CN108327929A - A kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster - Google Patents
A kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster Download PDFInfo
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- CN108327929A CN108327929A CN201810130885.5A CN201810130885A CN108327929A CN 108327929 A CN108327929 A CN 108327929A CN 201810130885 A CN201810130885 A CN 201810130885A CN 108327929 A CN108327929 A CN 108327929A
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- sma
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- firer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
Abstract
The present invention provides a kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster, is related to spacecraft tripper field, and three split bodies after spelling group are constrained to the complete limit conical surface by pedestal, spacer pin and SMA bands, lock release bolt；Rope is fired in the SMA tails connection being bundled in outside split body, and combustion rope intersects while winding, tension SMA bands and alternately compresses three groups of heating wire.When release, combustion rope is blown by heating wire electrified regulation, SMA bands distending under its own reply force effect, release the constraint to split body, release spring releases release bolt, the unlock release of implementation mechanism.The SMA bands that the present invention uses have super-elasticity and high damping characteristic, and the unlock load of mechanism is big, strong shock resistance；The transition spherical design for discharging bolt, makes mechanism can automatic adjusument；Three groups of heating wire blow the scheme of combustion rope, reduce energy consumption, shorten release time, realize Redundancy Design.
Description
Technical field
The present invention relates to the technical field of spacecraft tripper, more particularly to a kind of cluster, non-firer solution lock machine
Structure.
Background technology
Spacecraft needs a variety of trippers to realize connection and unlocking function, as the separation of multistage booster, satellite or
The expansion etc. of solar wing on person's spaceship.Current this tripper includes priming system and non-priming system two major classes.Firer
Product have been unable to meet the demand of technology development because of the impact and pollution problem that cause in its releasing process, especially of new generation small
After type satellite occurs, the research and development of non-firer's tripper are increasingly taken seriously.The non-firer's unlocking mechanism of cluster is a kind of weight
The non-firer's tripper wanted, is locked connector in the way of bundling by flexible material or structure, to be separated in need
When, it releases binding and realizes unlock.
Currently, the non-firer's unlocking mechanism research of cluster both domestic and external has certain progress, it is proposed that kinds of schemes,
The design for being unlocked spring fusing with expansion spring two split bodies of binding proposed such as G＆H Technology companies of the U.S.
Scheme (United States Patent (USP)：US 6747541B1), what BJ University of Aeronautics ＆ Astronautics proposed " a kind of SMA spaces connections of fusing and divides
Disembark structure " (application number：CN201210293404.5).By taking " a kind of SMA spaces connections of fusing and separating mechanism " as an example, knot
Structure is as shown in Figure 7.Be divided into two valves divides valve nut 4, inside to be equipped with the screw thread for being connect with bolt 5, and top has and axis
The hole of 15 cooperations, divides valve nut 4 to be connect with shell 16 by axis 15；It binds spring 10 and is located at a point outside for valve nut 4, tying
Internal diameter in the case of tight is equal to the outer diameter for dividing valve nut 4, and the upper end of spring 10 is connect with first SMA silk 2, lower end and second
SMA silks 12 connect, and the two SMA other ends are fixed on by locking sleeve 13, locking sleeve 23 on shell 16 respectively.Even
It connects under state, the constraint of two SMA common complete paired springs 10.It is right respectively by conducting wire 11 and conducting wire 21 when needing release
SMA silks 2 and the heating of 12 logical high current of SMA silks, generate huge recovery stress inside SMA because undergoing phase transition, while material
Because high temperature reduces, SMA are broken fracture strength, release the constraint to binding spring 10, bind spring 10 and itself are pre-tightening
It is unclamped under force effect, loses the constraint to dividing valve nut 4, realize the release to connecting bolt 5.
" a kind of SMA spaces connections of fusing and separating mechanism " has many advantages, such as reliability height, anti-vibration, but still has
Larger disadvantage：
(1) divide valve nut to be bound by encircling spring, but bind both ends of the spring only by two SMA fixations, therefore unlock and carry
Lotus is finally undertaken by SMA, and SMA can not bear big load, so mechanism unlock load is smaller.
