ACTUATOR MODULE FOR RELEASING AN EQUIPMENT COMPONENT

Description

[0001] The invention relates to an actuator module for releasing an equipment component. The equipment component can be an equipment component of a satellite, for example, a deployable, inflatable, and / or extendable component of the satellite, such as a solar panel, an antenna, or a braking parachute. The equipment component can be an equipment component of a sub-orbital or orbital platform such as a rocket, in particular a rocket component to be separated or moved, or a satellite to be released. Actuator modules of this type are known, for example, from KR 2012 0009568 A, US 6,450,725 B1, and US 2019 / 308754 A1.

[0002] The actuator module described here comprises a module base, wherein the module base forms a guide sleeve. The guide sleeve has, for example, essentially the shape of a general cylinder with an axial through-bore, for example the shape of a hollow cylinder.

[0003] The actuator module further comprises a release body inserted into the guide sleeve for coupling to the equipment component. The release body is arranged to be movable relative to the guide sleeve along a sleeve axis thereof from a standby position to a working position. In the standby position, the release body is subjected to a first spring preload urging the release body toward the working position and is capable of releasing the equipment component by transferring it from the standby to the working position. The release body is, for example, substantially cylindrical in shape.

[0004] In addition, the actuator module comprises a blocking body mounted on the guide sleeve and movable relative thereto between a blocking position and a release position. In its blocking position, the blocking body blocks the release body against movement from the standby position to the working position, and in its release position, allows the release body to move from the standby position to the working position. In its blocking position, the blocking body is subject to a second spring preload, which urges the blocking body from the release position toward the blocking position. The blocking body essentially has the shape of a general cylinder with an axial through-bore, for example, the shape of a hollow cylinder. The blocking body can be mounted on the guide sleeve in such a way that it at least partially, preferably completely, encloses it circumferentially.

[0005] Furthermore, the actuator module comprises an actuator device for moving the blocking body from the blocking position into the release position, wherein the actuator device comprises at least one actuator wire made of a shape memory material, which is fixed to the module base by both wire ends and coupled to the blocking body for applying an activation force counteracting the second spring preload.

[0006] The shape memory material is designed to contract upon actuation. Preferably, the shape memory material is a shape memory alloy that contracts at least in the longitudinal direction of the actuator wire upon heating. Heating can be achieved through ohmic heat by supplying the electrically conductive actuator wire with a specific electrical power.

[0007] Actuator modules for releasing equipment components are known from the state of the art. However, these often have the disadvantage of taking up a large volume due to their size. Furthermore, these actuator modules are often heavy. Often, these actuator modules are designed for only one-time actuation, making it impossible to test the actuation of the same actuator module multiple times to ensure its reliable function.

[0008] To prevent unintentional movement of the release body from the standby position to the working position, it is advantageous to prevent unintentional movement of the blocking body from the blocking position to the release position. To this end, the second spring preload and / or the travel required to move the blocking body from the blocking position to the release position should be selected as large as possible.

[0009] To enable reliable movement of the release body from the standby position to the working position, it must be ensured that the actuator device can move the blocking body against the second spring preload. A high actuating force of the actuator device is therefore advantageous. At the same time, it must be ensured that the actuator device reliably achieves the required travel. A large travel range of the actuator device is therefore also advantageous.

[0010] The blocking body is arranged to be axially movable relative to the guide sleeve between its blocking position and its release position, and the actuator wire is guided around the guide sleeve in an axial up-and-down motion, with the actuator wire being supported on the blocking body and the module base. The actuator wire can be guided around the guide sleeve in multiple axial up-and-down motions, with the actuator wire being alternately supported on the blocking body and the module base. For example, the actuator wire is also guided around the blocking body placed on the guide sleeve.

[0011] The actuator wire thus runs diagonally with respect to the direction of movement of the blocking body. The wire can comprise several essentially straight, consecutive sections, each of which runs diagonally to the direction of movement of the blocking body. The diagonal course enables an increase in the travel range: When the actuator wire contracts by a certain length, the blocking body can be moved by a travel distance greater than the specified length. Furthermore, by wrapping the actuator wire around the guide sleeve, a large length of the individual sections of the actuator wire is achieved. This also results in a large travel range of the actuator device.

[0012] Furthermore, this path of the actuator wire results in a distribution of force across individual sections of the actuator wire, each of which preferably runs between the blocking body and the module base. The force exerted by the actuator wire on the blocking body to move the blocking body is the sum of the individual forces exerted by the sections of the actuator wire on the blocking body. Thus, the actuator wire can exert a high overall force as a positioning force on the blocking body.

[0013] The blocking body can have a plurality of at least, and preferably a total of two, wire guide formations for the actuator wire, arranged substantially evenly distributed in the circumferential direction. The actuator wire descends, for example, in the circumferential direction on both sides of each of the wire guide formations to wire support points located axially lower on the module base, preferably obliquely with respect to the axial direction and / or with respect to a direction of movement of the blocking body.

[0014] The module base can have a plurality of at least, and preferably a total of two, wire support points for the actuator wire, arranged substantially evenly distributed in the circumferential direction of the guide sleeve. The wire support points are preferably located radially outside the blocking body. The actuator wire rises, for example, in the circumferential direction on both sides of each of the wire support points to wire guide formations located axially higher on the blocking body, preferably obliquely with respect to the axial direction and / or with respect to a direction of movement of the blocking body. For example, the wire support points are formed by fastening elements attached to the module base. The number of wire support points preferably corresponds to the number of wire guide formations.

