Multiple hold-down and release device for restraining and releasing a payload from a spacecraft and method for releasing a multiple hold-down and release device

Description

[0001] Multiple hold down and release device for restraining and releasing a payload from a spacecraft, and methods to release a payload from a spacecraft and to install such a multiple hold down and release device.Field of the invention

[0002] The invention refers to a device for providing hold down and release of a payload with respect to a spacecraft. It is used to restrain and release payloads such as antennae, solar panels, booms, etc. from a spacecraft, and belongs to the field of Holding-Down and Release Mechanisms (HDRM).

[0003] The invention also refers to a method to release a payload from a spacecraft and to a method to install such a multiple hold down and release device.Background of the invention

[0004] In order to restrain all the deployable appendages that make part of a spacecraft during early stages of the mission, spacecrafts provide systems in charge of providing a stiff connection during launch, and to provide a safe release allowing deployment once it reaches its orbit.

[0005] In current solutions each payload is normally attached to the spacecraft through some discrete points (typically 2 to 6 points) named hold down and release mechanisms that preload the deployable appendages to the spacecraft.

[0006] Each payload requires a specific pattern of holding-down points, resulting in some cases in a considerable number of them, and therefore a high quantity of release actuators and all the associated equipment such as harnesses, activation signals, etc. per spacecraft. Release of this amount of discrete mechanisms must be accurately fired to ensure simultaneity in their actuation, implying a considerable power consumption for the satellite.

[0007] Therefore, the spacecraft must be designed to manage a big amount of separation signals (two per separation nut for redundancy). The initiation system could limit the number of separation signals in some cases, or to go for very expensive controller systems, converters and harness to manage the separations penalizing the cost and weight.

[0008] Another disadvantage for these systems is that many parts remain on the payload after separation.

[0009] The separation of this amount of discrete hold down and release mechanisms also generates a high shock during the separation event due to the rapid release of the preload (in some occasions fired by means of pyrotechnic actuators) close to the spacecraft interface.

[0010] One way to reduce the shock emitted by these holding-down and release systems is slowing down the release of the preload, which implies increasing the mechanism's activation time and dispersion, and thus penalizing the simultaneous separation of the hold down and release mechanisms.

[0011] This simultaneous separation is highly desired so that the distancing system usually formed by springs can eject the payload with the minimum angular disturbance during the separation.

[0012] The high reliability required to each one of the hold down and release mechanisms per spacecraft results in high percentage of the total cost of the separation system. These new satellite platforms are driven by cost and weight, so alternative solutions have to be addressed.

[0013] EP 2298648 A discloses a device for the restraint and release of a deployable body mounted on a support structure, the device being operable between a stowed condition and a released condition, and comprising: - a pair of subassemblies, each for being attached to either the deployable body or the support structure, these subassemblies comprising mating surfaces which interlock with one another in the stowed condition to substantially prevent lateral movement of the deployable body relative to the support structure; - a releasable tensioned element which is connected to both of the subassemblies, exerting a compressive pre-load action on the said subassemblies that keep them together; - a force measurement system that allows monitoring the cited compressive pre-load action applied; - a releasing device for releasing the cited pre-load, allowing the free separation of the subassemblies; it further comprises a pre-load application mechanism embedded in the device such that it applies a substantially pure-tension pre-load to the releasable tensioned element.

[0014] RU 2111905 C1 discloses a device for separating the rocket stage and the spacecraft to be separated, containing a pyroactuator with a piston installed in it, connected to the locking devices of the connecting elements, in which the pyroactuator is equipped with a split ring, the connecting elements are made in the form of a rod arranged in series, installed inside the piston with the possibility of their mutual movement, and a rod connected to the rod through a rotary knot, with the split ring installed on the piston between the shoulder of the piston and the end of the piston fixed to the rod.