(2) SMA heating is made its contraction be pulled off in turn by the mechanism by high current is led to, and energy consumption is big.
(3) since SMA have super-elasticity and high intensity, it is heated the process broken necessarily relatively slowly, this makes
The mechanism response time is long, poor synchronization.
(4) due to dividing valve nut structure to carry out the constraint of zero degree of freedom to bolt, bolt can not freely swing, not have and entangle
Inclined function, alignment difficulties, matching requirements are high, and easy to produce additional moment of flexure during the work time.
(5) SMA and bind spring attachment portion inside housings, be not easy to operate.
Invention content
Present invention mainly solves unlock load existing in the prior art, and small, the big, low-response that consumes energy, assembly difficulty etc. are asked
Topic, provide a kind of unlock load is big, energy consumption is small, response soon, can automatic adjusument, strong shock resistance, reliability it is higher
The non-firer's unlocking mechanism of cluster.
The technical solution adopted by the present invention is：A kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster comprising：Three
A split body, three spacer pins, release bolt, release spring, super-elasticity SMA band (hereinafter referred to as SMA bands), three groups of heating wire,
Fire rope, pedestal, shell.Under locking state, three split bodies spell the complete limit conical surface of composition, by pedestal, spacer pin and SMA bands
Release bolt is lockked in constraint；Precompressed release spring is mounted between shell and release bolt, is applied to release bolt downward
Pretightning force；SMA bands are in tension, with the trend that distending is replied, pass through hole and the combustion rope connection of its tail portion；Combustion rope winding
Except SMA bands, while tensing, fix SMA bands, three groups of heating wire is alternately intersected and are compressed.When release, to three groups of heating wire
Electrified regulation simultaneously blows combustion rope, and SMA bands distending under its own reply force effect releases the radial direction to three split bodies
Constraint, release spring release release bolt, the unlock release of implementation mechanism.
Wherein, three split bodies, structure is identical, and it is in 120 ° of sectors to overlook, and inside is equipped with the limit conical surface, limit
Cambered surface is equipped with step with the conical surface, exterior bottom is detached, and the side of step is equipped with small column.
Wherein, three spacer pins, structure is identical, is multi-diameter shaft, is mounted on pedestal and the corresponding mounting hole of shell
Interior, 120 ° of interval is uniformly arranged, the limit cambered surface cooperation of middle part and split body, is provided three split bodies under locking state circumferential
Constraint.
Wherein, the release bolt, head top surface are equipped with mounting groove, are used for the installation of release spring；Head and screw rod it
Between be equipped with transition spherical surface, the limit taper-face contact with split body, allow discharge bolt can freely swing in a certain range.
Wherein, the release spring applies axial pre tightening force to release bolt, will be released in release in the locked condition
Put bolt release.
Wherein, the SMA bands are made of super-elasticity, the SMA material of high-damping, and head has hook, tail portion to have circular hole, point
It is not connected to the installation at both ends, outmost turns realize insulation using insulating coating technology；Under locking state, three points of SMA bands pair
Valve body provides radial constraint；Big characteristic is damped using SMA material to absorb external shock load, utilizes its hyperelastic spy
Property, it is ensured that it still can restore original shape after long-term big effects of strain.Therefore, mechanism unlock load is big, SMA when release
Band can promptly be unfolded, and release the constraint to split body, and the response time is short.
Wherein, three groups of heating wire, resistivity is high, is respectively connected to independent heater circuit, and 120 ° of interval is laid
It sets, replaces with combustion rope and intersect compression, form multiple contact points, to the logical smaller electric current of heating wire, you can high temperature is quickly generated,
Blow combustion rope；Three groups of heating wire backup each other, and realize Redundancy Design.
Wherein, the combustion rope selects wear-resistant, low melting point, high intensity, creep resisting material, combustion rope one end to connect SMA bands
The circular hole of tail portion, takes up, and the other end is fixed on the small column on the outside of split body bottom stage.
