Micro-nano satellite unfolding mechanism mooring rope recovery device

Abstract

The invention discloses a micro-nano satellite unfolding mechanism mooring rope recovery device, and belongs to the technical field of spacecraft mechanisms. The device is improved based on an automatic take-up technology, adopts a modular coaxial nested structure, and mainly comprises a bottom shell, a top shell, a bottom shaft assembly, a middle shaft, a top shaft, a ratchet mechanism, a control assembly, a coil spring and a take-up rope. By means of the follow-up ratchet wheel locking mechanism, the tension spring automatic reset control assembly and the split type screw connecting structure, the functions of reliable storage of pre-tightening force in the ground stage, state switching before launching and automatic recovery in the on-orbit stage are achieved. The on-orbit automatic take-up device solves the technical problem that an existing automatic take-up device is directly applied to the aerospace field, and is compact in structure, high in reliability and suitable for on-orbit automatic take-up of the micro-nano satellite unfolding mechanism mooring rope.

Description

Technical Field

[0001] This invention relates to the field of spacecraft mechanism technology, and more specifically to an on-orbit recovery device for tethered ropes based on an improved automatic tethering technology, suitable for the deployment mechanism of micro-nano satellites. Background Technology

[0002] With the rapid development of aerospace technology, microsatellites and nanosatellites have been widely used in communication, remote sensing, and scientific experiments due to their advantages such as low cost, short development cycle, and high functional density. Microsatellites and nanosatellites typically employ deployable mechanisms (such as solar panels, antennas, and solar panels) to achieve a large on-orbit working area within a limited launch space. During launch, the deployment mechanism is secured by tethers; after entering orbit, the constraints are released via an unlocking and release device, allowing the mechanism to deploy. However, the released tethers become free-floating space debris, posing a risk of polluting the space environment and interfering with the normal operation of the satellite.

[0003] In ground-based automated cable retrieval devices (such as portable electronic device cable retractors), a coil spring drive combined with a ratchet locking mechanism is typically used to achieve automatic cable retrieval. These devices are designed for convenient storage in constant gravity environments on Earth, and their structural features include: the rotating shaft assembly is usually a single unit, the ratchet is often fixed to the outer casing, the control mechanism relies on cable pressure to maintain the unlocked state, and the connection method is mostly snap-fit. However, there are certain limitations when applying such devices to the tethering cable retrieval of micro / nano satellite deployment mechanisms.

[0004] First, the high vibration and impact loads during the space launch phase require all connections to have sufficient mechanical strength, and snap-fit ​​connections are difficult to meet reliability requirements.

[0005] Second, in a microgravity environment in orbit, the floating characteristics of the rope require the recovery point to have reliable limiting constraints, and the hook-type rope fixing method is prone to detachment.

[0006] Third, the high reliability of a single spacecraft mission requires the recovery mechanism to have the ability to unlock and maintain normal operation. Control methods that rely on external pressure to maintain unlocking are at risk of failure.

[0007] Fourth, the reliable switching between preload storage during launch and automatic unlocking during on-orbit operation requires the locking mechanism and rotating components to work together, a function that is difficult to achieve with a fixed ratchet structure.

[0008] Therefore, there is an urgent need to make targeted improvements to the existing automatic cable retrieval technology and develop a tethered rope retrieval device for micro-nano satellite deployment mechanisms that meets the requirements of aerospace applications. Summary of the Invention

[0009] The purpose of this invention is to provide a tether rope recovery device for micro-nano satellite deployment mechanisms based on improved automatic tether recovery technology, which solves the technical obstacles of directly applying existing automatic tether recovery devices to the aerospace field, achieves reliable recovery of tether ropes, and avoids space debris pollution.

[0010] Another objective of this invention is to provide a rope recovery device employing a follow-up ratchet locking mechanism, a tension spring automatic reset control component, and a split screw connection structure, to achieve reliable storage of preload during the ground phase and pre-launch state switching, and automatic recovery during the on-orbit phase.

[0011] Another objective of this invention is to provide a lightweight and miniaturized rope retrieval device with all-screw fixation and modular design, which meets the stringent requirements of micro and nano satellites for connection strength, volume, weight and reliability.

[0012] To achieve the above objectives, the present invention adopts the following technical solution:

[0013] A tethered rope recovery device for a micro / nano satellite deployment mechanism includes:

[0014] The bottom outer shell includes a base plate and sidewalls extending vertically along both sides of the base plate; the base plate is provided with a main mounting hole group and a circumferentially distributed threaded hole group, the main mounting hole group is used to fix the device to the unfolding mechanism base by screws, and the threaded hole group is used to install and fix the bottom shaft assembly by screws; the sidewalls are provided with outer shell connection threaded holes; a tension spring fixing hole is provided on one side of the base plate.

