DE102022129934B4 - Actuator module for releasing a release element - Google Patents

Abstract

Actuator module (200) for releasing a release body (300), comprising:
a module base (2);
at least one retaining element (4) rotatable relative to the module base (2) between a ready position and a working position in a plane (3), designed as a lever, with a distal end section (14) and an adjacent proximal end section (16), which in the ready position prevents release of the release body (300) and in the working position allows release of the release body (300) from the plane (3), wherein the at least one retaining element (4) in the ready position is under the effect of a first spring preload pressing the at least one retaining element (4) towards the working position;
a locking body (6) movable between a locking position and a release position relative to the module base (2), which in its locking position blocks movement of the at least one retaining element (4) from the ready position to the working position and in its release position permits movement of the at least one retaining element (4) from the ready position to the working position; and
an actuator device (8) for moving the locking body (6) from the locking position to the release position, wherein the actuator device (8) comprises at least one actuator component (10) made of a shape memory material which is fixed with a first fastening section (24) relative to the module base (2) and is fixed with a second fastening section (26) relative to the locking body (6).

Description

From the DE 10 2020 000 688 A1 An actuator module for releasing an equipment component is known. The actuator module comprises a module base forming a guide sleeve, a release element inserted into the guide sleeve and provided for coupling with the equipment component, which is movably arranged relative to the guide sleeve along a sleeve axis thereof from a ready position to a working position, a blocking element mounted on the guide sleeve, which in its blocking position blocks the release element against movement from the ready position to the working position and in its release position allows movement of the release element from the ready position to the working position, and an actuator device for moving the blocking element from the blocking position to the release position, wherein the actuator device comprises at least one actuator wire made of shape memory material, the wire ends of which are fixed to the module base and coupled to the blocking element for applying an activation force.

The CN 1 09 606 737 A describes a mechanism in which a locking leaf made of a shape memory polymer is bent around two retaining wings in a first state, thus preventing the two retaining wings from moving apart, and in a second state is shaped flat and not bent around the retaining wings, so that the retaining wings can move apart.

The present invention relates to an actuator module for releasing a release body, a system comprising the actuator module and the release body, and a satellite comprising the actuator module and/or the system. In particular, an actuator module according to claim 1, a system according to claim 16, and a satellite according to claim 18 are provided.

According to a first aspect, an actuator module is provided for releasing a release body. The actuator module can be compact. For example, the actuator module can have a height of just a few millimeters, in particular a height of ≤ 8 mm or ≤ 5 mm. The actuator module can be designed for installation in an aircraft or spacecraft, especially in a satellite.

The release device can be part of a satellite's equipment component or coupled to such a component. The equipment component could be, for example, an deployable, inflatable, and/or extendable part of the satellite, such as a solar panel, an antenna, or a braking parachute. However, the equipment component could also be a component of a sub- or orbital platform, such as a rocket, in particular a rocket component to be separated or moved, or a satellite to be released.

The actuator module includes a module base. The module base is, for example, part of the actuator module's housing and can serve to attach the actuator module to a satellite. For this purpose, the module base may include an interface for a fastening element (e.g., a screw or a bolt). The module base can be essentially plate-shaped or trough-shaped and can, in particular, enclose the other components of the actuator module. For example, the module base, together with a cover attached to it, forms the housing of the actuator module.

The actuator module further comprises at least one retaining element. This retaining element is, for example, elongated, preferably extending along a longitudinal axis. The retaining element has, in particular, a distal end section and an adjacent proximal end section. For example, the retaining element is configured or designed as a lever or scissor arm. The distal end section can form a first lever arm, and the proximal end section can form a second lever arm. The end sections or lever arms can be of different lengths. In particular, the distal end section can be shorter in the longitudinal direction of the retaining element than the proximal end section. For example, in the ready position, the retaining element, in particular its distal end section, rests at least partially on the module base or on a support attached to the module base.

The at least one retaining element is designed or mounted to be movable (e.g., rotatable in a plane) between a ready position and a working position (e.g., relative to the module base). In particular, the movement of the at least one retaining element from the ready position to the working position occurs only in one plane. This plane can be parallel to an inner surface of the module base. The at least one retaining element can be moved from the ready position to the working position, for example, by rotating it (e.g., relative to the module base). The at least one retaining element can be rotatably mounted on the module base. A holding element can be rotatably arranged about an axis or axis of rotation perpendicular to the plane and configured to rotate from the ready position to the working position about this axis. The (rotational) axis runs, for example, between the distal end section and the proximal end section. In particular, the axis of the at least one holding element defines one end of each of the two lever arms of the at least one holding element.

The at least one retaining element prevents the release body from being released in the ready position and allows its release, particularly release from the plane, in the working position. For example, the distal end section or a support element attached to the distal end section is in contact with a coupling section of the release body in the blocking position and is spaced apart from the coupling section of the release body in the release position. The distal end section or the support element can be designed to allow coupling with the coupling section of the release body at various angles (e.g., from a view onto the plane and/or from a view in the plane). The distal end section or the support element of the at least one retaining element can be designed to allow coupling of the release body to the actuator module at various coupling angles (e.g., from a plane perspective and/or from an in-plane perspective) or orientations, particularly in the ready position of the at least one retaining element. The coupling section can be rotationally symmetrical (e.g., from a plane perspective or with respect to a release path), and in particular, spherical. The distal end section or the support element attached to it can have a surface section designed for bearing on the coupling section (e.g., a flat surface). The surface section is, for example, shaped to match the form of the coupling section; it can, for instance, form a spherical segment.

The actuator module is designed, for example, to release the release body in such a way that it can be removed from the actuator module along at least one (e.g., the release path). The actuator module can, in particular, be designed to release the release body in such a way that it can be removed from the actuator module along a multitude of different (e.g., converging and/or straight) release paths. The respective release path can, in particular, extend outside the plane and/or intersect the plane. The release path can comprise or be a curve, a circular path, a circular path segment, and/or a straight line. In particular, the release path can be a straight line that intersects the plane. The release path can be a straight line that is perpendicular to the plane and/or parallel to the axis. The at least one holding element can be mounted such that, in the ready position, a force in the direction of the release path does not cause the at least one holding element to move from the ready position towards the working position. For this purpose, the distal end section can at least partially rest on the module base.