[0015] In an axial plan view, the actuator wire can essentially follow the edges of a polygon. Positions of the actuator wire that lie at adjacent corners of the polygon formed by the same edge are at least axially spaced from each other. The polygon can be a convex and / or equilateral polygon. The polygon is preferably a rhombus, in particular a square.

[0016] This allows for a uniform force to be applied to the blocking body, so that when the actuator wire is actuated, essentially only one force acts on the blocking body, driving it from the blocking position toward the release position. This reduces frictional forces between the blocking body and the guide sleeve and enables a high actuating force of the actuator device. Furthermore, a compact design of the actuator module is possible while simultaneously maintaining the greatest possible length for each section of the actuator wire to ensure a large actuating range.

[0017] For example, the module base comprises a base plate with an at least approximately polygonal outline, and at least one of the wire ends of the actuator wire is secured to the module base in the region of one of the corners of the outline in an axial plan view, for example, to one of the wire support points or fastening elements described above. For example, the guide sleeve projects upwards or downwards from the base plate essentially in the center of the plate. The outline is preferably at least approximately a convex and / or equilateral polygon. The polygon can be a rhombus or a square. Both wire ends of the actuator wire can also be secured to the module base in the region of the same corner of the outline in an axial plan view.

[0018] This allows for the longest possible length of the actuator wire, thus providing a large travel range for the actuator unit, while maintaining a compact design of the actuator module. It also allows the electrical cables for actuating the actuator unit to be connected to the same corner, which facilitates installation and electrical contacting of the actuator module, even in hard-to-reach areas such as micro-satellites (so-called "Cubesats").

[0019] For example, the actuator wire is designed as a single-core wire and is inserted in the region of at least one of its wire ends into the wire bundle of a stranded wire serving to supply the actuator wire electrically, wherein the actuator wire is clamped to the stranded wire in a tensile force-transmitting manner by means of a clamping sleeve placed on the wire bundle.

[0020] Alternatively, the actuator wire can be designed as a single-core wire and, in the region of at least one of its wire ends, can be clamped to the connecting pin in a tensile force-transmitting and / or tensile-resistant manner by means of a clamping sleeve placed on a connecting pin serving to supply the actuator wire with electrical power. For example, in this case, too, a fiber bundle surrounding the wire end is arranged in the region of the clamping sleeve, wherein the fiber bundle is an electrically conductive strand bundle. The connecting pin can be designed for direct connection to an electrical circuit board or a connector. The clamping sleeve can be manufactured in one piece with the connecting pin.

[0021] The clamping sleeve, for example, forms a crimp-type connection. The clamping sleeve is preferably crimped to the stranded wire or fiber bundle and the actuator wire from at least four directions. For this purpose, a tool with a four-prong profile is used to evenly press four crimping dies onto the clamping sleeve, displacing the stranded wire or fiber bundle material evenly and ensuring a high degree of crimping. The clamping sleeve can also be crimped to the stranded wire or fiber bundle and the actuator wire from one, two, three, five, or more directions. In this case, a corresponding crimping tool can be used to crimp the clamping sleeve.

[0022] The clamping sleeve is preferably fixed to the module base, for example to one of the wire support points described above and / or to a fastening element arranged on the base plate of the module base.

[0023] This ensures electrical contact with the actuator wire while simultaneously securing it in place. This type of connection is also very space-saving, allowing for a compact design of the actuator module. Last but not least, this type of connection minimizes the risk of the actuator wire breaking.

[0024] At least the actuator wire and the clamping sleeve can be enclosed by a continuous electrical insulating layer. The insulating layer preferably also encloses at least a portion of the stranded wire. For example, the actuator wire and the clamping sleeve are surrounded by a tube made of insulating material such as polytetrafluoroethylene (PTFE) as an insulating layer. The tube can be a shrink tube. To form the insulating layer, a coating such as enamel can be applied to at least the actuator wire and the clamping sleeve, alternatively or in addition to the tube.

[0025] A locking body can be arranged on the clamping sleeve, which is designed to fasten the clamping sleeve to the module base in a tensile-resistant manner, at least in the direction of the actuator wire. The locking body can be connected to the clamping sleeve by casting or gluing before or after the insulating layer is applied.

[0026] This enables a space-saving design of the actuator module and reliable electrical insulation of the actuator wire. It also prevents unintentional actuation of the actuator wire due to short circuits or leakage currents, increasing the reliability of the actuation. Last but not least, the pull-proof connection via the locking body ensures the reliability of the actuation element.

[0027] For example, a through hole for a locking ball is formed in the sleeve wall of the guide sleeve, which in the blocking position of the blocking body projects radially inward beyond the inner circumferential surface of the guide sleeve in order to block the release body against movement from the standby position into the working position, wherein in the release position of the blocking body the locking ball is released for displacement out of the axial movement range of the release body and the release body is designed with an axial pocket into which a spring element is inserted to generate the first spring preload, wherein the release body in its working position lies with the radially outer pocket wall of the pocket radially in front of the locking ball.

[0028] This allows for a compact design of the actuator module. At the same time, the first spring preload is decoupled from the second spring preload, allowing the use of a large first spring preload, which can even exceed the actuating force of the actuator unit.