[0015] The top outer shell has a central guide rib, which is composed of several radially evenly distributed ribs to form an inner guide surface for radial positioning and rotational guidance of the intermediate rotating shaft. The outer side has a mating threaded hole corresponding to the connecting threaded hole of the outer shell, and is fixedly connected to the bottom outer shell by screws.

[0016] The bottom shaft assembly includes a bottom shaft base plate, an intermediate rotating shaft, a bottom shaft outer wall, a pawl rotating shaft, and a positioning support rib. The bottom shaft base plate has mounting through holes corresponding to the threaded hole group, which are fixed to the bottom outer shell by screws. The intermediate rotating shaft has a spring fixing groove extending axially to the top, and the spring fixing groove passes through the center of the cross-section of the intermediate rotating shaft. The bottom shaft outer wall is semi-enclosed, forming a retraction space with the side wall. The positioning support rib is a radial rib structure provided on the bottom shaft base plate, composed of several radially evenly distributed ribs, forming an inner ring support surface for supporting the pawl and limiting its radial displacement. The pawl rotating shaft is located between the positioning support rib and the bottom shaft outer wall.

[0017] The intermediate shaft includes a disc-shaped base plate, an outer wall of the intermediate shaft, a ratchet support boss, and a guide sleeve; the outer wall of the intermediate shaft is provided with a rectangular straight groove, and an oblong mating hole is formed on the inner side; the ratchet support boss is provided on one side of the disc-shaped base plate, and a circumferential positioning key is provided thereon; the guide sleeve is provided at the mounting hole of the intermediate shaft.

[0018] The top shaft includes a mating support wall, a disc-shaped base plate, and an outer wall of the top shaft; the outer side of the mating support wall forms a mating end face that matches the waist-shaped mating hole, and the inner side is provided with a circular inner wall; the mating support wall is provided with a rectangular straight groove; the disc-shaped base plate is used to separate the coil spring installation space and the rope limiting space; the outer wall of the top shaft is provided with a rope limiting groove off-center, which serves as the starting point for the retrieval of the rope and the winding reference.

[0019] A ratchet mechanism includes an eight-tooth ratchet and a pawl. The eight-tooth ratchet is mounted on a ratchet support boss of the intermediate shaft, with a circumferential positioning groove on its inner side that mates with the circumferential positioning key, and a toothed groove on its outer side, enabling synchronous rotation of the eight-tooth ratchet and the intermediate shaft. The pawl is mounted on the bottom shaft assembly, which includes a base plate, a pawl arm, and a swing arm. The base plate has a rotation center hole and a motion guide groove, and the swing arm has a control block connection hole. The rotation center hole is concentrically mounted with the pawl shaft, and the motion guide groove is slidably engaged with the intermediate shaft.

[0020] A control assembly includes a control block and a tension spring. The control block consists of an upper fitting block and a lower fitting block. The lower fitting block has a first mounting post, a second mounting post, and a third mounting post. The first mounting post is connected to the control block's connecting hole, and the second mounting post is connected to the second fixed end of the tension spring. The first fixed end of the tension spring is fixed to the tension spring's fixing hole by screws and nuts. The control block reciprocates along a direction perpendicular to the axis of the intermediate rotating shaft, and the rocker arm drives the pawl to rotate eccentrically around the pawl's rotating shaft, thereby achieving engagement or disengagement of the pawl arm with the tooth groove of the eight-tooth ratchet.

[0021] A coil spring is disposed between the outer wall of the intermediate shaft and the intermediate rotating shaft, with its inner end fixed to the coil spring fixing groove and its outer end fixed to the rectangular straight groove on the outer wall of the intermediate shaft.

[0022] The retrieval rope passes through the unlocking and release device, the rope limiting structure on the deployment mechanism, and the rope limiting groove. After applying the target tension, the beginning and end of the retrieval rope are fixed together by the rope locking seat to constrain the deployment mechanism.

[0023] Preferably, the axial height of the pawl shaft is higher than the sum of the height of the positioning support rib and the thickness of the pawl, and lower than the difference in height between the outer wall of the bottom shaft and the ratchet support boss, so as not to hinder the rotation of the eight-tooth ratchet and to prevent the pawl from axially dislodging.

[0024] Preferably, the preload of the tension spring is configured such that when the control block is not constrained by external force, the tension spring pulls the pawl arm away from the tooth groove of the eight-tooth ratchet, so that the intermediate shaft and the top shaft are in a rotatable state, thereby achieving unlocking and retention of the device from before launch to when it is in orbit.