Wherein, the chassis interior is equipped with the separation conical surface, and outside is equipped with flange, and the separation conical surface is for the separation with split body
Cone match applies axial constraint to three split bodies, and flange is used for and shell carries out interference fit installation.
Wherein, the shell is mounted on the base, and top surface is set there are three hole, the installation positioning for three spacer pins.
The principle of the present invention is：
The super-elasticity SMA band non-firer's unlocking mechanisms of cluster of the present invention, the split body of setting are divided into three valves, three valve spelling groups
After can form the complete limit conical surface to lock release bolt, split body is applied axial, circumferential respectively by pedestal, spacer pin, SMA bands
And radial constraint；SMA bands for bundling split body are made of super-elasticity SMA material, and this material stress strain curve is formed
Hysteresis loop it is full, have both the characteristic that deformation is big, intensity is high, damping is high so that the good shock resistance of mechanism can be born non-
Often big unlock load；When release, heating wire blows combustion rope, and SMA bands are because of the rapid distending of its own restoring force, and split body is in diameter
Constraint is lost upwards, and release bolt moves down out in the elastic recovery force effect of precompressed release spring, the unlock of implementation mechanism
Release.
The present invention compared with prior art, have unlock load big, strong shock resistance, can automatic adjusument, energy consumption
The features such as small, response is soon, reliability is high, release is thorough, is in particular in the following aspects：
(1) present invention employs hyperelastic SMA to bring encircling split body, so that mechanism is born very big unlock and carries
Lotus；Due to the super-elasticity of SMA bands, makes it remain to restore completely after large deformation, ensure that the service life of mechanism；Simultaneously because
Its high damping characteristic can effectively absorb external shock load, and mechanism is made to have good shock resistance.
(2) combustion rope of the invention selects wear-resistant, low melting point, high intensity, creep resistant material, coordinates the electric heating of high resistivity
Silk uses, and only need to provide smaller current, and heating wire can be brought rapidly up, and combustion rope is blown, trigger mechanism release, whole process consumption
Energy is small, the time is short.
(3) contact surface that bolt and split body are discharged in the present invention, is designed as the form of spherical surface-conical surface, and release bolt exists
It can freely swing in a certain range, the pretightning force that cooperation release spring provides makes mechanism have the function of automatic adjusument.
(4) three groups of heating wire are respectively connected to independent heater circuit in the present invention, replace with combustion rope and intersect compression, contact point
Quantity can be arranged as required to several, any one contact point blows combustion rope, and mechanism can successfully discharge, and realize redundancy
Design, improves the reliability of mechanism.
(5) when discharging, release spring is released in an axial direction by bolt is discharged, and split body and pedestal are bored by respective separation
Face coordinates, and the mode of this cone match is conducive to the separation of split body, to ensure that the thorough release of mechanism.
Description of the drawings
Fig. 1 (a) is top plan view of the mechanism in locking state of the present invention；
Fig. 1 (b) is elevation cross-sectional view of the mechanism in locking state of the present invention；
Fig. 2 (a) is top plan view of the mechanism in discrete state of the present invention；
Fig. 2 (b) is elevation cross-sectional view of the mechanism in discrete state of the present invention；
Fig. 3 (a)~Fig. 3 (b) is the structural schematic diagram of split body of the present invention；
Fig. 4 is the stress-strain diagram of super-elasticity SMA material；
Fig. 5 is the structural schematic diagram of SMA bands of the present invention；
Fig. 6 replaces to intersect with heating wire for present invention combustion rope compresses schematic diagram；
Fig. 7 is " a kind of SMA spaces of fusing connect and separating mechanism " structural schematic diagram in the prior art.
Specific implementation mode
Present disclosure is further illustrated in the following with reference to the drawings and specific embodiments.