[0029] Preferably, the locking ball is designed to protrude radially outward beyond the outer circumferential surface of the guide sleeve in the release position of the blocking body in order to block the blocking body against movement from the release position into the blocking position when the release body is located in its working position with the radially outer pocket wall of the pocket radially in front of the locking ball. Furthermore, in one example, the blocking element is designed such that, in the release position, it causes a force acting radially inward on the locking ball, driven by the second spring preload. The fixing body, on the other hand, is preferably designed such that, in the standby position, it causes a force acting radially outward on the locking ball, driven by the first spring preload.

[0030] This allows the release body to be manually moved from the working position back to the standby position against the first spring preload. The locking ball can then be driven radially inward by the blocking body so that it again protrudes radially inward beyond the inner circumferential surface of the guide sleeve. This displacement of the locking ball simultaneously enables the blocking body to move from the release position to the blocking position due to the second spring preload.

[0031] This ensures that the actuator module can be easily reset, which enables testing of the function of the actuator module before installation in a satellite, platform or rocket, and thus increases the reliability of the installed actuator module.

[0032] The actuator module may comprise a housing. The housing preferably encloses at least the release body, the blocking body, and the actuator wire. The housing is preferably attached to the module base.

[0033] The housing can be designed to define the blocking position and / or the release position of the blocking body. For this purpose, the housing can be designed to limit movement of the blocking body in the axial direction. The housing can also be designed to limit movement of the blocking body in a direction opposite to the axial direction. Additionally or alternatively, the housing can be designed to limit rotational movement of the blocking body about the guide sleeve axis in one or both directions.

[0034] The housing can be designed to define the standby position and / or the working position of the release body. For this purpose, the housing can be designed to limit movement of the release body in the axial direction. The housing can also be designed to limit movement of the release body in a direction opposite to the axial direction.

[0035] Alternatively or additionally, the module base, for example, the base plate or the guide sleeve, can be designed to define the standby position and / or the working position of the release body. For this purpose, the module base can be designed to limit movement of the release body in the axial direction. The module base can also be designed to limit movement of the release body in a direction opposite to the axial direction.

[0036] According to these examples, the housing or module base not only serves to protect the individual components but also to limit their movement. This avoids the use of additional components and ensures a compact design of the actuator module.

[0037] The invention is further explained below with reference to the accompanying drawings. They show: Fig. 1a perspective view of an actuator module before actuation, Fig. 2a side view of the actuator module from Fig. 1 , Fig. 3 a sectional view in a plane A of the actuator module from Fig. 1 , Fig. 4 a sectional view in a plane B orthogonal to plane A of the actuator module from Fig. 1 , Fig. 5 a perspective view of the actuator module after actuation, Fig. 6 a sectional view in plane A of the actuator module from Fig. 5 , Fig. 7 a sectional view in plane B of the actuator module from Fig. 5 , Fig. 8 a sectional view in plane B of an actuator module before actuation, Fig. 9 a sectional view in plane B of an actuator module before actuation, Fig. 10 a perspective view of an actuator module before actuation, Fig. 11 a perspective view of a blocking body and an actuator unit of the actuator module from Fig. 10 , Fig. 12a blocking body of the actuator module Fig. 10 , and Fig. 13 a perspective view of the actuator module from Fig. 10 .

[0038] In the following and in the Fig. 1-13 The same reference numerals denote the same structural features. Reference is first made to the Fig. 1 referred to.

[0039] The actuator module 100 comprises a release body 2 arranged in a guide sleeve 4 of a module base. The module base further comprises a base plate 6, from which the guide sleeve protrudes substantially orthogonally. The release body 2 extends through the base plate 6 to the side of the base plate 6 facing away from the guide sleeve 4.

[0040] Fig. 1 shows the actuator module 100 prior to actuation with the release body 2 in a standby position. A first spring preload acts on the release body 2 in the axial direction from the standby position to a working position. The actuator module 100 is configured to release the release body 2 in the axial direction of the guide sleeve 4 after actuation, so that the portion of the release body 2 extending on the side of the base plate 6 facing away from the guide sleeve 4 is reduced. In other words, by actuating the actuator module 100, the release body 2 is retracted into the guide sleeve 4 by the first spring preload. In the retracted state, the release body is in its working position. The actuator module 100 can therefore also be referred to as a "pin puller."

[0041] The actuator module 100 comprises a blocking body 8, which is mounted on the guide sleeve 4. The blocking body 8 is mounted on the guide sleeve 4 so that it can be displaced in the axial direction. An actuator unit serves to move the blocking body 8 in the axial direction on the guide sleeve 4 against a second spring preload. The second spring preload is exerted on the blocking body 8 by the spring element 10, which is supported on the base plate 6 and on the blocking body 8. In the configuration shown, i.e., before the actuator module 100 is actuated, the blocking body 8 is in a blocking position. In the blocking position, the blocking body 8 blocks the release body 2, so that the release body 2 cannot be retracted into the guide sleeve 4.

[0042] The actuator unit comprises at least one actuator wire 12, which is attached to the module unit at both ends. The actuator wire 12 is also attached to the blocking body 8. It can be seen that the actuator wire 12 is laid around the guide sleeve 4 in an axial up and down motion. Several essentially rectilinear sections are formed by the actuator wire 12, each extending between the blocking body 8 and the module base. The actuator wire 12 is, for example, a wire made of a nickel-titanium alloy (e.g., Nitinol) and, in one example, has a diameter of approximately 0.3 mm. When the actuator wire 12 is heated to a transformation temperature, which may be approximately 90°C, the crystal structure is transformed, causing the actuator wire 12 to contract at least in the longitudinal direction.