The at least one holding element is in the ready position under the influence of a first spring preload that forces the at least one holding element toward the working position. The first spring preload can be provided by a tensile force, a compressive force, and/or a bending force. The actuator module can include one or more first springs configured to provide the first spring preload. The one or more first springs can be configured to force and/or preload the at least one holding element from the ready position toward the working position.

The actuator module further comprises a locking body movable between a blocking position and a release position (e.g. relative to the module base and/or relative to the at least one holding element), which in its blocking position blocks a movement of the at least one holding element from the ready position to the working position and in its release position allows a movement of the at least one holding element from the ready position to the working position.

The actuator module further comprises an actuator assembly for moving the locking element from the locking position to the release position. The actuator assembly comprises at least one actuator component made of a shape-memory material. The actuator component is, for example, arranged and configured such that, upon actuation of the actuator component, it causes the locking element to move into the release position. The actuator component, in particular, has a first mounting section and a second mounting section. The actuator component can be fixed relative to the module base by the first mounting section. The actuator component can be fixed relative to the locking element by the second mounting section. The actuator component is, for example, configured such that, upon actuation of the actuator component, the distance between the first mounting section and the second mounting section changes, in particular decreases.

The actuator component can be actuated using heat. For this purpose, an electric current can flow through the actuator component, so that the ohmic heat released warms and actuates the actuator. The first and/or second mounting section can be configured as an electrical interface. In this case, the mounting sections fulfill a dual function, serving both the mechanical fixation and the electrical contact of the actuator component. The locking body can include a connecting element to which the second mounting section of the actuator component is attached. The first mounting section can be attached to the module base or to a printed circuit board of the actuator module.

The actuator component can have a substantially two-dimensional geometry. The actuator component can be substantially planar. In particular, the actuator component can be formed from a structured film made of shape memory material. The actuator component can be structured or cut from the film. The film can have a thickness of approximately 50 to 500 µm, particularly 50 to 100 µm. For example, the actuator component includes at least one meandering or zigzag-shaped section, which can be formed from the film. This section can run between the first and second mounting sections, for example, along a translational axis of the locking element. The first and/or the second mounting section of the actuator component can also be formed from or structured with the film. For example, the first and/or the second mounting section includes a through-hole.

The actuator component can comprise two sections, which are connected, for example, via the second mounting section. The two sections can form a continuous current path. The two sections can be arranged so that they each apply the same proportion of the force required to move the locking element from the locked position to the released position. Alternatively, the two sections can form two parallel current paths, which provides redundancy during actuation. The two sections can be arranged so that they each apply the force required to move the locking element from the locked position to the released position.

For example, the actuator module comprises not just one, but two retaining elements. In other words, the at least one retaining element can comprise two such retaining elements. The two retaining elements can be arranged and/or shaped as mirror images of each other, at least or especially in a top view of the plane. The two retaining elements can be configured to move in different directions to move from the ready position to the release position. In particular, the two retaining elements can be configured to rotate in opposite directions to move from the ready position to the release position. For example, the distal end sections of the two retaining elements are configured such that they are in contact with each other, in particular, in engagement, when the two retaining elements are in the ready position. The distal end sections of the two retaining elements can be configured such that they are spaced apart from each other when the two retaining elements are in the release position. The locking element can be arranged such that, at least in its locking position, it is located between the proximal end sections of the two retaining elements when they are in their ready position.

For example, in the locking position and/or the release position of the locking body, the module base, the proximal end of the at least one retaining element, and the actuator component are arranged in a stacked configuration. In other words, the actuator module can be designed such that, in the locking position and/or the release position of the locking body, the module base, a proximal end of the at least one retaining element, and the actuator component are stacked on top of each other along the axis. For this purpose, the proximal end can be flatter compared to another part of the retaining element. The proximal end section can be flatter, at least in some sections, than the distal end section. For example, the proximal end of the proximal end section has a thickness along the axis that is less than the thickness of the distal end section in the same direction.

For example, the distal end section of at least one retaining element has a chamfered and/or rounded outer contour, particularly when viewed from the plane. The outer contour of the distal end section may be substantially parallel to an outer contour of the release body or coupling section when the retaining element is in the ready position. The two distal end sections of the two retaining elements may together form a substantially V-shaped or U-shaped outer edge in the ready position, particularly when viewed from the plane, from the inner surface of the module base, and/or when viewed along the axis of rotation.

For example, in the release position, the locking element is subject to a second spring preload that forces it into the locking position. In particular, the locking element can be held in the locking position by the second spring preload. The second spring preload can be provided by a tensile force, a compressive force, and/or a bending force. The actuator module can include one or more first or second springs configured to provide the second spring preload. The one or more first or second springs can be configured to force and/or preload the locking element (e.g., from the release position) toward the locking position. The actuator assembly can be configured to move the locking element from the locking position to the release position against the force of the second spring preload.

For example, the locking element is purely translationally movable between the locking position and the release position along the translation axis. The translation axis can lie in the plane or be parallel to the plane. The actuator module, in particular the two retaining elements, can be designed and/or arranged essentially as mirror images of the translation axis (e.g., in a top view of the plane). The translation axis can therefore also be referred to as the mirror axis. The actuator module can include a guide element designed to guide the locking element between the locking position and the release position along the translation axis. The guide element can include a groove formed in the module base or in at least one retaining element. The locking element can include a guide projection extending into the groove.

The actuator module can be designed such that the locking element is moved away from the distal end section to move from the locking position to the release position. For example, the actuator module is designed such that the locking element is moved away from the axis of rotation of at least one retaining element to move from the locking position to the release position.

The locking body can comprise at least one stop element designed to prevent movement of the locking body from the locked position and towards the released position. For example, in the locked position, the at least one stop element rests on a counter-stop element, which is either (i) part of the module base or the at least one retaining element, or (ii) attached to the module base or the at least one retaining element. The counter-stop element can be formed by the proximal end of the at least one retaining element.