The present invention provides a kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster, as shown in Fig. 1 (a)~Fig. 2 (b), packet
It includes：First split body 1, third split body 3, the first spacer pin 4, the second spacer pin 5, third spacer pin 6, is released second split body 2
It puts bolt 7, SMA bands 8, pedestal 9, shell 10, the 11, first heating wire 12 of combustion rope, the second heating wire 13, third heating wire 14, release
Put spring 15.
First split body 1, the second split body 2,3 structure of third split body are identical, and it is in 120 ° of sectors, locking state to overlook
Under, three split bodies collectively constitute the complete limit conical surface, lock release bolt 7.By taking the first split body 1 as an example, as Fig. 3 (a),
Shown in Fig. 3 (b), inside is equipped with the limit conical surface 101, limit cambered surface 102, the separation conical surface 103, and the step of bottom outside is equipped with
Small column 104.It limits the conical surface 101 and is used to limit with the first spacer pin 4 and second for lockking release bolt 7, limit cambered surface 102
Pin 5 coordinates, and the separation conical surface 103 is used to be coordinated with the separation conical surface of pedestal 9, and separation, small column 104 is assisted to be fired for fixed
Rope 11.
As shown in Figure 1, the first spacer pin 4, the second spacer pin 5,6 structure of third spacer pin are identical, it is multi-diameter shaft, interval
120 ° are uniformly arranged, and upper and lower ends are separately mounted in 9 corresponding mounting hole of shell 10 and pedestal, the limit at middle part and split body
Cambered surface coordinates, and circumferential constraint is provided to three split bodies under locking state.
SMA bands 8 are made of super-elasticity SMA material, the stress-strain diagram of this material as shown in figure 4, hysteresis loop is full,
Have both the characteristic that deformation is big, intensity is high, damping is high so that the good shock resistance of mechanism can bear very big unlock and carry
Lotus, and still can restore original shape after long-term big effects of strain.The structure of SMA bands 8 has referring to Fig. 5, head
There are circular hole 802 in hook 801, tail portion.Hook 801 can hang over the first split body 1, the second split body 2, third split body 3 it is arbitrary
One side, to one end of fixed 8 internal layer of SMA bands；Circular hole 802 connects combustion rope 11 for wearing, and then by firing rope 11 by super-elasticity
SMA bands 8 tense, and fix its outer end.The outmost turns of SMA bands 8 realize insulation using insulating coating technology；Under locking state, SMA
Radial constraint is carried out to three split bodies in a manner of binding with 8.
First heating wire 12, the second heating wire 13, third heating wire 14 are respectively connected to independent heater circuit, are spaced 120 °
It is uniformly arranged, replaces with combustion rope 11 and intersect compression.The compression schematic diagram for the first heating wire 12 and combustion rope 11 that Fig. 6 is provided, the
One heating wire 12 and combustion rope 11 are provided with 5 contact points altogether, and (what is provided in figure is 5, and contact point quantity can be according to actual needs
Adjustment).The resistivity of heating wire is high, to the logical smaller electric current of heating wire, you can quickly generate high temperature, three groups of heating wire are standby each other
Part, combustion rope 11 and three groups of heating wire, which amount to, 15 contact points, any one contact point, which restricts combustion, to be blown, and can be triggered unlock and be released
It puts, realizes Redundancy Design, release reliability is high.
The course of work of the present invention is as follows：
The locking state of mechanism as shown in Figure 1, the first split body 1, the second split body 2, third split body 3 by super-elasticity
The winding of SMA bands 8, which is bound, realizes radial constraint, and bottom is coordinated by detaching the conical surface with pedestal 9, circumferential by the first spacer pin 4, second
Spacer pin 5, third spacer pin 6 limit, and three split bodies spell the complete limit conical surface of composition jointly, lock release bolt 7；Release
Precompressed release spring 15 is installed in the slot on 7 head of bolt, transition spherical surface, spiral shell are designed as with the position of limit taper-face contact
Bolt can freely swing in a certain range, and the pretightning force that cooperation release spring 15 provides makes mechanism have automatic adjusument work(
Energy；Super-elasticity SMA bands 8 are in tension, with the trend that distending is replied, are connect with combustion rope 11 by the hole of its tail portion；Combustion rope
11 are wrapped in outside SMA bands 8, be strained and fixed SMA bands 8 while, by the first heating wire 12, the second heating wire 13, third heating wire
14 alternately intersect compression.When release, to three groups of heating wire electrified regulations, combustion rope 11 is blown, SMA bands 8 are in its own restoring force
The lower distending of effect, releases the radial constraint to split body, and release bolt 7 is moved down in the case where release spring 15 pre-tightens force effect,
Three split bodies are separated from each other, and the final bolt that discharges thoroughly is released, as shown in Fig. 2, completing the unlock release of mechanism.