[0025] The present invention also provides a method for operating the above-mentioned micro / nano satellite deployment mechanism tether rope recovery device, comprising the following steps:

[0026] Step 1: Pre-assembly of the device: Install the pawl onto the pawl shaft through the rotation center hole, allowing the intermediate shaft to pass through the motion guide groove; install the eight-tooth ratchet onto the ratchet support boss, aligning the circumferential positioning groove with the circumferential positioning key to achieve synchronous rotation of the eight-tooth ratchet and the intermediate shaft; install the intermediate shaft onto the intermediate shaft; insert the inner end of the coil spring into the coil spring fixing groove, and insert the outer end into the rectangular straight groove; after the lower fitting block of the control block passes through the control block connecting hole and the second fixing end of the tension spring, it is fitted and fixed with the upper fitting block; based on the surface fit relationship between the waist-shaped fitting hole and the fitting end face, install the top shaft onto the intermediate shaft to achieve torque transmission connection between the intermediate shaft and the top shaft;

[0027] Step 2: The device is installed as a whole. The bottom shaft assembly is fixed to the bottom housing with screws; the bottom housing is fixed to the unfolding mechanism base with the main mounting hole group and screws; the first fixing end of the tension spring is fixed to the tension spring fixing hole with screws and a locking nut is installed; under the action of the tension spring, the pawl arm remains disengaged from the tooth groove of the eight-tooth ratchet, and the device is in the unlocked state.

[0028] Step 3: Spring pre-tensioning and device locking. Rotate the intermediate shaft to apply pre-tensioning force to the spring and store the elastic potential energy required for recovery. After pre-tensioning, push the control block along the stretching direction. The swing arm drives the pawl to rotate around the pawl shaft, so that the pawl arm engages with the tooth groove of the eight-tooth ratchet, thereby locking the device and preventing the spring from releasing energy during the pre-tensioning stage.

[0029] Step 4: Install the tether rope. Pass the retrieval rope through the unlocking and release device, the satellite limiting mechanism, and the rope limiting groove. After applying the target pre-tightening force, fix it through the rope locking seat to achieve constraint locking of the deployment mechanism.

[0030] Step 5: Final assembly before launch: Release the constraints on the control block. Under the action of the tension spring, the pawl arm automatically disengages from the tooth groove of the eight-tooth ratchet, and the device is in the unlocked state. Since the tension of the retrieval rope continues to act on the rope limiting groove, the coil spring remains in a pre-tight state and does not release. Fix the top shell and the bottom shell together with screws to complete the final assembly of the device before launch.

[0031] Step Six: After the satellite is unlocked and recovered in orbit, the unlocking and release device activates, causing the recovery rope to break and the rope tension to disappear. The driving torque of the coil spring is greater than the resistance torque generated by the residual tension of the rope, driving the intermediate shaft and the top shaft to rotate synchronously. The recovery rope is gradually wrapped around the outer wall of the top shaft and gradually guided into the recovery space formed by the outer wall of the bottom shaft, the outer wall of the intermediate shaft, the outer wall of the top shaft, and the side wall of the bottom shell.

[0032] Step 7: After the retrieval is completed, the residual torque of the coil spring continues to act on the intermediate shaft and the top shaft, generating a self-locking effect to prevent the retrieved rope from escaping and maintain a stable retrieval state.

[0033] The advantages of this invention compared to existing automatic take-up devices are:

[0034] 1. A follow-up ratchet locking mechanism is adopted, in which an eight-tooth ratchet is installed on a rotating intermediate shaft, and a lower pawl is used to achieve reliable locking during the pre-tensioning stage of the coil spring and manual unlocking before launch. The storage and release of pre-tensioning force are controllable.

[0035] 2. An automatic reset control assembly with a tension spring is adopted. The control block is located at the bottom, and the pawl is installed on the non-rotating base shaft assembly. During the ground installation phase, the control block is manually pushed to achieve reliable switching between locking and unlocking. After installation, the tension spring automatically resets to keep the device in the unlocked state, eliminating the risk of failure of relying on external pressure to maintain unlocking and simplifying the pre-launch operation process.

[0036] 3. It adopts a split screw connection structure, with all components fastened with screws, resulting in high connection strength, meeting the vibration and impact load requirements during the aerospace launch phase, and facilitating assembly and maintenance;

[0037] 4. The top shaft outer wall rope limiting groove structure is adopted to form a stable recovery starting point and winding benchmark, preventing the rope from detaching during pre-tensioning and recovery;

[0038] 5. The system enables automatic on-orbit retrieval of the tether, effectively preventing the released tether from becoming space debris, meeting space environmental protection requirements, and preventing the tether from causing mechanical interference to other structures of the satellite;

[0039] 6. The structure is compact and highly modular, with each component arranged in a coaxial nested configuration, making it suitable for the stringent volume and weight constraints of micro and nano satellites;

[0040] 7. The device is highly versatile and can be applied not only to micro and nano satellite deployment mechanisms but also to on-orbit unlocking and recovery scenarios for fiber optic cables of other small spacecraft. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the rope recovery device of the present invention;

[0042] Figure 2 This is an exploded view of the rope recovery device of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of the bottom outer shell of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of the bottom shaft assembly of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the intermediate shaft of the present invention;

[0046] Figure 6 This is a schematic diagram of the top shaft structure of the present invention;

[0047] Figure 7 This is a schematic diagram of the ratchet mechanism of the present invention;

[0048] Figure 8 This is a schematic diagram of the control block and tension spring assembly of the present invention;

[0049] Figure 9 This is a cross-sectional schematic diagram of the device of the present invention in a locked state;

[0050] Figure 10 This is a cross-sectional schematic diagram of the device of the present invention in the unlocked and reclaimed state;

[0051] Figure 11 This is an overall schematic diagram of the rope retrieval device and deployment mechanism of the present invention.