The actuator module can be designed such that a continuous (e.g., steady, stepless, and/or uninterrupted) movement of the locking body from the locking position to the release position causes a continuous movement of the at least one holding element from the ready position to the working position. In particular, the actuator module can be designed such that the locking body or a contact element attached to the locking body remains in continuous contact with the at least one holding element or a contact component attached to the at least one holding element during the movement from the locking position to the release position.

The actuator module can be designed to be resettable. In particular, the actuator module can be designed such that at least one holding element can be moved back to the standby position after being moved from the ready position to the working position. The actuator module can be designed such that the locking element can be moved back to the locking position after being moved from the locking position to the release position. The respective reset can be performed manually or by means of an actuator. The reset can be performed externally, brought about by a spring preload (e.g., the second one), or triggered by additional actuators. The actuator assembly can be configured to move or reset the locking element from the release position to the locking position and/or to move or reset the at least one holding element from the working position to the standby position. A tool can be provided that is designed to reset the actuator module. The tool can be designed, in particular, to move the at least one holding element from the working position to the standby position. It is conceivable that the tool comes into direct contact with the holding element, for example through an opening in the actuator module housing or an opening in the module base. Alternatively or additionally, the tool can be designed to move the locking element from the release position to the locking position. Here, too, the tool could come into direct contact with the locking element, for example through an opening in the actuator module housing or an opening in the module base.

For example, a movement of the locking body from the release position to the locking position causes or permits a movement of at least one holding element from the working position to the ready position. In particular, The actuator module must be designed such that a continuous movement of the blocking body from the release position to the blocking position causes or permits a continuous movement of at least one holding element from the working position to the ready position.

Alternatively or additionally, a movement (e.g., manual, tool-assisted, and/or actuator-based) of at least one holding element from the working position to the ready position can cause or permit a movement of the locking element from the release position to the locking position (e.g., driven by the second spring preload). In particular, the actuator module can be designed such that a continuous movement of at least one holding element from the working position to the ready position causes or permits a continuous movement of the locking element from the release position to the locking position (e.g., driven by the second spring preload).

For example, the actuator module is designed such that the blocking body or a contact element attached to the blocking body is continuously in contact with the at least one retaining element or a contact component attached to the at least one retaining element during movement from the release position to the blocking position.

• (i) der Blockierkörper befindet sich in der Blockierstellung;
• (ii) der Blockierkörper befindet sich in der Freigabestellung;
• (iii) das zumindest eine Halteelement befindet sich in der Bereitschaftsstellung;
• (iv) das zumindest eine Halteelement befindet sich in der Arbeitsstellung;
• (v) der Freisetzungskörper ist oder wurde (z.B. ordnungsgemäß bzw. bestimmungsgemäß) in das Aktuatormodul eingesetzt;
• (vi) der Freisetzungskörper ist oder wurde freigegeben;
• (vii) das Aktuatorbauteil befindet sich in einem Initialzustand, in welchem es eine von dem Formgedächtnismaterial gespeicherte Form aufweist;
• (viii) das Aktuatorbauteil befindet sich in einem von dem Initialzustand abweichenden Deformationszustand, in welchem es eine von der gespeicherten Form abweichende Form aufweist.

The actuator module may include a feedback mechanism. For example, the feedback mechanism may be configured to indicate whether the release of the release element is currently blocked or permitted. Alternatively or additionally, the feedback mechanism may be configured to indicate whether the release element has been correctly inserted into and/or released from the actuator module. In particular, the feedback mechanism may be configured to indicate at least one of the following states:

• (i) the blocking body is in the blocking position;
• (ii) the blocking body is in the release position;
• (iii) at least one holding element is in the ready position;
• (iv) at least one holding element is in the working position;
• (v) the release element is or has been (e.g. properly or as intended) inserted into the actuator module;
• (vi) the release body is or has been released;
• (vii) the actuator component is in an initial state in which it has a shape stored by the shape memory material;
• (viii) the actuator component is in a deformation state different from the initial state, in which it has a shape different from the stored shape.

The feedback mechanism can provide haptic, acoustic, visual, and/or electrical feedback. For example, the feedback mechanism is configured to monitor and/or detect the current position of one or more elements. These elements can include at least one retaining element, the blocking element, the actuator component, and/or the release element. The feedback mechanism can, for example, include a monostable or bistable switch whose switch position depends on the position of the one or more elements. The switch can be attached to the module base or the cover and, for example, provide haptic, acoustic, visual, and/or electrical feedback when switching from a first to a second switch position. The switch can be designed like a click-type switch, with the feedback mechanism optionally also electrically detecting and optionally outputting the current switch position.

The actuator module can be designed such that an outer surface of the actuator module, in particular an outer surface of the module base, has a surface property that increases its thermal radiation compared to a smooth metal surface. For this purpose, the outer surface can be surface-treated, at least in sections, for example by increasing the surface roughness or by applying a coating or paint that increases its thermal radiation behavior.

The actuator module may further comprise an electrical circuit. The electrical circuit may be designed to control and/or actuate the actuator unit. In particular, the electrical circuit may be designed to transmit an electrical signal to the actuator, thereby actuating the actuator. The electrical circuit may be designed to supply the actuator component with an electrical current. The electrical circuit may be designed to heat the actuator component, in particular to heat it within a predefined temperature range or to heat it to a specific temperature. down to a predetermined actuation temperature. The electrical circuit can be designed to prevent overheating of the actuator device, particularly the actuator component. For this purpose, the electrical circuit can be configured to limit the current supplied to the actuator component and/or to limit the time during which the actuator component is supplied with the electrical current. For example, the electrical circuit includes a temperature sensor. The electrical circuit can be designed to heat the actuator component based on an ambient temperature (e.g., measured by the temperature sensor). In particular, the electrical circuit can adjust the magnitude and/or duration of the electrical current to the actuator component so that the actuator component is driven to the predefined actuation temperature (e.g., taking the ambient temperature into account).