[0043] Two wire guide formations 14 are arranged on the blocking body 8, essentially uniformly arranged in the circumferential direction. The two wire guide formations 14 in this case are arranged on opposite sides of the blocking body 8 and protrude radially from the outer circumferential surface of the blocking body 8. The base plate 6 has a substantially square outline in axial plan view. Wire support points are formed in two opposite corners of the outline. In particular, on the side of the base plate 6 facing the guide sleeve 4, a fastening element is arranged in only two opposite corners of the outline of the base plate 6. Each of the sections of the actuator wire 12 runs between a fastening element as a wire support point and a wire guide formation 14.

[0044] The fastening element 16, to which both wire ends of the actuator wire 12 are secured, has a through-hole with at least a T-shaped outline, beginning at one axial end of the fastening element 16 and extending substantially radially, with one wire end secured in each of the short legs of the "T." This allows for easy wrapping of the actuator wire 12 around the blocking body 8 and a fastening element, as well as simple subsequent fastening of the wire ends to the aforementioned fastening element 16 via the through-hole. The wire ends can be guided along the through-hole and do not need to be threaded through a fastening hole.In particular, when the wire ends are clamped to a stranded wire serving the electrical supply by means of a clamping sleeve, this design of the fastening element 16 ensures simple assembly and secure fixation of the actuator wire 12 to the fastening element 16. A diameter of the clamping sleeve is larger than a width of the short leg of the "T" of the through-hole to ensure fixation of the clamping sleeve to the fastening element 16 in the pulling direction of the actuator wire 12.

[0045] The actuator unit comprises an additional actuator wire 13 that is axially spaced from the actuator wire 12 and runs essentially uniformly with the actuator wire 12 and is also fixed. The additional actuator wire 13 is provided for redundancy. Should an actuation of the actuator module 100 by means of the actuator wire 12 fail, a movement of the blocking body 8 from the blocking position to the release position can still be accomplished by means of the additional actuator wire 13.

[0046] Fig. 2 shows a side view of the actuator module 100 from Figur 1 . In particular, the course of the actuator wire 12 can be seen here. The attachment points of the actuator wire 12 on the module base, i.e. the wire support points on the attachment elements, are spaced axially and in the circumferential direction around the guide sleeve 4 from the attachment points of the actuator wire 12 on the blocking body 8 or on the wire guide formations 14. The attachment element 17 is designed essentially similarly to the wire guide formations 14 and serves to deflect the actuator wire 12. Only the axial direction of the notches provided on the wire guide formations 14, into which the actuator wire 12 is inserted, is opposite to the axial direction of the notches provided on the attachment element 17, into which the actuator wire 12 is inserted.

[0047] Fig. 3 shows a sectional view of the actuator module 100 from Fig. 1 along the Fig. 1 shown plane A, in which the guide sleeve axis lies. For the sake of clarity, the actuator wire 12 and the further actuator wire 13 are not shown in this figure.

[0048] It can be seen that the spring element 10 is supported on the base plate 6 and on the blocking body 8. The spring element 10 is a compression spring, in particular a helical spring, which can urge the blocking body 8 away from the blocking position on the base plate 6. The spring element 10 is arranged such that it completely encloses the guide sleeve 4. In one example, the spring element exerts a second spring preload of approximately 11 N on the blocking body 8 in the blocking position of the blocking body 8 and a second spring preload of approximately 16 N in the release position of the blocking body 8.

[0049] It can also be seen that the release body 2 has a pocket 18 extending in the axial direction. A further spring element 20 is arranged within the pocket 18. The further spring element 20 is supported both on the base plate 6 and on an end face of the pocket 18 of the release body 2 and urges the release body 2 away from the base plate 6 when the release body is released. The further spring element 20 is designed as a compression spring, in particular a helical spring, which is arranged within the pocket 18 shaped as an annular pocket in the ready position of the release body. The further spring element 20 exerts the first spring preload on the release body 2, which can urge it from the ready position towards the working position if the blocking body does not block this movement.In one example, the further spring element 20 exerts a first spring preload of approximately 10 N on the release body 2 in the ready position of the release body 2 and a first spring preload of approximately 5 N in the working position of the release body 2.

[0050] The blocking body 8 has a recess 22 on its inner side, which faces the outer wall of the guide sleeve 4. This recess can be a radially circumferential annular groove. Recesses 24 and 26 are provided in the base plate 6 of the module base, which serve to attach the actuator module 100 to another structure, for example, to a satellite.