[0052] In the diagram: 1-Bottom housing, 11-Base plate, 12-Side wall, 13-Main mounting through hole, 14-Threaded mounting hole, 15-Housing connection threaded hole, 16-Tension spring fixing hole, 2-Top housing, 21-Guide limiting rib, 22-Mating threaded hole, 3-Bottom shaft assembly, 31-Bottom shaft base plate, 32-Intermediate shaft, 321-Spring fixing groove, 33-Bottom shaft outer wall, 34-Pawl shaft, 35-Positioning support rib, 36-Mounting through hole, 4-Intermediate shaft, 41-Disc-shaped base plate, 42-Intermediate shaft outer wall, 421-Rectangular straight groove, 422-Oval mating hole, 43-Ratchet support boss, 431-Circumferential positioning key, 44-Guide sleeve, 5-Top shaft, 51-Mating support wall, 511-Mating end face, 512-Rectangular straight groove, 52-Disc-shaped base plate, 53-Top shaft outer wall, 531-Rope limiting groove, 5 4-Guide sleeve, 6-Eight-tooth ratchet, 61-Circumferential positioning groove, 62-Tooth groove, 7-Pawl, 71-Base plate, 72-Pawl arm, 73-Swing arm, 74-Rotation center hole, 75-Control block connection hole, 76-Motion guide groove, 8-Control block, 81-Upper fitting block, 82-Lower fitting block, 821-First mounting post, 822-Second mounting post, 823-Third mounting post, 9-Tension spring, 91-First fixed end, 92-Second fixed end, 10-Coil spring, 100-Retractable rope, 200-Unwinding mechanism, 300-Unlocking and releasing device, 400-Rope locking seat. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0054] like Figures 1 to 11 As shown, this embodiment provides a tether rope retrieval device for a micro-nano satellite deployment mechanism. The device is based on an improvement in automatic retrieval technology and adopts a modular coaxial nested structure. It mainly includes a bottom shell 1, a top shell 2, a bottom shaft assembly 3, an intermediate shaft 4, a top shaft 5, a ratchet mechanism, a control assembly, a coil spring 10, and a retrieval rope 100.

[0055] The bottom outer shell 1, serving as the basic load-bearing structure of the device, is made of lightweight, high-strength alloy materials (such as aluminum alloy or titanium alloy). Figure 3As shown, the bottom outer shell 1 includes a rectangular base plate 11 and side walls 12 extending vertically upward along opposite sides of the base plate 11. The base plate 11 has two symmetrically distributed main mounting holes 13 for fixing the entire device to the deployment mechanism base with screws. The base plate 11 also has four circumferentially distributed threaded mounting holes 14 for fixing the bottom shaft assembly 3 with screws. Each of the two side walls 12 has two outer shell connecting threaded holes 15 for fixing to the top outer shell 2 with screws. A tension spring fixing hole 16 is provided on the side of the base plate 11 without side walls for fixing the first fixing end 91 of the tension spring 9 with screws and nuts. The height of the side walls 12 is adapted to the combined height of the bottom shaft outer wall 33, the intermediate shaft outer wall 42, and the top shaft outer wall 53, guiding the recovery rope 100 during retrieval and ensuring that the rope is retrieved into the retrieval space enclosed by the bottom shaft outer wall 33, the intermediate shaft outer wall 42, the top shaft outer wall 53, and the side walls 12.

[0056] The top housing 2 encloses the upper part of the device and provides radial positioning and rotational guidance for the intermediate rotating shaft 32. For example... Figure 2 As shown, the top outer shell 2 has a guide limiting rib 21 in the center, which is composed of several radially evenly distributed ribs to form an inner ring guide surface. It cooperates with the top of the middle rotating shaft 32 to achieve radial positioning and rotation guidance, ensuring that the middle rotating shaft 32 rotates smoothly and without deviation. The outer side of the top outer shell 2 has a mating threaded hole 22 corresponding to the outer shell connecting threaded hole 15, which is used to achieve a detachable connection with the bottom outer shell 1 by screws.