The circuit can be arranged on the printed circuit board (PCB). The first mounting section of the actuator component can be fixed to the PCB. The PCB can make electrical contact with the first mounting section. The PCB can be attached to the module base and/or fixed relative to the module base. The circuit can have an electrical connection point for electrically contacting the actuator module (e.g., via a connector or cable).

• (i) eine Aktuierung des Aktuatorbauteils (z.B. durch Beaufschlagung des Aktuatorbauteils mit elektrischem Strom oder durch Erwärmung des Aktuatorbauteils mittels eines Heizelements);
• (ii) eine digitale Schnittstelle (z.B. zur Ausgabe einer elektrischen Rückmeldung des Rückmeldemechanismus);
• (iii) eine Erfassung und/oder Speicherung einer Anzahl von Aktuierungen des Aktuatorbauteils;
• (iv) eine Spannungs- und/oder Stromversorgung eines oder mehrerer Bauteile des Aktuatormoduls, insbesondere des Aktuatorbauteils.

For example, the feedback mechanism is provided by the electrical circuit. The circuit can be configured to provide at least one of the following functions:

• (i) actuation of the actuator component (e.g. by applying an electric current to the actuator component or by heating the actuator component using a heating element);
• (ii) a digital interface (e.g. for outputting electrical feedback from the feedback mechanism);
• (iii) recording and/or storing a number of actuations of the actuator component;
• (iv) a voltage and/or power supply to one or more components of the actuator module, in particular the actuator component.

One or more parts of the actuator module, in particular the actuator component and/or the electrical circuit, can be designed redundantly. Specifically, the actuator module can include an electrical bypass. The bypass is designed, for example, to switch an electrical switch (e.g., a transistor) automatically or upon receiving an electrical (e.g., external) trigger signal. This switching can direct the power supply of the electrical circuit directly to the actuator component, bypassing (e.g., other or all electrical components) the electrical circuit. This can enable actuation of the actuator component even in the event of a defect in part of the electrical circuit, by utilizing the bypass. The actuator component can have several parallel actuating sections, each of which can form a separate current path (e.g., between the first and second mounting sections).

According to a second aspect, a system is provided. The system comprises the actuator module as described in the first aspect, as well as the release body. The system may also include the equipment component.

The release element, for example, has a coupling section which, in the ready position of the at least one retaining element, is in contact with the distal end section of the at least one retaining element, or in contact with a support element attached to the distal end section. The coupling section is designed, for example, such that the release element can be coupled to the actuator module at different angles (e.g., facing the plane and/or facing in the plane). The coupling section can also be designed such that the release element can be removed from the actuator module along the at least one release path when the at least one retaining element is in the working position. For this purpose, the coupling section can be designed to rest on the surface section of the distal end section in the ready position. As explained in the first aspect, the at least one release path, or any of the plurality of release paths, can in particular be a circular path or a straight line running obliquely to the plane, e.g., at an acute angle. For example, the coupling section is rotationally symmetrical, in particular spherical.

According to a third aspect, a system is provided which includes the actuator module according to the first aspect or the system according to the second aspect. The system according to the third aspect further includes the tool described herein.

According to a fourth aspect, a satellite is provided. The satellite includes at least one actuator module according to the first aspect and/or at least one system according to the second aspect. The satellite may also include equipment components. For example, the satellite's actuator module is connected to the satellite via a thermal decoupling element. This thermal decoupling element may have lower thermal conductivity compared to a metal.

• 1 eine Explosionsansicht eines Systems mit einem Aktuatormodul gemäß der vorliegenden Offenbarung;
• 2 eine perspektivische Ansicht des Systems aus 1 vor der Aktuierung des Aktuatormoduls;
• 3 eine Draufsicht des Systems aus 1 vor der Aktuierung des Aktuatormoduls;
• 4 eine perspektivische Ansicht des Systems aus 1 nach der Aktuierung des Aktuatormoduls;
• 5 eine Draufsicht des Systems aus 1 nach der Aktuierung des Aktuatormoduls; und
• 6 eine schematische Darstellung eines Satelliten gemäß der vorliegenden Offenbarung.

The invention is further explained below with reference to the accompanying drawings. These depict:

• 1 an exploded view of a system with an actuator module according to the present disclosure;
• 2 a perspective view of the system from 1 before the actuator module is activated;
• 3 a top view of the system 1 before the actuator module is activated;
• 4 a perspective view of the system from 1 after the actuator module has been activated;
• 5 a top view of the system 1 after the actuator module has been activated; and
• 6 a schematic representation of a satellite according to the present disclosure.

In the 1-6 The same reference symbols denote the same structural features. It is first pointed out that... 1 referred.

1 Figure 1 shows an exploded view of a system 100. The system 100 comprises an actuator module 200 and a release body 300. The actuator module 200 serves to control the release of the release body 300. The actuator module 200 can, in particular, correspond to the actuator module according to the first aspect. The release body 300 can be part of an equipment component (e.g., a solar panel or an antenna) of a satellite or coupled to one, but is not limited to this use.

The actuator module 200 comprises a module base 2, two retaining elements 4, a locking body 6, and an actuator assembly 8 with an actuator component 10. Each retaining element 4 is designed as a lever or scissor arm and is rotatably mounted about a pivot bearing 12 on the module base 2. When rotated about the pivot bearing 12, the corresponding retaining element 4 rotates in a plane 3 about an axis 5, the plane 3 being substantially parallel to an inner surface 13 of the module base. The two retaining elements or levers 4 each have a distal end section 14, which forms a shorter lever arm, and a proximal end section 16, which forms a longer lever arm. The end sections 14 and 16 meet in a region of the retaining element 4 where the pivot bearing 12 or the axis 5 is located.