[0015] RU 2396191 C1 discloses a payload separation system containing a detachable retention device installed between the load-bearing structure and the payload, which includes discretely placed mechanical locks with retaining and locking links on the load-bearing structure of the device, connected with a rotary multi-beam star, fixed with the possibility of rotation in the center of the circle of the locks' installation and held in the initial position from rotation by means of a pyroelectric means, as well as spring pushers for separation. The system of separating the load-bearing structure includes mechanical locks with retaining and locking links connected with the rotary multi-beam star, fixed with the possibility of rotation in the center of the circle of the locks' installation and held in the initial position from rotation by a pyroelectric means.

[0016] EP 2213572 A1 discloses a "Device for holding down a mobile structure to a spacecraft" that comprises a stationary structure fixed to the spacecraft, an actuator, a releasable member driven to movement in an axial direction relative to the stationary structure upon activation of the actuator and a locking assembly arranged to hold down or release the mobile structure depending on the axial position of the releasable member. The locking assembly comprises a plurality of circumferentially arranged locking members being movable in a radial direction into and out of engagement with the mobile structure at "V"-shaped groves that are arranged on a ring shaped plate which is attached to the appendage, the locking members being connected to the releasable member via first levers, such that the axial movement of the releasable member and the radial movement of the locking member are coupled with each other by way of a bent lever type mechanism.

[0017] WO2020 / 249831 A1 discloses an example of a Holding-Down and Release Mechanism (HDRM) to release small spacecraft from a launcher with a centralized actuator.

[0018] DE3215432 A1 depicts a centralized release system that holds down several discrete points by means of cranks. These cranks are preloaded with tensioned cables, connected among them by pulleys to achieve simultaneity on the release of all the hold-down and release mechanisms (HRM). When the release actuator frees the tension of the system, these cranks must drag the cables and pulleys, which can compromise that simultaneity.

[0019] EP0121959A1 discloses a holding-down and release system for discrete restraining points that applies the preload with a tensioned cable, which is cut with a heating element.

[0020] JP H03 10998 A discloses a satellite separation device whose purpose is to prevent the occurrence of an attitude control error during a satellite separation operation by providing a latch arm for constraining a hook body with the seat surface of the arm and the hook body engaged with each other, while one end of the latch arm is pressing and fixing a satellite to a rocket, and so constituting the hook body as to be pulled toward the rocket with a cable. A satellite and a satellite separation part body are connected to each other with coupling bolts and separate nuts respectively at four positions equally divided circumferentially, and each latch device is provided at the external surface of the connected part; the latch device is so made that the hook thereof is pulled as fastened to the side of the separation part body. Namely, a bracket is secured to the external surface of the separation part body just below the separation plane of the satellite and the separation part body. A latch arm and the hook are respectively fitted to the bracket pivotally with pins, thereby energizing one end of the arm to be separated from the satellite with a spring, and the hook to be released from engagement with the latch arm via a spring.

[0021] US 4489329 A discloses a holding and releasing system that provides temporary connection between a movable and a stationary part which are to be separated during the specific use thereof. It comprises a supporting foot connected to the fixed part, a rocker link hinged to said foot, a movable support hinged to said link, a sheaving bracket hinged to another end of said link; said link occupying two positions, i.e. a locking one in which the movable support bears on one face of the movable part, while the free end of the sheaving bracket bears on the other face of said movable part, to block the latter in a precise position, and a release position in which the movable support and said bracket are in a retracted position thereby releasing the movable part. The system is used especially in the space vehicle domain.

[0022] CN 109606750 B discloses a low-impact separation mechanism for a micro satellite. The low-impact separation mechanism comprises a bottom plate, a driving mechanism, and a plurality of separate unlocking components. The driving mechanism includes an unlocking driving gear and a plurality of guiding gears; the unlocking driving gear is mounted at the middle part of the bottom plate; all guide gears are circumferentially distributed along the unlocking drive gear; all separate unlocking components are distributed around the unlocking drive gear and are installed on the bottom plate. In a locking state, latch pins are inserted into through holes formed in two sides of support cylinders and connecting feet; and baffles are used for limiting. Therefore, defects that the existing fire separation mechanism has the large impact, causes much pollution and cannot be used repeatedly are overcome. On the basis of multi-point locking, single-point triggering and synchronous unlocking, a problem of single performance of the traditional separation mechanism is solved.