[0057] The bottom shaft assembly 3 is the core support component of the device. For example... Figure 4 As shown, the bottom shaft assembly 3 includes a bottom shaft base plate 31, an intermediate rotating shaft 32, a bottom shaft outer wall 33, a pawl rotating shaft 34, and a positioning support rib 35. The bottom shaft base plate 31 has mounting through holes 36 corresponding to the threaded mounting holes 14, which are fixed to the bottom outer shell 1 by screws. The intermediate rotating shaft 32 is vertically positioned at the center of the bottom shaft base plate 31, and a coil spring fixing groove 321 is formed along the axial direction from the lower center to the top. This groove passes through the center of the cross-section of the intermediate rotating shaft 32 and is used to fix the inner end of the coil spring 10. The bottom shaft outer wall 33 is semi-enclosed at the edge of the bottom shaft base plate 31, forming a retraction space together with the side wall 12. The semi-enclosed structure also provides movement space for the pawl 7 and the control block 8. The positioning support rib 35 is a radial rib structure on the bottom shaft base plate 31, composed of several radially evenly distributed ribs, forming an inner ring support surface to support the pawl 7 and limit its radial displacement, while reducing the contact area to reduce friction. The pawl pivot 34 is located between the center of the positioning support rib 35 and the outer wall 33 of the bottom shaft. Its axial height is higher than the sum of the height of the positioning support rib 35 and the thickness of the pawl 7, and lower than the difference in the superimposed height between the outer wall 33 of the bottom shaft and the ratchet support boss 43. This height setting does not hinder the rotation of the eight-tooth ratchet 6, and also prevents the pawl 7 from axially dislodging from the pawl pivot 34.

[0058] The intermediate shaft 4 is a key component for fixing the outer side of the coil spring 10 and transmitting torque. For example... Figure 5 As shown, the intermediate shaft 4 includes a disc-shaped base plate 41, an outer wall 42, a ratchet support boss 43, and a guide sleeve 44. A rectangular straight groove 421 is formed on the outer wall 42 of the intermediate shaft to fix the outer end of the coil spring 10. A waist-shaped mating hole 422 is formed on the inner side of the outer wall 42, forming a profile fit with the mating end face 511 of the top shaft 5, restricting the relative rotational freedom between the intermediate shaft 4 and the top shaft 5, and achieving reliable torque transmission. The ratchet support boss 43 and the outer wall 42 of the intermediate shaft are located on opposite sides of the disc-shaped base plate 41. The ratchet support boss 43 is provided with a circumferential positioning key 431, which engages with the circumferential positioning groove 61 on the inner side of the eight-tooth ratchet 6, realizing synchronous rotation between the eight-tooth ratchet 6 and the intermediate shaft 4—this is fundamentally different from the structure of the ratchet fixed to the outer shell in the prior art, and is the key to the follow-up locking of this invention. The guide sleeve 44 is located at the mounting hole of the intermediate shaft 32 and extends circumferentially to increase the contact area between the intermediate shaft 4 and the intermediate shaft 32, thereby helping to restrict the degree of freedom of rotation and improve the load-bearing capacity.

[0059] Top shaft 5 is the winding actuator for recovering rope 100. For example... Figure 6 As shown, the top shaft 5 includes a mating support wall 51, a disc-shaped base plate 52, and a top shaft outer wall 53. The outer side of the mating support wall 51 forms a mating end face 511 that matches the waist-shaped mating hole 422, which mates with the top of the intermediate rotating shaft 32 to achieve radial positioning. A rectangular straight groove 512 is provided on the mating support wall 51 at a position corresponding to the rectangular straight groove 421, and its width is slightly larger than the width of the rectangular straight groove 421 to facilitate the installation of the coil spring 10. The disc-shaped base plate 52 is located between the mating support wall 51 and the top shaft outer wall 53 to separate the coil spring installation space from the rope limiting space, preventing interference between the coil spring 10 and the retrieval rope 100. A rope limiting groove 531 is provided on the top shaft outer wall 53 at an off-center position, serving as the retrieval starting point and winding reference for the retrieval rope 100. The groove design of the rope limiting groove 531 ensures that the retrieval rope 100 will not detach in the pre-tensioned state.

[0060] The ratchet mechanism includes an eight-tooth ratchet 6 and a pawl 7, which enables the locking and unlocking functions of the device. For example... Figure 7As shown, the eight-tooth ratchet 6 is mounted on the ratchet support boss 43 of the intermediate shaft 4 and can rotate synchronously with the intermediate shaft 4. A circumferential positioning groove 61 is provided on the inner side to cooperate with the circumferential positioning key 431 for circumferential positioning. A toothed groove 62 is provided on the outer side to cooperate with the pawl arm 72 for locking and unlocking. The pawl 7 includes a base plate 71, a pawl arm 72 located at one end of the base plate 71, and a swing arm 73 located at the other end of the base plate 71. A rotation center hole 74 and a motion guide groove 76 are provided on the base plate 71. A control block connection hole 75 is provided on the swing arm 73. The rotation center hole 74 is concentrically mounted with the pawl shaft 34, allowing the pawl 7 to rotate around the pawl shaft 34. The motion guide groove 76 is slidably engaged with the intermediate shaft 32, enabling the pawl 7 to rotate eccentrically relative to the intermediate shaft 32. The control block connection hole 75 is used to connect with the control block 8.