[0051] Also shown is a housing 28 which is connected to the base plate 6 and encloses the guide sleeve 4 and the blocking body 8. The housing 28 is designed such that, at one axial end of the guide sleeve 4, it extends at least partially radially inward over the inner circumferential surface of the guide sleeve 4, such that maximum movement of the release body is limited by the housing 28. The working position of the release body 2 is therefore defined by the housing 28. Furthermore, it can be seen that the housing 28 is designed such that movement of the blocking body from the blocking position is only possible in one direction, namely in the direction of the release position. In particular, one axial end of the blocking body 8, together with one axial end of the guide sleeve 4, lies in a plane defined by the housing 28. The blocking position of the blocking body 8 is therefore defined by the housing 28.The base plate 6 has an axially continuous guide hole 7 through which the release body 2 extends. The release body 2 can be moved through the guide hole 7 at least over a certain distance and in at least one direction. In the embodiment shown, the guide hole 7 has a smaller inner diameter than the guide sleeve 4. The release body 2 is mounted in the guide sleeve 4 with the outer peripheral surface lying radially outside the pocket 18 and in the guide hole 7 with the outer peripheral surface of a release body section axially spaced from the pocket 18. Furthermore, the standby position of the release body 2 is determined by the base plate 6 of the module base.

[0052] Fig. 4 shows a sectional view of the actuator module 100 of the Fig. 1 in a plane B running orthogonal to plane A. Plane A and plane B intersect in the guide sleeve axis. It can be seen that, despite the first spring preload, the release body 2 is held in the ready position by a locking ball 30. The locking ball 30 is arranged in a through-hole 31 in the guide sleeve 4 and extends radially inward beyond the (radially inner) inner surface of the guide sleeve 4. The through-hole 31 extends radially through the guide sleeve 4. The release body 2 has a bevel 32, for example a radially circumferential one, which rests on the locking ball 30 when the release body 2 is in the ready position. The release body 2 is preloaded in the direction of the working position by the further spring element 20, so that the bevel 32 is pressed onto the locking ball 30.Thus, the locking ball 30 is subjected to a force that acts at least partially radially outward. However, a radial outward movement of the locking ball 30 is not possible in the illustrated configuration, i.e., before the actuator module 100 is actuated. The blocking body 8, which is in the blocking position, blocks such a movement of the locking ball 30 with its inner surface, which rests against the locking ball 30. The locking ball is made, for example, of V4A stainless steel or ceramic.

[0053] Furthermore, it can be seen that the base plate has further recesses 34, 36, which are aligned, for example axially aligned, with recesses 38, 40 of the housing 28. Screws or other fastening means can be inserted through the recesses 34, 36 into the recesses 38, 40 of the housing in order to fasten the housing 28 to the module base. The recesses 34, 36 and the recesses 38, 40 are arranged radially inward next to the fastening element 16 or 17, respectively, and thus, in an axial plan view, each lie on a straight line connecting the corner of the plan view of the base plate 6, at which corner a fastening element 16 or 17 is provided, and the center of the plan view. The actuator wire 12 or 13 runs radially outside the recesses 34, 36 and the recesses 38, 40, as seen in an axial plan view.This ensures that the actuator wire 12 does not touch screws inserted into the recesses 34, 36 and the cutouts 38, 40. This further increases the compactness of the actuator module 100.

[0054] Fig. 5 shows a perspective view of the actuator module 100 after actuation. For actuation, the actuator wire 12 or the further actuator wire 13 is heated, whereby the respective actuator wire contracts in its longitudinal direction. Due to the attachment of the actuator wire 12 or 13 to the module base and to the blocking body 8, as well as due to the wire path shown, the blocking body 8 is moved axially from its blocking position into the release position during actuation. As will be explained below with reference to the Fig. 6 and 7 As will be explained in more detail, this results in a movement of the release body 2 from the standby position into the working position.

[0055] Fig. 6 shows the working module 100 after actuation in the form of a sectional image in plane A. In this configuration, the release body 2 no longer protrudes on the side of the base plate 6 facing away from the guide sleeve 4. Instead, the release body 2 is completely retracted into the guide sleeve 4. While the spring element 10 is less compressed in the blocking position of the blocking body 8 than in the release position of the blocking body 8, the further spring element 20 is more compressed in the standby position of the release body 2 than in the working position of the release body 2. In other words, to actuate the blocking body 8, the second spring preload of the spring element 10 is moved from the blocking position to the release position, whereby the release body 2 is released and, driven by the first spring preload of the further spring element 20, moves from the standby position into the working position.

[0056] Fig. 7 shows a sectional view in plane B of the working module 100 after actuation. It can be seen that the locking ball 30 arranged in the through hole 31 is opposite to the Fig. 4 shown configuration. The locking ball 30 no longer protrudes radially inward beyond the inner circumferential surface of the guide sleeve 4. Instead, the locking ball 30 protrudes radially outward beyond the outer circumferential surface of the guide sleeve 4. The radially outward displacement of the locking ball 30 is made possible by the recess 22 in the blocking body 8. The recess 22 is designed such that it can at least partially accommodate the locking ball 30. When the blocking body moves from the blocking position to the release position, the recess 22 is displaced relative to the locking ball 30, so that the locking ball 30 can only penetrate into the recess 22 when the blocking body 8 is in the release position. The locking ball 30 is pressed radially outward by the bevel 32 of the release body 2 and therefore moves into the recess 22 when the blocking body 8 moves into its release position.As a result, the movement path of the release body 2 is released in the axial direction, so that it can move into the working position driven by the further spring element 20.

[0057] After actuation, the blocking body 8 is preloaded by the spring element 10 toward the blocking position. However, movement of the blocking body 8 from the release position toward the blocking position is not possible because the locking ball 30 blocks such movement. The locking ball 30 is pressed radially inward by the first spring element 10 via a bevel 44 of the blocking body 8, which is arranged at the recess 22. However, the locking ball 30 cannot move radially inward because, in the working position of the release body 2, it is blocked by an outer peripheral surface of the release body 2, in particular by a pocket wall of the pocket 18.