[0023] RU 2268208 C2 discloses a payload separation system that includes a separable holding device mounted between load-bearing structure and payload. Said device includes mechanical locks and fixing unit discretely located on load-bearing structure. Each lock has rod and holding and fixing members. One end of rod is secured on payload and other end is engageable with holding member of lock. Fixing member includes ropes engageable with fixing members and held on load-bearing surface by means of pyro device. Rod of lock has one-sided projection engageable with said holding member of lock. Lock fixing unit is provided with multi-beam central sprocket secured on load-bearing surface and held from turn by said pyro device. Sprocket beams are connected with fixing members of respective locks by means of radially tightened ropes whose ends are connected with sprocket beams eccentrically relative to axis of its rotation. When pyro device operates, sprocket turns and tension of ropes disappears; members of locks release rods. Under action of pushers, payload is separated from load-bearing structure CN 116215893 A discloses a rod type compression unlocking device, which relates to the technical field of spaceflight and comprises a mounting seat, a base, a compression rod assembly, a split nut and a clamping rod assembly. In a pressing state, the split nut is used for being folded to form a first internal thread and is in threaded connection with the pressing rod; the clamping rod assembly comprises a first clamping rod, a second clamping rod, a first connecting rod, a second connecting rod, a push-pull pin shaft, a linkage rope and a loosening elastic piece, and in the pressing state, the linkage rope is tensioned so that the first clamping rod and the second clamping rod can clamp the folded split nut; in the unlocking state, the linkage rope is loosened so that the loosening elastic piece can drive the first clamping rod and the second clamping rod to loosen the split nut. When the rod type pressing and unlocking device is in an unlocking state, normal operation of equipment such as a rotating table and a spacecraft cannot be affected; in addition, compared with other compression unlocking devices, the compression unlocking device enables compression connection between the equipment and the spacecraft body to be firmer.

[0024] Other separation systems are disclosed in the document "Enabling Solutions for Small Satellite Space Access" (13th Reinventing Space Conference, November 2015), by Andreas Jonsson and Magnus Engström, in which several systems for multiple satellite launches are included. One of these systems consists of four hold down mechanisms and a plate structure, but with only one release point.

[0025] As for typical payloads attached through discrete points (antennae, solar arrays, booms, etc.), they are mainly latched and released through Holding-Down and Release Mechanisms (HDRM), requiring one release actuator at each point. The total amount of the release actuators is an indicator of the costs and reliability of the separation system, so the space industry is increasingly interested in the use of central-actuated systems.

[0026] Accordingly, there is a need to provide a multiple hold down and release device for restraining and releasing a payload from a spacecraft that reduces the overall mass, costs, induced loads on the structure and emitted shock during release without penalizing system's reliability.Summary of the invention

[0027] The object of the invention is to provide a multiple hold down and release device for restraining and releasing for separation upon command a payload from a spacecraft that overcomes the mentioned drawbacks.

[0028] The invention provides a multiple hold down and release device for restraining and releasing a payload from a spacecraft that comprises: a plurality of hold-down assemblies placed on the periphery of the device, each one of them comprising a hold-down bracket configured to be attached to the payload and a hold-down support joined to the spacecraft, both of them with conical mating surfaces, each hold-down support comprising at least one torsion spring around an axis, a plurality of pairs of connecting levers, each one of the connecting levers comprising a first end configured to be coupled to a corresponding hold-down support such that each corresponding lever is articulated with the corresponding hold-down support through the axis; and a second end opposite to the first end, a plurality of restraint cables that engage the second ends of each pair of connecting levers and are arranged radially with a central area where the restraint cables cross, and a central release actuator configured to be able to cut the restraint cables.

[0029] The invention also comprises a method to release a payload from a spacecraft of claim 10, and a method to install a multiple hold down and release device for restraining and releasing a payload from a spacecraft of claim 11.