[0061] The pawl 7 is mounted on the non-rotating bottom shaft assembly 3. This design ensures that the control block 8 is always in a stationary coordinate system, which facilitates manual operation before launch, avoids the influence of centrifugal force caused by the control block rotating with the intermediate shaft, and simplifies the interface design between the control block and the satellite fixed structure.

[0062] The control components include a control block 8 and a tension spring 9, and are arranged in a bottom-mounted layout. For example... Figure 8 As shown, the control block 8 consists of an upper fitting block 81 and a lower fitting block 82. The lower fitting block 82 is provided with a first mounting post 821, a second mounting post 822, and a third mounting post 823. The first mounting post 821 passes through the control block connection hole 75 to connect with the pawl 7; the second mounting post 822 passes through the fixing ring of the second fixing end 92 of the tension spring 9 and then engages and fixes with the mounting hole of the upper fitting block 81 to achieve the overall assembly of the control block 8. The first fixing end 91 of the tension spring 9 is fixed to the tension spring fixing hole 16 by screws and nuts. The preload of the tension spring 9 is configured such that when the control block 8 is not constrained by external force, the tension spring 9 pulls the pawl arm 72 to disengage from the tooth groove 62 of the eight-tooth ratchet 6, so that the intermediate shaft 4 and the top shaft 5 are in a rotatable state. Compared with the original structure that relies on cable pressure to maintain unlocking, this eliminates the risk of slippage failure and significantly improves reliability.

[0063] The coil spring 10 is located between the outer wall 42 of the intermediate shaft and the intermediate rotating shaft 32, providing driving force for rope retrieval. The inner end of the coil spring 10 is fixed to the coil spring fixing groove 321, and the outer end is fixed to the rectangular straight groove 421.

[0064] The retrieval rope 100 is a mooring rope to be retrieved. It passes through the unlocking and release device 300, the rope limiting structure on the deployment mechanism 200, and the rope limiting groove 531. After applying the target tension, the beginning and end of the retrieval rope are pre-tightened and fixed by the rope locking seat 400 to constrain the deployment mechanism.

[0065] Assembly and operation process of the device:

[0066] Assembly Stage: First, pre-assemble the components. Install the pawl 7 onto the pawl shaft 34 through the rotation center hole 74, so that the intermediate shaft 32 passes through the motion guide groove 76; install the eight-tooth ratchet 6 onto the ratchet support boss 43, ensuring that the circumferential positioning groove 61 and the circumferential positioning key 431 are reliably engaged; install the intermediate shaft 4 onto the intermediate shaft 32; insert the inner end of the coil spring 10 into the coil spring fixing groove 321, and insert the outer end into the rectangular straight groove 421; after the lower fitting block 82 of the control block 8 passes through the control block connecting hole 75 and the second fixing end 92 of the tension spring 9, it is fitted and fixed with the upper fitting block 81; according to the surface fit relationship between the waist-shaped mating hole 422 and the mating end face 511, install the top shaft 5 onto the intermediate shaft 32.

[0067] Overall installation: The bottom shaft assembly 3 is fixed to the bottom housing 1 with screws; the bottom housing 1 is fixed to the unfolding mechanism base through the main mounting through hole 13 and screws; the first fixed end 91 of the tension spring 9 is fixed to the tension spring fixing hole 16 with screws and a locking nut is installed. At this time, under the action of the tension spring 9, the pawl arm 72 remains disengaged from the tooth groove 62 of the eight-tooth ratchet 6, the intermediate shaft 4 and the top shaft 5 can rotate freely, and the device is in the unlocked state.

[0068] Pre-tensioning and locking phase: Rotate the intermediate shaft 4 to apply pre-tensioning force to the coil spring 10, storing the elastic potential energy required for recovery. After pre-tensioning is completed, push the control block 8 along the tension direction of the tension spring 9, which drives the pawl 7 to rotate around the pawl shaft 34 via the swing arm 73, so that the pawl arm 72 engages with the tooth groove 62 of the eight-tooth ratchet 6, thereby locking the device and preventing the coil spring 10 from releasing energy during the pre-tensioning phase.

[0069] Rope installation stage: The recovery rope 100 is passed through the unlocking and release device 300, the satellite limiting mechanism and the rope limiting groove 531. After applying the target pre-tightening force, it is fixed by the rope locking seat 400 to achieve the constraint and locking of the deployment mechanism 200.

[0070] Pre-launch preparation stage: Loosen the fixing of the control block 8. Under the action of the tension spring 9, the pawl arm 72 automatically disengages from the tooth groove 62 of the eight-tooth ratchet 6, and the device is in the unlocked state. However, due to the tension of the recovery rope 100 acting on the rope limiting groove 531, a resistance torque is generated, limiting the energy release of the coil spring 10, keeping the coil spring 10 in a pre-tensioned state. Secure the top outer shell 2 to the bottom outer shell 1 with screws, completing the final assembly of the device before launch.