As in 1 As indicated, the release body 300 can have a rotationally symmetrical coupling section 302 designed to come into contact with the distal end sections 14 of the levers 4. In the example shown, the coupling section 302 of the release body 300 is essentially spherical and serves to couple or support the release body 300 and the scissor arms 4. The coupling section 302 can be described as having the shape of a spherical segment or disk. It is understood that, in addition to the coupling section 302, the release body 300 can have further sections, in particular a fastening section (e.g., for a screw), which can serve to fasten the coupling section 302 to a component of the equipment. The distal end sections 14 have a surface 18 designed to rest on the coupling section 302, thus forming the corresponding counterpart. In this way, the release element 300 can be held in the actuator module 200 by the retaining elements 4 in various orientations, i.e., at different coupling angles. After actuation of the actuator module 200, the release element 300 can be removed from the actuator module 200 through an opening 19 in the module base 2 along a release path 15 (in 1 downwards). The coupling section 302 and the surfaces or surface sections 18 designed for support thereon can be designed such that the release body after actuation of the actuator module 200 can be removed from the actuator module 200 not only along the release path 15 shown, but also along one or more differently directed release paths.

In 1 It is further indicated that the actuator module 200 can have a cover 20. The cover 20, together with the module base 2, can form a housing for the actuator module 200, in which the individual components of the actuator module are enclosed. The cover 20 can be fastened to the module base 2 by screws 22. Other housing configurations are also conceivable. Through holes 7 are provided in the module base 2, and the cover 20 has through holes 9 above them. The holes 7 and 9 serve to fasten the actuator module, in particular to a satellite.

It can also be seen that the actuator component 10, which consists of shape memory material, is essentially planar. For this purpose, the actuator component 10 can be structured from a film made of shape memory material. The actuator component 10 has one or more first mounting sections 24 at one end and one or more second mounting sections 26 at the opposite end. The first mounting sections 24 are fixed to a circuit board 28 of the actuator module 200, which is attached to the module base 2, and the second mounting section 26 is fixed to a connecting element 30 of the blocking body 6. In the example shown, the actuator component 10 has two sub-sections 27, which are connected to each other via the second mounting section 26. The two sub-sections 27 together form a continuous current path.

The following describes the functionality of the actuator module 200 with reference to the 2 , 3 , 4 until 5 explained in more detail. In the 2 and 3 The state of system 100 before an actuation of actuator module 200 is shown, in the 4 and 5 The state of system 100 immediately after the actuation of actuator module 200.

Before actuation, the levers 4 are each in a ready position; immediately after actuation, they are in a working position. In the ready position, the levers 4 are under an initial spring preload, which preloads them from the ready position into the working position. This initial spring preload forces the levers 4 into the working position during actuation. The initial spring preload can be provided in various ways. For example, a spring can be provided that is attached to the module base 2 and to the proximal end section 16 of the lever 4 and provides the initial spring preload. Alternatively, a spring, in particular a coil spring, can be arranged in the area of the pivot bearing 12 to provide the initial spring preload. Other configurations are also conceivable.

In the state according to 2 and 3 Rotation of the two levers 4 towards the working position is blocked by the locking element 6. This is located in the 2 and 3 The levers 4 are positioned in a blocking position between their proximal end sections 16, preventing them from moving towards each other. In the ready position, at least their distal end sections 14 of the retaining elements 4 rest on the module base 2. Thus, a force acting on the release body in the direction of the release path 15 is transmitted via the levers 4 to the module base 2 without forcing the levers 4 into their working position.

For actuation, the actuator module is controlled such that the actuator component 10 is supplied with electric current via the circuit board 28. The current flows through the actuator component 10, which is made of shape memory material (e.g., nitinol), and heats it due to the released ohmic heat. Alternatively, a heating element could be provided to controllably heat the actuator component 10.

When the actuator component 10 is heated, its geometric shape changes. In the example shown, when heated above a limit temperature, the actuator component 10 shortens such that the distance between the mounting sections 24 and 26 decreases. One can say that the actuator component 10 contracts longitudinally. Since the mounting sections 24 are fixed to the circuit board 28, which is connected to the module base 2, and the mounting section 26 is fixed relative to the blocking element 6, the change in length of the actuator component 10 causes the blocking element 6 to move relative to the module base 2. As can be seen in the comparison of the 2 and 3 with the 4 and 5 As becomes clear, the blocking body is moved away from the distal end sections 14 along a translational axis 29. In other words, the blocking body 6 is pulled out of the space between the proximal end sections 16 of the levers 4 into the release position by the actuator component 10.

A groove incorporated into the module base 2 supports the locking element 6 and serves as a guide element 31, which guides the locking element 6 during movement along the translation axis 29. During this continuous movement, the proximal end sections 16 slide over the wedge-shaped outer surface of the locking element 6. It can therefore be said that the actuation of the actuator component 10 causes a translation of the locking element 6 from its locked position to a release position, whereby the levers 4 can be moved into the working position by the initial spring preload.

In the 1 , 2 , 3 , 4 until 5 Furthermore, a spring 32 is shown. The spring 32 is fixed at one end to the locking element 6 and at the other end to a pin 34 that is fixed relative to the module base 2. The spring 32 serves to apply a second spring preload, which holds the locking element 6 in its locked position. The actuator component 10 must therefore overcome this second spring preload to move the locking element towards the release position. In this way, it is prevented that the locking element 6 moves unintentionally into the release position without actuation of the actuator component 10.

When the two retaining elements 4 are in the ready position, as shown in the 2 and 3 As shown, their distal end sections 14 then touch. In particular, the distal end sections 14 comprise matching coupling sections or toothings 35 that engage with each other when the retaining elements 4 are positioned in the ready position. During movement into the working position, the distal end sections 14 separate from each other due to the opposite direction of rotation of the levers 4, while the proximal end sections 16 move closer together. This increases the space between the distal end sections 14 and also the distance of the surfaces 18 from the release body 300. The distal end sections 14 open, so to speak, like scissors or pliers. In the respective top view from 3 and 5 It can be seen that the distal end sections 14 overlap with the release body 300 only in the ready position, but not in the working position. Thus, the release body 300 is released when the retaining elements 4 are in the working position and can be removed from the actuator module 200 along the release path 15.

The levers 4 point towards level 3 in plan view, as shown in 3 The outer contours are essentially mirror images. The entire actuator module is mirrored in plan view with respect to the translation axis 29, but this is not strictly necessary. The two distal end sections 14 form, in the ready position, as shown in 3 The distal end sections 14 each have a rounded or flattened outer contour 23. The outer contour can be essentially arc-shaped. In this case, the outer contour runs parallel to an outer contour of the coupling section 302 of the release body 300. The rounded outer contour of the distal end sections 14 reduces the installation space required for the levers 4 to fully release the release body 300.