[0030] Other advantages of the invention are the following ones: reduced overall costs, as only one central release actuator is required, reduced total mass, due to the reduction on release actuators, harnesses, batteries, etc. gradual energy release, which is especially critical for shock-sensitive payloads, such as solar arrays or optical instruments.

[0031] It is also a versatile device, which allows to adapt the number of levers and restraint cables and their length according to the different needs.

[0032] Other characteristics and advantages of the present invention will be clear from the following detailed description of several embodiments illustrative of its object in relation to the attached figures.Brief description of drawings

[0033] Figure 1 shows a view of the multiple hold down and release device of the invention attaching a payload to a spacecraft in a stowed mode. Figure 2 shows a view of the multiple hold down and release device of Fig. 1 in a deployed mode. Figure 3 shows a detailed view of several elements of the multiple hold down and release device of the invention in the stowed mode. Figure 4 shows a detailed view of several elements of the multiple hold down and release device of the invention in a deployed mode. Figures 5, 6, 7 and 8 show bottom views of different configurations for multiple hold down and release devices of the invention. Figures 9 and 10 show a view of a restraint cable before and after being cut by the central release actuator. Figure 11 shows a plurality of restraint cables arranged radially with a central area where the restraint cables cross and with a central release actuator. Detailed description of the invention

[0034] Figure 1 shows the multiple hold down and release device of the invention attaching a payload 3 to a spacecraft 4 in a closed or stowed mode, and figure 2 shows the multiple hold down and release device of figure 1 in an open or deployed mode, with the payload 3 released.

[0035] This multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4 comprises: a plurality of hold-down assemblies 19 (see figures 3 and 4) placed on the periphery of the device, each one of them comprising a hold-down bracket 11 configured to be attached to the payload 3 and a hold-down support 20 joined to the spacecraft 4, both of them with conical mating surfaces 10, 10', each hold-down support 20 comprising at least one torsion spring 9 around an axis 17, a plurality of pairs of connecting levers 5, each one of the connecting levers 5 comprising a first end 14 configured to be coupled to a corresponding hold-down support 20 such that each corresponding lever 5 is articulated with the corresponding hold-down support 20 through an axis 17 and a second end 15 opposite to the first end 14, a plurality of restraint cables 6 (see figures 5, 7 and 8) that engage the second ends 15 of each pair of connecting levers 5 and are arranged radially with a central area where the restraint cables 6 cross, and a central release actuator 1 configured to be able to cut the restraint cables 6.

[0036] Another version of the multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4, which is not part of the invention, is shown in figure 6, and comprises: a plurality of hold-down assemblies 19 (see figures 3 and 4) placed on the periphery of the device 1, each one of them comprising a hold-down bracket 11 configured to be attached to the payload 3 and a hold-down support 20 joined to the spacecraft 4, both of them with conical mating surfaces 10, 10', each hold-down support 20 comprising at least one torsion spring 9 around an axis 17, a plurality of connecting levers 5, each one of the connecting levers 5 comprising a first end 14 configured to be coupled to a corresponding hold-down support 20 such that each corresponding lever 5 is articulated with the corresponding hold-down support 20 through an axis 17; and a second end 15 opposite to the first end 14, one restraint cable 6 (see figure 6) that engages the second ends 15 of the connecting levers 5, and a release actuator 1 configured to be able to cut the restraint cable 6.

[0037] In the version of Figure 6 one single restraint cable 6 can connect the second ends 15 of all the levers 5 simultaneously.

[0038] The device of the invention provides hold down and structural continuity between the payload 3 and the spacecraft 4 at the desired number and location of discrete points (hold down assemblies 19) and is released simultaneously by the activation of a unique release actuator 1.

[0039] Each of the hold-down assemblies 19 is composed by a fixed subassembly (hold down support 20) that stays on the spacecraft 4, and a hold down bracket 11 attached to the payload 3. Both of them stay together upon release by means of a cup-cone contact with conical mating surfaces 10, 10' preloaded by a release lever 5.