[0058] If the release body 2 is now manually pushed back into its ready position, the locking ball 30 can move radially inward again so that it rests against the bevel 32 of the release body 2. This movement of the locking ball releases the blocking body 8, so that it is moved back into the blocking position by the spring element 10.

[0059] Also visible is a through-hole 42, which is arranged in the housing 28 at one axial end of the release body 2 in the working position. The release body 2 can be pushed back into its standby position by inserting a suitable tool through the through-hole 42, thus enabling a simple reset of the actuator module 100.

[0060] Of course, instead of a locking ball, several locking balls or locking pins can also be used. For this purpose, several through holes 31 can be provided, which are preferably arranged evenly distributed in the circumferential direction of the bearing sleeve 2. The number of fastening elements 17 and wire guide formations 14 is also not limited to two. In the illustrated embodiment of the actuator module 100, the direction of movement of the blocking body 8 from the blocking position to the release position is opposite to the direction of movement of the release body 2 from the standby position to the working position. Movements in the same direction can also be enabled with an appropriate design of the housing 28 and the release body 2.

[0061] For example, the blocking body 8, the module base with the guide sleeve 4, and / or the release body 2 are manufactured using an additive manufacturing process, such as 3D printing or laser sintering. The blocking body 8, the module base with the guide sleeve 4, and / or the release body 2 can be made of 316L stainless steel.

[0062] In one example, one edge of the outline of the essentially square base plate 6 has a length of approximately 17 mm. The working travel that the release body 2 travels between the ready position and the working position can be approximately 6.5 mm. In contrast, the travel required for actuation, i.e. the travel that the blocking body 8 travels between the blocking position and the release position, can be smaller than the working travel and, for example, approximately 1.2 mm. The part of the release body 2 protruding beyond the side of the base plate 6 opposite the guide sleeve 6 can have a diameter of approximately 4 mm. Other exemplary dimensions can also be inferred from the figures based on these dimensions.

[0063] Fig. 8 shows a sectional view of an actuator module 200 before actuation. The actuator module 200 differs from the actuator module 100 (see Fig. 4 ) solely through the design of the release body 2 and the further spring element 20. Instead of the release body 2 and the further spring element 20, the actuator module 200 comprises a release body 202 and a further spring element 220. The functionality of the bevel 232 and the outer peripheral wall of the release body 202 corresponds to the functionality of the bevel 32 and the outer peripheral wall of the release body 2. It can be seen that the release body 202 is retracted into the guide sleeve 4 in the standby position. In the working position, the release body 202 protrudes on the side of the base plate 6 opposite the guide sleeve 4. Therefore, the actuator module 200 can also be referred to as a "pin pusher."

[0064] The pocket 218 is provided in the form of a pot pocket and has an axially extending cylindrical shape. Alternatively, a ring pocket is also possible. The recess 42 is not required for resetting the actuator module 200. Instead, the release body 202 can be manually pushed from the working position back into the standby position in the guide sleeve 4.

[0065] The standby position of the release body 202 is defined by the housing 28, and the working position by the base plate 6 of the module base. The blocking position of the blocking body 8 is defined by the housing 28.

[0066] In the embodiment shown, the direction of movement of the blocking body 8 from the blocking position to the release position corresponds to the direction of movement of the release body 202 from the standby position to the working position. An opposite movement can also be enabled with a corresponding design of the housing 28 and the release body 202.

[0067] Fig. 9 shows a sectional view in a plane A of an actuator module 300 before actuation. The actuator module 300 differs from the actuator module 100 (see Fig. 4 ) merely by the design of the release body 2, the guide sleeve 4 and the further spring element 20. Instead of the release body 2 and the further spring element 20, the actuator module 200 comprises a release body 202 and a further spring element 220, and instead of the guide sleeve 4, a guide sleeve 304. Several locking balls 30 are provided, each of which is held in a through-bore 31 and can be at least partially received by individual or a continuous recess 22 of the blocking body 8. The through-bores 31 are preferably distributed substantially evenly in the circumferential direction of the guide sleeve.

[0068] In addition to the release body 302, the actuator module includes a nut 360. The nut is held by the locking balls 30 and thereby blocks the release body 302 in the ready position. The nut has corresponding notches on its outer circumferential surface for only partially receiving the locking balls.

[0069] The release body 302 has an axially formed pocket 318 in the form of a pot pocket. Alternatively, a ring pocket is also conceivable. The further spring element 320 is arranged in the pocket 318. Furthermore, the release body 302 has a stop 370 arranged on the outer circumferential surface of the release body 302. The stop 370 is, for example, a radially circumferential projection.

[0070] The guide sleeve 302 differs from the guide sleeve 2 in that it has a radially inner guide recess 380, which serves to guide the stop 370. At one axial end of the guide recess 380, the inner circumferential wall of the guide sleeve 302 protrudes radially inward relative to the guide recess 380. This ensures that the stop 370 of the release body 302 is retained at the axial end of the guide recess 380. In other words, a maximum movement of the release body 302 toward the working position is determined by the guide sleeve. As a result, the release body 302 is captively installed in the actuator module 300. In contrast, when the actuator module 300 is actuated, the nut 360 is completely released so that it can be removed from the guide sleeve 304. Preferably, the further spring element 320 is designed such that the nut 360 is automatically ejected during actuation.The nut 360 can therefore also be referred to as a "release nut" and the actuator module 300 as a "hold down and release mechanism", HDRM.