Furthermore, the proximal end section 16 of each lever 4 is flatter than the distal end section 14 in the region of the proximal end 17 of the corresponding lever 4. This allows the actuator component 10 to be positioned above the levers 4. In other words, this allows, as shown in 5 As shown, movement of the proximal end sections 16 under the actuator component 10 is enabled. This stacked arrangement of the levers 4 and the actuator component 10 further reduces the installation space required for the complete release of the release body 300.

The actuator module 200 is designed to be resettable. In other words, after actuation, the actuator module 200 can be returned to its original state before actuation. For this purpose, the release element 300, or another release element 300, can be inserted into the housing through the opening 19. Subsequently, the levers 4 can be moved manually or by means of an actuator from the working position to the ready position. Here, the second spring preload forces the locking element 6 from the release position into the locking position. It is also conceivable to reset the actuator module after inserting the release element 300 by manually or by means of an actuator moving the locking element from the release position into the locking position, thereby forcing the proximal end sections 16 of the levers 14 apart, which causes the levers 4 to move from their working position to their ready position. Resetting the actuator module is particularly helpful for testing purposes.

Preferably, the actuator module is designed to remain maintenance-free for several hundred actuation cycles.

To ensure the functionality of the actuator module 200, one or more components can be designed redundantly. In particular, the actuator component 10 can be designed redundantly. For example, it is possible to provide a plurality of parallel-actuated actuator components 10 made of shape memory material. If one of the parallel-actuated actuator components 10 fails, the remaining actuator components 10 can then provide the actuation. An electrical circuit on the circuit board 28 can also be designed redundantly. For example, the actuator module 200 can be designed such that, in the event of a failure of one or more components of the electrical circuit, an electrical operating voltage of the electrical circuit can still be used to actuate the actuator module 200, in particular to supply power to the actuator component 10 or the heating element. For this purpose, an electrical bypass can be provided on the circuit board 28.

The actuator module can also include a feedback mechanism that provides haptic, visual, acoustic, and/or electrical feedback about the current state of the system 100. The feedback mechanism can indicate, for example, that the locking element 6 is in the locking or release position, that a holding element 4 is in the ready or working position, or that the release element 300 has been properly inserted or is currently being inserted into the actuator module. The feedback mechanism indicates that the release element 300 has been released by the actuator module 200, that the actuator component 10 is in an initial state in which it has a shape stored by the shape memory material, and/or that the actuator component 10 is in a deformation state that differs from the initial state and has a shape that differs from the stored shape. For example, the feedback mechanism includes a mono- or bistable switch that is attached to an inner surface of the cover 20 and is switched abruptly when the release element 300 is inserted. Haptic and/or acoustic feedback can be provided, similar to a clicker. Additionally, the position or current state of the switch can be read electrically (e.g., capacitively). Other types of sensors are also conceivable. It is also possible to detect the position of a lever 4 or the blocking element 6 using one or more sensors. It would also be possible to determine, by measuring the ohmic resistance of the actuator component 10, whether it has already been actuated or not, or whether it is currently in the compact, contracted state or not.

6 Figure 400 shows a satellite with the actuator module 200, the deployment body 300, and an equipment component 500 coupled to or attached to the deployment body 300. Due to its small size and low weight, the actuator module 200 can also be installed in small or microsatellites (e.g., with a size of 15x15x15 cm or 10x10x10 cm) and can be used in particular for deploying functional structures such as solar sails or antennas.

The present disclosure also applies to the following examples 1 to 62. For the sake of clarity, the same reference numerals are used here as when referring to 1 until 6 The following examples are used, however, they are not limited to this. In particular, the individual features of the following examples may differ from the features described above, which are marked with the same reference symbols.

• eine Modulbasis 2;
• zumindest ein relativ zu der Modulbasis 2 zwischen einer Bereitschaftsstellung und einer Arbeitsstellung bewegliches länglich ausgebildetes Halteelement 4 mit einem distalen Endabschnitt 14 und einem daran angrenzenden proximalen Endabschnitt 16, das in der Bereitschaftsstellung eine Freigabe des Freisetzungskörpers 300 verhindert und in der Arbeitsstellung eine Freigabe des Freisetzungskörpers 300 gestattet, wobei das zumindest eine Halteelement 4 in der Bereitschaftsstellung unter der Wirkung einer das zumindest einen Halteelement auf die Arbeitsstellung drängenden ersten Federvorspannung steht;
• einen zwischen einer Blockierstellung und einer Freigabestellung relativ zu der Modulbasis 2 beweglichen Blockierkörper 6, der in seiner Blockierstellung eine Blockierung einer Bewegung des zumindest einen Halteelements 4 von der Bereitschaftsstellung in die Arbeitsstellung bewirkt und in seiner Freigabestellung eine Bewegung des zumindest einen Halteelements 4 aus der Bereitschaftsstellung in die Arbeitsstellung gestattet; und
• eine Aktuatoreinrichtung 8 zur Bewegung des Blockierkörpers aus der Blockierstellung in die Freigabestellung, wobei die Aktuatoreinrichtung 8 mindestens ein Aktuatorbauteil 10 aus einem Formgedächtnismaterial umfasst, welches mit einem ersten Befestigungsabschnitt relativ zu der Modulbasis 2 fixiert ist und mit einem zweiten Befestigungsabschnitt relativ zu dem Blockierkörper 6 fixiert ist.

Example 1. Actuator module 200 for releasing a release body 300, comprising:

• a module basis 2;
• at least one elongated retaining element 4 movable relative to the module base 2 between a ready position and a working position, having a distal end section 14 and an adjacent proximal end section 16, which prevents the release of the release body 300 in the ready position and permits the release of the release body 300 in the working position, wherein the at least one retaining element 4 is subject to a first spring preload in the ready position, which forces the at least one retaining element towards the working position;
• a blocking body 6 movable between a blocking position and a release position relative to the module base 2, which in its blocking position blocks movement of the at least one holding element 4 from the ready position to the working position and in its release position permits movement of the at least one holding element 4 from the ready position to the working position; and
• an actuator device 8 for moving the locking body from the locking position to the release position, wherein the actuator device 8 comprises at least one actuator component 10 made of a shape memory material, which is fixed with a first fastening section relative to the module base 2 and with a second fastening section relative to the locking body 6.

