 below, the second stacking column 11 separates under the action of a spring 21 in the third stacking column 12 below, thereby causing multiple stacking columns to separate sequentially.

[0058] In this embodiment, the unlocking method of the linkage pin-type inter-satellite sequential unlocking device involves the following steps: After release by the satellite-rocket clamping release device, the top stacking column, under the thrust of the spring within the second stacking column, drives the guide rod to move upward, thereby causing the two rotating rods to rotate. This further drives the two pin rods to slide relative to each other, allowing the two pin rods to be pulled out of the locking holes of the locking pin rods within the top stacking column. This separates the top stacking column and its connected load or satellite from the second stacking column and its connected load or satellite. The rotating rod and guide rod are hinged together by a rotating shaft, allowing them to rotate freely. The rotating rod and the pin rod are also hinged together by a rotating shaft, allowing them to rotate freely. After the top stacking column and its connected load or satellite are separated from the second stacking column and its connected load or satellite, the second stacking column separates under the action of the spring within the third stacking column. Similarly, under the drive of the guide rod, the pin rods are pulled out, thus causing each stacking column and its connected load or satellite to separate sequentially, resulting in the loads separating from top to bottom.

[0059] The unlocking method in this embodiment solves the problem of excessive separation angular velocity because a portion of the upper and lower layers of the stacked pillars are tightly attached together, forming a guiding effect. The linkage pin-type locking structure creates a structural dead point, making the entire mechanism highly stable. Since the entire mechanism is driven by mechanical mechanisms, its overall reliability is high.

[0060] In the description of this invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A link-and-latch type inter-satellite sequential unlock device, characterized by, It includes multiple stacked columns, which are arranged in sequence. Each stacked column is provided with two locking pins. Except for the top stacked column, the other stacked columns are provided with a linkage pin locking structure. Except for the top stacked column, the other stacked columns can be locked with the two locking pins on the adjacent stacked column above through the linkage pin locking structure. The two locking pins are arranged in parallel and extend from the bottom of their respective stacked columns. The linkage pin-type locking structure includes a guide rod, a spring, a first pin, and a second pin. The lower ends of the guide rod are hinged to one end of the first pin and one end of the second pin via rotating rod assemblies. The upper end of the guide rod extends movably from the top of the stacked column and abuts against an adjacent stacked column above it. The two ends of the spring are connected to the upper end of the guide rod and the stacked column through which the guide rod passes, respectively. The first pin and the second pin are slidably connected to the stacked column. The other ends of the first pin and the second pin can be inserted and positioned in the locking holes of the two locking pins, respectively. The rotating rod assembly includes a first rotating rod and a second rotating rod. The lower ends of the guide rod are respectively hinged to one end of the first rotating rod and one end of the second rotating rod. The other ends of the first rotating rod and the second rotating rod are respectively hinged to one end of the first pin and one end of the second pin. When the linkage pin-type locking structure is in the locked state, the other ends of the first pin and the second pin are respectively inserted and positioned in the locking holes of the two locking pins. The first pin, the second pin, the first rotating rod, and the second rotating rod are located on the same straight line and are all arranged perpendicular to the guide rod. When the linkage pin-type locking structure is in the unlocked state, the other ends of the first pin and the second pin are respectively disengaged from the locking holes of the two locking pins. The first pin and the second pin are located on the same straight line and are all arranged perpendicular to the guide rod. The upper end of the spring drives the guide rod to move upward, and the first rotating rod and the second rotating rod deflect under the action of the guide rod. The guide rod has a first connecting rod and a second connecting rod vertically fixed on both sides of its lower end. The first connecting rod is hinged to one end of the first rotating rod through a first rotating shaft, and the second connecting rod is hinged to one end of the second rotating rod through a second rotating shaft. The other end of the first rotating rod is hinged to one end of the first pin rod via a third rotating shaft, and the other end of the second rotating rod is hinged to one end of the second pin rod via a fourth rotating shaft; When the spring is compressed, the guide rod and the rotating rod are hinged together by a pivot, and the rotating rod and the pin are hinged together by a pivot. The guide rod and the rotating rod are on the same horizontal plane, i.e., at 0°, forming a structural dead point. At this time, the rotating rod and the pin are also on the same horizontal plane, i.e., at 0°, forming a structural dead point. The pin locks with the locking hole on the locking pin of the adjacent stacking column, so that the two adjacent stacking columns are in a locked state.

2. The link-and-latch type sequential deorbiting device according to claim 1, wherein, Except for the top stacked column, each of the other stacked columns is fixed with a first guide block and a second guide block. The first guide block has a first guide through hole, and the second guide block has a second guide through hole. The first guide through hole and the second guide through hole are coaxially arranged and are both perpendicular to the guide rod. The first pin is slidably inserted into the first guide through hole, and the second pin is slidably inserted into the second guide through hole.

3. The link-and-latch type sequential deorbiting device according to claim 1, wherein, The first pin has a first connector at one end and the second pin has a second connector at the other end. Both the first connector and the second connector are isosceles trapezoidal or right trapezoidal structures. The locking hole on the locking pin is an isosceles trapezoidal hole or right trapezoidal hole that is adapted to the isosceles trapezoidal or right trapezoidal structure.

4. The link-and-flag type sequential deactivation device according to claim 3, characterized in that, The base of the isosceles trapezoidal structure or the right trapezoidal structure is fixed to the other end face of the first or second pin.

5. The link-and-latch type sequential deorbiting device according to claim 4, wherein, The top edge of the isosceles trapezoidal structure or right trapezoidal structure is arranged parallel to the guide rod.

6. The link-and-latch type sequential deorbiting device according to claim 1, wherein, A positioning block is fixed to the inner side of the stacked column, and the guide rod slides through the positioning block.

7. A method of unlocking a connecting rod bolt type sequential interlock device according to any one of claims 1 to 6, characterized in that, Includes the following steps: In the initial state, the top stack column is pressed by the star-arrow pressing and releasing mechanism. After the star-arrow pressing and releasing mechanism is unlocked and released, the guide rod in the adjacent second stack column below the top stack column moves upward under the action of the spring, causing the first and second pins to move relative to each other. The other ends of the first and second pins respectively disengage from the locking holes of their respective locking pins, releasing the locking pins in the top stack column and causing the top stack column to be separated. At this time, the remaining stack columns are still in the pressed state. After the top stacked column separates under the action of the spring in the adjacent second stacked column below, the second stacked column separates under the action of the spring in the third stacked column below, thereby causing multiple stacked columns to separate sequentially.

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