[0071] The working position of the release body 302 is determined by the guide sleeve 304, the standby position by the housing 28. The blocking position of the blocking body 8 is determined by the housing 28.

[0072] Fig. 10 shows a perspective view of an actuator module 400. Here, the blocking body 408 is arranged so as to be rotatable about the sleeve axis relative to the guide sleeve 404 and movable between its blocking position and its release position. The guide sleeve 404 stands essentially centrally from the base plate 406 of the module base in the axial direction. Starting from an end section 410 adjoining one of its wire ends, the actuator wire 12 wraps around the guide sleeve 404 in the circumferential direction up to a wire deflection point formed on the blocking body, is deflected at the wire deflection point, and wraps around the guide sleeve 404 behind it in the opposite circumferential direction up to an end section 412 adjoining the other of its wire ends. The blocking body 8 comprises a plurality of axially extending recesses 422 extending to an axial end of the blocking body 8.When the blocking body rotates from the blocking position to the release position, the locking balls 30 can be at least partially received by these recesses 422, thus releasing the movement path of the release body 2. In the illustration shown, the actuator wires 12, 13 extend beyond the outline of the base plate 6, although this is not necessarily the case. Preferably, the wire ends are attached to the same corner of the outline of the base plate 6, to the module base or to a housing connected to the module base. The housing can be connected to the base plate 6 by means of fastening means arranged at the corners of the outline. The fastening means are thus located radially outward from the wire sections of the actuator wire 12 and 13, respectively.

[0073] Fig. 11 shows the blocking body 408 with the actuator wires 12 and 13, which each essentially follow the course of a spiral in an axial plan view. The actuator wire 12 or 13 is deflected at the wire deflection point 450. The wire deflection point is located radially inward from the outer circumferential surface of the blocking body. The actuator wire 12 or 13 runs at least partially within a tunnel 452 formed radially inward from the outer circumferential surface in the blocking body 408 up to the wire deflection point 450. The actuator wire 12 or 13 is deflected at the wire deflection point 450 and guided back in the opposite direction of rotation in a tunnel 453 running essentially parallel to the tunnel 452. A partition wall can be provided between the tunnel 452 and the tunnel 453. The blocking body 408 has an axially inserted recess 451.

[0074] Fig. 12 shows the blocking body 408 without the actuator wire 12 or 13. The tunnels 452 and 453 can be seen, in which, in the assembled state, the actuator wire 12 or 13 runs up to the respective wire deflection point 450. A partition wall 454 is provided between the tunnel 453 of the actuator wire 12 and the tunnel 452 of the actuator wire 13.

[0075] Fig. 13 shows the blocking body 408 with the module base 406 and the actuator wire 12 or 13. Here, too, the actuator wires 12, 13 are shown extending beyond a fastening element 455 on the module base 406.

[0076] Preferably, the actuator wire 12 or 13 is designed as a single-core wire and is inserted, in the region of at least one of its wire ends, into the wire bundle of a stranded wire serving to supply the electrical power to the actuator wire 12 or 13. The actuator wire 12 or 13 is clamped to the stranded wire by means of a clamping sleeve placed on the wire bundle, transmitting tensile force. The clamping sleeve preferably bears against the fastening element 455.

[0077] The actuator wire 12 or 13 can instead be clamped with a clamping sleeve that is manufactured in one piece with a connecting pin. In this case, the actuator wire does not necessarily have to be surrounded by a fiber or wire bundle in the area of ​​the clamp connection. Such a clamping sleeve can be a clamping sleeve with the "Military Part Number" M39029 / 58, for example, a "Standard Pin Crimp Contact for MIL-DTL-38999 Series I, II, III and IV Connectors" from Gienair ®. The connecting pin enables connection to an electrical plug-in board or to an electrical contact plug.

[0078] A preferably box-shaped housing 428 is arranged on the base plate 406 and ensures that the movement of the blocking body 408 is limited in the axial direction. In the opposite axial direction, movement of the blocking body 408 is limited by the base plate 406. A notch 429 is provided in the housing, which is located axially above the recess 451. The notch 429 is designed such that it allows engagement in the axial direction in the recess 451, regardless of whether the blocking body 408 is in the blocking position, the release position, or in between. To reset the actuator module, the release body 2 can be manually moved back into the standby position. To support this, a torque can be exerted on the blocking body 408 by means of a tool inserted into the recess 451.Alternatively, a pin is secured in the recess 451, which serves to define a rotational movement range of the blocking body 408 about the axial axis by abutting against end regions of the recess 451. Thus, the rotational movement range of the blocking body 428 is defined by the housing 428.

[0079] The pin can be the end piece of a torsion spring or be connected to a torsion spring, so that the torsion spring exerts a torsional force on the blocking body 408 relative to the guide sleeve 404. In other words, this torsion spring provides the second spring preload force on the blocking body 408. In the actuator module 400, a torsion spring is used instead of a compression spring 10.

[0080] Further advantageous embodiments can be seen in the figures. Individual features of the actuator modules 100, 200, 300, and 400 can also be advantageously combined with one another without compromising functionality. For example, instead of the release body 2 in the actuator module 400, the release body 202 or 302 can be used. Instead of the guide sleeve 4, the guide sleeve 304 can be used, preferably in combination with the release body 302.