Example 2. Actuator module 200 according to the previous example, wherein a movement of at least one holding element 4 from the ready position to the working position takes place in a plane 3.

Example 3. Actuator module 200 according to the previous example, wherein the at least one holding element 4 is rotatably arranged about an axis 5 perpendicular to the plane 3 and is configured to rotate from the ready position to the working position about the axis 5.

Example 4. Actuator module 200 according to the previous example, wherein the axis 5 runs between the distal end section 14 and the proximal end section 16.

Example 5. Actuator module 200 according to one of examples 1 to 4, wherein the distal end section 14 or a support element attached to the distal end section 14 is in contact with a coupling section 302 of the release body 300 in the blocking position and is spaced apart from the coupling section 302 of the release body 300 in the release position.

Example 6. Actuator module 200 according to one of examples 1 to 5, wherein at least one holding element 4 is designed as a lever or in the manner of a scissor arm.

Example 7. Actuator module 200 according to one of examples 1 to 6, wherein the distal end section 14 is shorter in the longitudinal direction of the at least one retaining element 4 than the proximal end section 16.

Example 8. Actuator module 200 according to Example 2 or one of Examples 3 to 7 if dependent on Example 2, designed to release the release body 300 in such a way that it can be removed from the actuator module 200 along a release path 15 which lies outside of level 3 and/or intersects level 3.

Example 9. Actuator module 200 according to Example 8, where the release path is a release line that runs perpendicular to the plane 3.

Example 10. Actuator module 200 according to Example 9 if dependent on Example 3, wherein the release line runs parallel to axis 5.

Example 11. Actuator module 200 according to one of examples 1 to 10, wherein the at least one holding element 4 rests at least partially on the module base 2 or on a support attached to the module base 2 in the ready position.

Example 12. Actuator module 200 according to one of Examples 1 to 11, wherein the distal end section 14 has a chamfered and/or rounded outer contour.

Example 13. Actuator module 200 according to one of examples 1 to 12, wherein the proximal end section 16 is at least partially flatter than the distal end section 14.

Example 14. Actuator module 200 according to Example 13 if dependent on Example 3, wherein a proximal end 17 of the proximal end section 16 in the direction of the axis 5 has a thickness that is less than a thickness of the distal end section 14 in the same direction.

Example 15. Actuator module 200 according to Example 14, wherein in the blocking position and/or in the release position of the blocking body 6 the module base 2, the proximal end and the actuator component 10 are arranged in the form of a stack.

Example 16. Actuator module 200 according to one of examples 1 to 15, wherein the at least one holding element 4 comprises two such holding elements 4.

Example 17. Actuator module 200 according to Example 16, wherein the two retaining elements 4 are arranged and/or shaped in a mirror image to each other.

Example 18. Actuator module 200 according to Example 16 or 17, wherein the two holding elements 4 are configured to move in different directions to move from the ready position to the release position.

Example 19. Actuator module 200 according to Example 18, wherein the two holding elements 4 are arranged to rotate in opposite directions to move from the ready position to the release position.

Example 20. Actuator module 200 according to one of examples 16 to 19, wherein the distal end sections 14 of the two retaining elements 4 are designed such that they engage with each other in the ready position of the two retaining elements 4.

Example 22. Actuator module 200 according to one of Examples 16 to 20, wherein the distal end sections 14 of the two retaining elements 4 are designed such that they are spaced apart from each other in the release position of the two retaining elements 4.

Example 23. Actuator module 200 according to one of Examples 16 to 22, wherein the blocking body 6 is arranged such that it is located at least in the blocking position between the proximal end sections 16 of the two retaining elements 4.

Example 24. Actuator module 200 according to one of examples 1 to 23, wherein the locking body 6 is in the release position under the effect of a second spring preload pushing the locking body into the locking position.

Example 25. Actuator module 200 according to Example 24, wherein the locking element 6 is held in the locking position by the second spring preload.

Example 26. Actuator module 200 according to Example 24 or 25, wherein the actuator device 8 is configured to move the locking body 6 from the locking position to the release position against the second spring preload.

Example 27. Actuator module 200 according to one of examples 1 to 26, wherein the blocking body 6 is purely translational between the blocking position and the release position along a translation axis 29.

Example 28. Actuator module 200 according to Example 27 if dependent on Example 2, wherein the translation axis 29 lies in the plane 3 or is parallel to the plane 3.

Example 29. Actuator module 200 according to Example 27 or 28, further comprising a guide element 31, which is designed to guide the blocking body 6 between the blocking position and the release position along the translation axis 29.

Example 30. Actuator module 200 according to Example 29, wherein the guide element 31 comprises a groove provided in the module base 2 or in the at least one retaining element 4.

Example 31. Actuator module 200 one of examples 1 to 30, designed such that the blocking body 6 is moved away from the distal end section 14 to move from the blocking position to the release position.

Example 32. Actuator module 200 according to Example 3 or one of Examples 4 to 31, if dependent on claim 3, configured such that the blocking body 6 is moved away from the axis 5 for movement from the blocking position to the release position.

Example 33. Actuator module 200 according to one of Examples 1 to 32, wherein the blocking body 6 comprises at least one stop element 33 designed to prevent movement of the blocking body 6 from the blocking position and in the opposite direction to the release position.

Example 34. Actuator module 200 according to Example 33, wherein the at least one stop element 33 rests on a counter-stop element in the blocking position, which is either (i) part of the module base 2 or of the at least one retaining element 4 or (ii) is attached to the module base 2 or to the at least one retaining element 4.

Example 35. Actuator module 200 according to one of examples 1 to 34, designed such that a continuous movement of the blocking body 6 from the blocking position to the release position causes a continuous movement of at least one holding element 4 from the ready position to the working position.