[0040] These levers 5 apply on the deployable bracket 11 a force F (D / d) times higher than the load f applied by the tension cable 6, according to Figure 3, where distances D and d can be seen. This force F allows to retain the cone of the deployable bracket 11 within the cone of the hold down support 20. The load f is applied on the cables 6 through tensioning elements 13, and can be monitored through the preload measurement sensors 2 placed on the levers 5.

[0041] When the release actuator 1 slices the tensioned restraint cables 6, the involved levers 5 free the preload on the deployable brackets 11 and are retracted back around their axes 17 thanks to the at least one torsion spring 9.

[0042] The multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4 may comprise a damper 8 on each hold-down support 20 that limits the motion of the lever 5 around the corresponding axis 17.

[0043] The multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4, may additionally comprise a latch 7 on each hold-down support 20 suitable for retaining the corresponding lever 5.

[0044] Once retracted, the motion of the levers 5 is damped to reduce the shock emission, and they are captured in their final position in a latch 7 so that they do not compromise the deployment of the payload brackets 11.

[0045] The multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4 may additionally comprise a strain gauge 2 on the connecting levers 5.

[0046] In another embodiment, the central release actuator 1 is a thermal knife or a cutter.

[0047] In another embodiment the restraint cables 6 are made of fusible material (for instance, kevlar) that can be sliced with thermal knives or cuttable material (for instance, steel) for conventional cutter actuators.

[0048] The multiple hold down and release device for restraining and releasing a payload 3 from a spacecraft 4 may additionally comprise a tensioner 13 adjacent the second end 15 of each connecting lever 5 to apply preload on each second end 15 of each connecting lever 5.

[0049] In an embodiment, the hold-down assemblies 19 are arranged in a circular configuration in plan view (figure 5).

[0050] In an embodiment, the hold-down assemblies 19 are arranged in a polygonal configuration in plan view (figures 7 and 8).

[0051] A method to release a payload 3 from a spacecraft 4 uses a multiple hold down and release device of figures 5, 7 or 8, such that in a hold down position the payload 3 is attached to the spacecraft 4 at a number of discrete points by means of the corresponding hold-downs brackets 11, the hold-down supports 20 being attached to the spacecraft 4, the method comprising the following steps: activating the actuator 1, such that it cuts the restraint cables 6, the connecting levers 5 of each pair of connecting levers 5 are released from the corresponding restraint cable 6 and rotate by means of its elastic energy and the at least one torsion spring 9, and the first end 14 of each lever 5 is released from the corresponding hold-down bracket 11 to unlock the corresponding hold-down bracket 11, allowing the separation of the payload 3 from the spacecraft 4.

[0052] A method to install a multiple hold down and release device for restraining and releasing a payload from a spacecraft uses a multiple hold down and release device of figures 5, 7 or 8 comprising the following steps: attaching the hold-down supports 20 to the spacecraft 4, attaching the hold-down brackets 11 to the payload 3, joining and preloading the second ends 15 of each pair of connecting levers 5 with a restraint cable 6, and attaching the central release actuator 1 to the spacecraft 4, such that the central release actuator 1 is placed on the central area where the restraint cables 6 cross.

[0053] A method to release a payload 3 from a spacecraft 4 which is not part of the invention uses a multiple hold down and release device of figure 6, such that in a hold down position the payload 3 is attached to the spacecraft 4 at a number of discrete points by means of the corresponding hold-downs brackets 11, the hold-down supports 20 being attached to the spacecraft 4, the method comprising the following steps: activating the actuator 1, such that it cuts the restraint cable 6, the connecting levers 5 are released from the restraint cable 6 and rotate by means of its elastic energy and the at least one torsion spring 9, and the first end 14 of each lever 5 is released from the corresponding hold-down bracket 11 to unlock the corresponding hold-down bracket 11, allowing the separation of the payload 3 from the spacecraft 4.