[0071] In-orbit recovery phase: After the satellite enters orbit, the release device 300 activates, causing the recovery rope 100 to break and the rope tension to drop rapidly. When the driving torque of the coil spring 10 exceeds the resistance torque generated by the residual tension of the rope, the coil spring 10 drives the intermediate shaft 4 and the top shaft 5 to rotate synchronously. The recovery rope 100 gradually wraps around the outer wall 53 of the top shaft and is gradually guided into the recovery space formed by the outer wall 33 of the bottom shaft, the outer wall 42 of the intermediate shaft, the outer wall 53 of the top shaft, and the side wall 12.

[0072] Recovery and Holding Phase: After recovery is completed, the residual torque of the coil spring 10 continues to act on the intermediate shaft 4 and the top shaft 5, generating a self-locking effect to prevent the recovered rope from escaping and maintain a stable recovery state.

[0073] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A tethered rope recovery device for a micro / nano satellite deployment mechanism, characterized in that, include: The bottom outer shell (1) includes a base plate (11) and sidewalls (12) extending vertically along both sides of the base plate (11); the base plate (11) is provided with a main mounting hole group and a circumferentially distributed threaded hole group, the main mounting hole group is used to fix the device to the unfolding mechanism base by screws, and the threaded hole group is used to install and fix the bottom shaft assembly (3) by screws; the sidewalls (12) are provided with outer shell connecting threaded holes (15); the base plate (11) is provided with a tension spring fixing hole (16) on one side. The top outer shell (2) has a guide limiting rib (21) in the center, which is composed of several radially evenly distributed ribs to form an inner ring guide surface for radial positioning and rotation guidance of the intermediate rotating shaft (32). The outer side has a mating threaded hole (22) corresponding to the connecting threaded hole (15) of the outer shell, and is fixedly connected to the bottom outer shell (1) by screws. The bottom shaft assembly (3) includes a bottom shaft base plate (31), an intermediate rotating shaft (32), a bottom shaft outer wall (33), a pawl rotating shaft (34), and a positioning support rib (35). The bottom shaft base plate (31) is provided with mounting through holes (36) corresponding to the threaded hole group, which are fixed to the bottom outer shell (1) by screws. The intermediate rotating shaft (32) is provided with a coil spring fixing groove (321) extending to the top along the axial direction. The coil spring fixing groove (321) passes through the center of the cross-section of the intermediate rotating shaft (32). The bottom shaft outer wall (33) is semi-enclosed and forms a retraction space with the side wall (12). The positioning support rib (35) is a radial rib structure provided on the bottom shaft base plate (31), which is composed of several radially evenly distributed ribs to form an inner ring support surface for supporting the pawl (7) and limiting its radial displacement. The pawl rotating shaft (34) is located between the center of the positioning support rib (35) and the bottom shaft outer wall (33). The intermediate shaft (4) includes a disc-shaped base plate (41), an outer wall (42) of the intermediate shaft, a ratchet support boss (43) and a guide sleeve (44); the outer wall (42) of the intermediate shaft is provided with a rectangular straight groove (421) and an inner waist-shaped mating hole (422); the ratchet support boss (43) is provided on one side of the disc-shaped base plate (41) and is provided with a circumferential positioning key (431); the guide sleeve (44) is provided at the mounting hole of the intermediate rotating shaft (32); The top shaft (5) includes a mating support wall (51), a disc-shaped base plate (52), and a top shaft outer wall (53); the mating support wall (51) has a mating end face (511) on its outer side that is adapted to the waist-shaped mating hole (422); the mating support wall (51) is provided with a rectangular straight groove (512); the disc-shaped base plate (52) is used to separate the coil spring installation space and the rope limiting space; the top shaft outer wall (53) is provided with a rope limiting groove (531) off-center. The ratchet mechanism includes an eight-tooth ratchet (6) and a pawl (7); the eight-tooth ratchet (6) is mounted on the ratchet support boss (43) of the intermediate shaft (4), and has a circumferential positioning groove (61) on the inner side that cooperates with the circumferential positioning key (431), and a tooth groove (62) on the outer side, so as to realize the synchronous rotation of the eight-tooth ratchet (6) and the intermediate shaft (4); the pawl (7) is mounted on the bottom shaft assembly (3), including a base plate (71), a pawl arm (72) and a swing arm (73), and the base plate (71) has a rotation center hole (74), a control block connection hole (75) and a motion guide groove (76); the rotation center hole (74) is concentrically mounted with the pawl shaft (34), and the motion guide groove (76) is slidably engaged with the intermediate shaft (32); The control assembly includes a control block (8) and a tension spring (9); the control block (8) is composed of an upper fitting block (81) and a lower fitting block (82), the lower fitting block (82) is provided with a first mounting post (821), a second mounting post (822) and a third mounting post (823); the first mounting post (821) is connected to the control block connection hole (75), and the second mounting post (822) is connected to the second fixed end (92) of the tension spring (9); the first fixed end (91) of the tension spring (9) is fixed to the tension spring fixing hole (16) by screws and nuts; the control block (8) reciprocates along a direction perpendicular to the axis of the intermediate rotating shaft (32), and drives the pawl (7) to rotate eccentrically around the pawl rotating shaft (34) through the swing arm (73), so as to realize the engagement or disengagement of the pawl arm (72) with the tooth groove (62) of the eight-tooth ratchet (6); A coil spring (10) is disposed between the outer wall (42) of the intermediate shaft and the intermediate rotating shaft (32). Its inner end (center end) is fixed to the coil spring fixing groove (321) of the intermediate rotating shaft (32), and its outer end (outer ring end) is fixed to the rectangular straight groove (421) of the outer wall (42) of the intermediate shaft. The retrieval rope (100) passes through the unlocking and release device, the rope limiting structure on the deployment mechanism, and the rope limiting groove (531). After applying the target tension, the beginning and end of the retrieval rope are fixed together by the rope locking seat (400) to constrain the deployment mechanism.