The present invention also has another embodiment, can combustion rope 11 be replaced with the SMA hooks with shape memory characteristic, SMA
It is hooked in the circular hole 802 of the tail portion of super-elasticity SMA bands 8, when needing release, to SMA hook electrified regulations, brings it about deformation,
Super-elasticity SMA bands 8 break off relations, and the distending under its own reply force effect, and the unlock release of mechanism equally may be implemented.
It should be understood that although the present invention is described by preferably embodiment as above, according to the present invention
Technical solution, can also develop and kinds of schemes, for example, using excellent spring spring steel band substitute SMA bring binding to divide valve
Body can also realize release function although mechanism overall performance is slightly worse.For person of ordinary skill in the field,
Under the premise of not departing from spirit of the invention, change, replacement or the deformation made should all belong to the guarantor of the claims in the present invention
Protect range.
Claims (9)
1. a kind of super-elasticity SMA bands non-firer's unlocking mechanism of cluster, which is characterized in that including：First split body (1), second
Split body (2), third split body (3), the first spacer pin (4), the second spacer pin (5), third spacer pin (6), release bolt
(7), SMA bands (8), pedestal (9), shell (10), combustion rope (11), the first heating wire (12), the second heating wire (13), third electric heating
Silk (14), release spring (15)；
When mechanism locks, the first split body (1), the second split body (2), third split body (3) spell the complete limit conical surface of composition,
Axial constraint is applied by pedestal (9), is applied circumferentially about by the first spacer pin (4), the second spacer pin (5), third spacer pin (6)
Beam applies radial constraint by SMA bands (8), and collective effect locks release bolt (7)；Precompressed release spring (15) is mounted on
Between shell (10) and release bolt (7), apply downward pretightning force to release bolt (7)；SMA bands (8) are in tension, tool
Have the tendency that distending reply, tail portion connection combustion rope (11)；Combustion rope (11) is wrapped in except SMA bands (8), is tensed, fixed SMA bands
(8) while, the first heating wire (12), the second heating wire (13), third heating wire (14) is alternately intersected and compressed；
When release, to three groups of heating wire (12,13,14) while electrified regulation, combustion rope (11) is blown, SMA bands (8) are returned at itself
Distending under multiple force effect releases the radial constraint to three split bodies (1,2,3), and release spring (15) releases release bolt (7),
The unlock of implementation mechanism discharges.
2. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that described three
Split body (1,2,3), structure is identical, and it is in 120 ° of sectors to overlook, and inside is equipped with the limit conical surface, limit cambered surface and detaches the conical surface,
Bottom outside step is equipped with small column.
3. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that described three
A spacer pin (4,5,6), structure is identical, is multi-diameter shaft, and 120 ° of interval is uniformly arranged, and upper and lower ends are separately mounted to shell (10)
With on pedestal (9) in corresponding mounting hole, the limit cambered surface of middle part and split body coordinates.
4. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that the release
The head top surface of bolt (7) is equipped with the mounting groove of release spring (15), and transition spherical surface is equipped between head and screw rod.
5. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that the super SMA
Band (8) is made of high-damping, hyperelastic SMA material, and there is hook on head, can hang over the arbitrary of three split bodies (1,2,3)
One side is positioned；There is circular hole in tail portion, to be connected with combustion rope；Outmost turns realize insulation using insulating coating technology.
6. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that described three
Group heating wire (12,13,14) is respectively connected to independent heater circuit, and 120 ° of interval is uniformly arranged, and is formed with combustion rope (11) multiple
Contact point.
7. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that the pedestal
(9) it is internally provided with separation cone structure, for the separation cone match with three split bodies (1,2,3).
8. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that the pedestal
(9) it is provided with flange, for carrying out precision interference-fit with shell (10).
9. the super-elasticity SMA bands non-firer's unlocking mechanism of cluster according to claim 1, which is characterized in that the combustion rope
(11) wear-resistant, low melting point, high intensity, creep resisting material, one end is selected to connect the circular hole of SMA bands (8) tail portion, the other end is solid
It is scheduled on the small column of three split bodies (1,2,3) any one bottom.
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| CN109050987A (en) * | 2018-08-08 | 2018-12-21 | 上海宇航系统工程研究所 | One discharge plate chain type satellite and the rocket connection solution lock machine |
| CN109050987B (en) * | 2018-08-08 | 2021-12-21 | 上海宇航系统工程研究所 | Plate chain type star-arrow connection unlocking machine |
| CN109131951B (en) * | 2018-09-03 | 2021-09-07 | 哈尔滨工业大学 | Spatial radial unlocking mechanism driven by shape memory alloy SMA (shape memory alloy) tows |
| CN109131951A (en) * | 2018-09-03 | 2019-01-04 | 哈尔滨工业大学 | A kind of spatial radial unlocking mechanism driven by marmem SMA tow |
| CN109398761A (en) * | 2018-10-31 | 2019-03-01 | 北京宇航系统工程研究所 | Connection unlocking mechanism based on marmem triggering |
| CN109625327A (en) * | 2018-12-10 | 2019-04-16 | 上海卫星装备研究所 | Hot melt suitable for vacuum environment, which breaks, solves lock release |
| CN110030236A (en) * | 2019-04-30 | 2019-07-19 | 上海利正卫星应用技术有限公司 | Reciprocating locking device and its application method |
| EP3909865A1 (en) * | 2020-05-14 | 2021-11-17 | Space-Lock GmbH | Device for retaining and commanded release of an element to be released in the release direction |
| CN111806732B (en) * | 2020-06-30 | 2021-12-07 | 哈尔滨工业大学 | Split nut type compression and release device actuated by hot knife |
| CN111806732A (en) * | 2020-06-30 | 2020-10-23 | 哈尔滨工业大学 | Split nut type compression and release device actuated by hot knife |
| CN112896553A (en) * | 2021-01-21 | 2021-06-04 | 北京微纳星空科技有限公司 | Locking and releasing device and spacecraft |
| CN113120260A (en) * | 2021-05-14 | 2021-07-16 | 上海宇航系统工程研究所 | Thermally-induced fusing steel ball lock pressing and releasing mechanism |
| CN113895660A (en) * | 2021-09-28 | 2022-01-07 | 北京微纳星空科技有限公司 | Split type locking and releasing device |
| CN114148285A (en) * | 2021-10-21 | 2022-03-08 | 中山市澳多电子科技有限公司 | Automobile lock opening and closing control method and system based on Bluetooth technology |
| CN114229046A (en) * | 2021-12-14 | 2022-03-25 | 哈尔滨工业大学 | Separating nut unlocking mechanism driven by SMA wire |
| CN114455107A (en) * | 2022-03-01 | 2022-05-10 | 武汉科技大学 | Non-explosive separation device based on SMA connecting piece switch |
| CN114455107B (en) * | 2022-03-01 | 2022-10-21 | 武汉科技大学 | Non-firer separating device based on SMA connecting piece switch |
| CN115610703A (en) * | 2022-10-26 | 2023-01-17 | 深圳市魔方卫星科技有限公司 | Pull type compressing and releasing device and using method |
| CN115649486A (en) * | 2022-11-02 | 2023-01-31 | 哈尔滨工业大学 | Split nut locking and releasing device based on shape memory material |
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