[0081] As mentioned above, the described actuator module 100, 200, 300, and 400 is configured to release an equipment component of a satellite or a rocket. However, it can also be configured to release other equipment components, for example, to release equipment components of an unmanned aircraft such as a drone, or to release equipment components of a manned aircraft, in particular a (light) aircraft. In one embodiment, the equipment component is a satellite that is to be released from a sub-orbital or orbital platform, for example, from a rocket. For all these types of use, a small size, low weight, reliable blocking and release of the release body, a long travel of the release body, and a high advance or retraction force of the release body during actuation are advantageous.

Claims

1. An actuator module (100; 200; 300) for releasing an equipment component, comprising: a module base, the module base forming a guide sleeve (4; 304); a release body (2; 202; 302) provided for coupling with the equipment component and inserted into the guide sleeve, which release body is arranged movably relative to the guide sleeve (4; 304) along a sleeve axis thereof from a standby position to a working position, wherein the release body is capable of effecting a release of the equipment component by transfer from the standby position to the working position, and wherein the actuator module (100; 200; 300) is configured such that the release body (2; 202; 302), in the standby position, is under the action of a first spring bias which urges the release body (2; 202; 302) towards the working position; a blocking body (8) mounted on the guide sleeve (4; 304) and movable relative thereto between a blocking position and a release position, which, in its blocking position, effects a blocking of the release body (2; 202; 302) against movement from the standby position into the working position and, in its release position, allows movement of the release body (2; 202; 302) from the standby position into the working position, wherein the actuator module (100; 200; 300) is configured such that the blocking body (8), in its blocking position, is under the action of a second spring bias which urges the blocking body (4) in the direction from the release position towards the blocking position; and an actuator unit for moving the blocking body (4) from the blocking position to the release position, the actuator unit comprising at least one actuator wire (12; 13), made of a shape memory material and fixed with both wire ends to the module base and coupled to the blocking body, for applying an activation force counteracting the second spring preload, wherein the blocking body (8; 408) is arranged axially movable relative to the guide sleeve (4; 304) between its blocking position and its release position and that the actuator wire (12; 13) is guided with an axial up and down around the guide sleeve (4; 304), wherein the actuator wire (12; 13) is supported on the blocking body (8) and the module base.

2. Actuator module according to claim 1, wherein the actuator wire (12; 13) is guided with a multiple axial up and down around the guide sleeve (4; 304), wherein the actuator wire (12; 13) is supported on the blocking body (8; 308) and the module base.

3. Actuator module according to claim 2, wherein the actuator wire (12; 13) is alternately supported on the blocking body (8; 308) and the module base.

4. Actuator module according to one of claims 1 to 3, wherein the actuator wire is guided around the blocking body mounted on the guide sleeve.

5. Actuator module according to any one of claims 1 to 4, wherein the actuator wire extends at least partially obliquely with respect to a direction of movement of the blocking body.

6. Actuator module according to any one of claims 1 to 5, wherein the actuator wire comprises a plurality of substantially straight sections adjoining each other, each of said sections being oblique with respect to the direction of movement of the blocking body.

7. actuator module according to any one of claims 1 to 6, wherein the blocking body (8; 308) comprises a plurality of at least and preferably a total of two wire guide formations (14) for the actuator wire arranged substantially equally distributed in the circumferential direction.

8. Actuator module according to claim 7, wherein the actuator wire descends in the circumferential direction on both sides of each of the wire guide formations (14) to wire support points located axially lower on the module base.

9. Actuator module according to claim 8, wherein the actuator wire descends in the circumferential direction on both sides of each of the wire guide formations obliquely with respect to the axial direction and / or with respect to a direction of movement of the blocking body to the wire support points located axially lower on the module base.

10. Actuator module according to any one of claims 1 to 9, wherein in an axial plan view the actuator wire (12; 13) substantially follows the edges of a polygon.

11. Actuator module according to claim 10, wherein the polygon is a convex and / or equilateral polygon.

12. Actuator module according to claim 11, wherein the polygon is a rhombus or a square.

13. Actuator module according to any one of claims 10 to 12, wherein locations of the actuator wire located at adjacent corners of the polygon formed by the same edge are at least axially spaced apart.

14. Actuator module according to one of the preceding claims, wherein the module base comprises a base plate (6) with an at least approximately polygon-shaped outline, from which the guide sleeve (4; 304) protrudes, and wherein at least one of the wire ends of the actuator wire (12; 13) is fixed to the module base in axial plan view in the region of one of the corners of the outline.

15. Actuator module according to one of the preceding claims, further comprising a locking ball (30), wherein a through hole (31) is formed in the sleeve wall of the guide sleeve (4; 304), for the locking ball (30) which, in the blocking position of the blocking body (8) projects radially inwards beyond the inner circumferential surface of the guide sleeve (4; 304) to block the release body against movement from the standby position into the working position, wherein, in the release position of the blocking body (8), the locking ball (30) is released for displacement out of the axial range of movement of the release body and wherein the release body (2; 202; 302) is configured with an axial pocket (18; 218; 318) into which a spring element (10; 210; 310) serving to generate the first spring preload is inserted, wherein the release body (2; 202; 302), in its working position, lies with the radially outer pocket wall of the pocket (18; 218; 318) radially in front of the locking ball (30).