2. The tethered rope recovery device for the micro / nano satellite deployment mechanism according to claim 1, characterized in that, When the device is installed and used, the device is locked by the pawl arm (72) engaging the tooth groove (62) of the eight-tooth ratchet (6); before launch, the device releases the constraint on the control block (8), and under the action of the tension spring (9), the pawl arm (72) disengages from the tooth groove (62) of the eight-tooth ratchet (6), and the tension of the recovery rope (100) acts on the rope limiting groove (531) to lock the device.

3. The tethered rope recovery device for the micro / nano satellite deployment mechanism according to claim 1, characterized in that, The preload of the tension spring (9) is configured such that when the control block (8) is not constrained by external force, the tension spring (9) pulls the pawl arm (72) away from the tooth groove (62) of the eight-tooth ratchet (6), so that the intermediate shaft (4) and the top shaft (5) are in a rotatable state.

4. A method for operating the tethered rope recovery device for a micro / nano satellite deployment mechanism as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Pre-assembly of the device. Install the pawl (7) onto the pawl shaft (34) through the rotation center hole (74), and allow the intermediate shaft (32) to pass through the motion guide groove (76). Install the eight-tooth ratchet (6) onto the ratchet support boss (43), and allow the circumferential positioning groove (61) to engage with the circumferential positioning key (431). Install the intermediate shaft (4) onto the intermediate shaft (32). Install the inner... The side end is inserted into the coil spring fixing groove (321), and the outer end is inserted into the rectangular straight groove (421); the lower fitting block (82) of the control block (8) is passed through the control block connecting hole (75) and the second fixing end (92) of the tension spring (9) and then fitted and fixed with the upper fitting block (81); according to the surface fit relationship between the waist-shaped fitting hole (422) and the fitting end face (511), the top shaft (5) is installed on the intermediate rotating shaft (32). Step 2: Install the device as a whole. Fix the bottom shaft assembly (3) to the bottom outer shell (1) with screws. Fix the bottom outer shell (1) to the unfolding mechanism base with the main mounting hole group and screws. Fix the first fixing end (91) of the tension spring (9) to the tension spring fixing hole (16) with screws and install the locking nut. Under the action of the tension spring (9), the pawl arm (72) remains disengaged from the tooth groove (62) of the eight-tooth ratchet (6). Step 3: Spring pre-tensioning and device locking. Rotate the intermediate shaft (4) to apply pre-tensioning force to the spring (10). After pre-tensioning, push the control block (8) along the stretching direction to make the pawl arm (72) engage in the tooth groove (62) of the eight-tooth ratchet (6) to lock the device. Step 4: Install the tether rope. Pass the retrieval rope (100) through the unlocking and release device, the satellite limiting mechanism and the rope limiting groove (531). After applying the target pre-tightening force, fix it through the rope locking seat (400) to achieve the constraint locking of the deployment mechanism. Step 5: Final assembly before launch. Release the constraint on the control block (8). Under the action of the tension spring (9), the pawl arm (72) disengages from the tooth groove (62) of the eight-tooth ratchet (6). Due to the tension of the recovery rope (100) acting on the rope limiting groove (531), the energy release of the coil spring (10) is restricted. Fix the top shell (2) and the bottom shell (1) together with screws to complete the device installation. Step 6: On-orbit unlocking and recovery. After the satellite enters orbit, the unlocking and release device activates, causing the recovery rope (100) to break and the rope tension to disappear. The driving torque of the coil spring (10) is greater than the resistance torque generated by the residual tension of the rope, driving the intermediate shaft (4) and the top shaft (5) to rotate synchronously, gradually recovering the recovery rope (100) into the recovery space. Step 7: Retrieval and Holding. After retrieval is completed, the residual torque of the coil spring (10) acts on the intermediate shaft (4) and the top shaft (5) to prevent the retrieved rope from escaping and to maintain the retrieval state.

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