[0054] A method to install a multiple hold down and release device for restraining and releasing a payload from a spacecraft which is not part of the invention, uses a multiple hold down and release device of figure 6, comprising the following steps: attaching the hold-down supports 20 to the spacecraft 4, attaching the hold-downs brackets 11 to the payload 3, joining and preloading the second ends 15 of the connecting levers 5 with a restraint cable 6, and attaching the release actuator to the spacecraft 4 such that the release actuator 1 is placed on the restraint cable 6.

[0055] Figures 9 and 11 show a release actuator 1 configured for simultaneous cutting of several restraint cables 6, while Figure 10 shows a release actuator 1 configured to cut a restraint cable 6 little by little.

[0056] Although the present invention has been fully described in connection with preferred embodiments, it is evident that modifications may be introduced within the scope thereof, not considering this as limited by these embodiments, but by the contents of the following claims.

Claims

1. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), that comprises: - a plurality of hold-down assemblies (19) placed on the periphery of the device, each one of them comprising a hold-down bracket (11) configured to be attached to the payload (3) and a hold-down support (20) joined to the spacecraft (4), both of them with conical mating surfaces (10, 10'), each hold-down support (20) comprising at least one torsion spring (9) around an axis (17), - a plurality of pairs of connecting levers (5), each one of the connecting levers (5) comprising a first end (14) configured to be coupled to a corresponding hold-down support (20) such that each corresponding lever (5) is articulated with the corresponding hold-down support (20) through the axis (17); and a second end (15) opposite to the first end (14), - a plurality of restraint cables (6) that engage the second ends (15) of each pair of connecting levers (5) and are arranged radially with a central area where the restraint cables (6) cross, and - a central release actuator (1) configured to be able to cut the restraint cables (6).

2. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to claim 1, that additionally comprises a damper (8) on each hold-down support (20) that limits the motion of the lever (5) around the corresponding axis (17).

3. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to claim 1 or 2, that additionally comprises a latch (7) on each hold-down support (20) suitable for retaining the corresponding lever (5) after release.

4. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to any of the previous claims, that additionally comprises a strain gauge on the connecting levers (5).

5. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to any of the previous claims, wherein the central release actuator (1) is a thermal knife or a cutter.

6. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to any of the previous claims, wherein the restraint cables are made of kevlar.

7. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to any of the previous claims, that additionally comprises a tensioner (13) adjacent the second end (15) of each connecting lever (5) to apply preload on each second end (15) of each connecting lever (5).

8. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to claim 1, in which the hold-down assemblies (19) are arranged in a circular configuration in plan view.

9. Multiple hold down and release device for restraining and releasing a payload (3) from a spacecraft (4), according to claim 1, in which the hold-down assemblies (19) are arranged in a polygonal configuration in plan view.

10. Method to release a payload (3) from a spacecraft (4), the method using a multiple hold down and release device of claim 1, such that in a hold down position the payload (3) is attached to the spacecraft (4) at a number of discrete points by means of the corresponding hold-downs brackets (11), the hold-down supports (20) being attached to the spacecraft (4), the method comprising the following steps: - activating the release actuator (1), such that it cuts the restraint cables (6), - the connecting levers (5) of each pair of connecting levers (5) are released from the corresponding restraint cable (6) and rotate by means of its elastic energy and the at least one torsion spring (9), and - the first end (14) of each lever (5) is released from the corresponding hold-down bracket (11) to unlock the corresponding hold-down bracket (11), allowing the separation of the payload (3) from the spacecraft (4).

11. Method to install a multiple hold down and release device for restraining and releasing a payload from a spacecraft, the method using a multiple hold down and release device of claim 1, comprising the following steps: - attaching the hold-down supports (20) to the spacecraft (4), - attaching the hold-down brackets (11) to the payload (3), - joining and preloading the second ends (15) of each pair of connecting levers (5) with a restraint cable (6), and - attaching the central release actuator (1) to the spacecraft (4), such that the central release actuator (1) is placed on the central area where the restraint cables (6) cross.