Example 36. Actuator module 200 according to one of examples 1 to 35, designed such that the blocking body 6 or a contact element attached to the blocking body 6 is continuously in contact with the at least one retaining element 4 or a contact component attached to the at least one retaining element during movement from the blocking position to the release position.

Example 37. Actuator module 200 according to one of examples 1 to 36, designed such that at least one holding element 4 can be moved back to the standby position after a movement from the ready position to the working position.

Example 38. Actuator module 200 according to one of examples 1 to 37, designed such that the blocking body 6 can be moved back to the blocking position after a movement from the blocking position to the release position.

Example 39. Actuator module 200 according to Examples 37 and 38, designed such that a movement of the blocking body 6 from the release position to the blocking position causes a movement of at least one holding element 4 from the working position to the ready position.

Example 40. Actuator module 200 according to Example 38 or 39, wherein the actuator device 8 is configured to move the blocking body 6 from the release position to the blocking position.

Example 41. Actuator module 200 according to one of examples 1 to 40, designed such that a continuous movement of the blocking body 6 from the release position to the blocking position causes a continuous movement of at least one holding element 4 from the working position to the ready position.

Example 42. Actuator module 200 according to one of Examples 1 to 41, designed such that the blocking body 6 or a contact element attached to the blocking body is continuously in contact with the at least one retaining element 4 or a contact component attached to the at least one retaining element during movement from the release position to the blocking position.

Example 43. Actuator module 200 according to one of Examples 1 to 42, wherein the actuator component 10 is essentially planar or two-dimensional and in particular comprises one or more meandering or zigzag sections.

Example 44. Actuator module 200 according to one of examples 1 to 43, wherein the actuator component 10 comprises two sub-areas 27 which are connected to each other via the second fastening section 26.

Example 45. Actuator module 200 according to Example 44, wherein the two sub-areas 27 are arranged such that they each provide the same proportion of force required to move the locking body 6 from the locking position to the release position.

Example 46. Actuator module 200 according to example 44 or 45, wherein the two sub-areas 27 form a continuous current path.

Example 47. Actuator module 200 according to one of Examples 1 to 46, wherein the blocking body 6 comprises a connecting element 30 to which the second fastening section 26 of the actuator component 10 is fixed.

Example 48. Actuator module 200 according to one of Examples 1 to 47, further comprising a feedback mechanism designed to indicate whether the release of the release body 300 is currently blocked or permitted and/or whether the release body 300 has already been released.

• (i) der Blockierkörper 300 befindet sich in der Blockierstellung;
• (ii) der Blockierkörper 300 befindet sich in der Freigabestellung;
• (iii) das zumindest eine Halteelement 4 befindet sich in der Bereitschaftsstellung;
• (iv) das zumindest eine Halteelement 4 befindet sich in der Arbeitsstellung;
• (v) der Freisetzungskörper 300 wurde oder ist bestimmungsgemäß eingesetzt;
• (vi) der Freisetzungskörper 300 wurde oder ist freigegeben;
• (vii) das Aktuatorbauteil 10 befindet sich in einem Initialzustand, in welchem es eine von dem Formgedächtnismaterial gespeicherte Form aufweist;
• (viii) das Aktuatorbauteil 10 befindet sich in einem von dem Initialzustand abweichenden Deformationszustand, in welchem es eine von der gespeicherten Form abweichende Form aufweist.

Example 49. Actuator module 200 according to Example 48, wherein the feedback mechanism is set up to indicate at least one of the following states:

• (i) the blocking body 300 is in the blocking position;
• (ii) the blocking body 300 is in the release position;
• (iii) at least one holding element 4 is in the ready position;
• (iv) at least one holding element 4 is in the working position;
• (v) the release device 300 was or is being used as intended;
• (vi) the release body 300 has been or is released;
• (vii) the actuator component 10 is in an initial state in which it has a shape stored by the shape memory material;
• (viii) the actuator component 10 is in a deformation state different from the initial state, in which it has a shape different from the stored shape.

Example 50. Actuator module 200 according to one of examples 1 to 49, wherein the height of the actuator module 200 is less than 1cm, for example less than 5mm.

Example 51. Actuator module 200 according to one of examples 1 to 50, wherein the module base 6 includes an interface 7 for a fastening device.

Example 52. Actuator module 200 according to one of Examples 1 to 51, wherein an outer surface of the actuator module 200 has a surface property that increases the thermal radiation capacity of the actuator module compared to a smooth metal surface.

• (i) eine Aktuierung des Aktuatorbauteils 10;
• (ii) eine digitale Schnittstelle;
• (iii) eine Erfassung und/oder Speicherung einer Anzahl von Aktuierungen des Aktuatorbauteils 10;
• (iv) eine Spannungsversorgung eines oder mehrerer Bauteile des Aktuatormoduls, insbesondere des Aktuatorbauteils 10.

Example 53. Actuator module 200 according to one of Examples 1 to 52, further comprising an electrical circuit configured to provide at least one of the following functions:

• (i) an actuation of the actuator component 10;
• (ii) a digital interface;
• (iii) recording and/or storing a number of actuations of the actuator component 10;
• (iv) a power supply to one or more components of the actuator module, in particular actuator component 10.

Example 54. Actuator module 200 according to Example 53 if dependent on one of Examples 48 or 49, wherein the feedback mechanism is provided by the electrical circuit.

Example 55. Actuator module 200 according to Example 53 or 54, wherein the electrical circuit is arranged on a printed circuit board 28 and wherein the first mounting section 24 of the actuator component 10 is fixed to the printed circuit board 28.

Example 56. Actuator module 200 according to one of Examples 1 to 55, wherein one or more parts of the actuator module 200, in particular the actuator component 10 and/or the electrical circuit, are designed redundantly.

Example 57. System 100, comprising an actuator module 200 according to one of examples 1 to 56 and the release body 300.

Example 58. System 100 according to Example 57, wherein the release body 300 has a coupling section 302 which, in the ready position of the at least one retaining element 4, is in contact with the distal end section 14 of the at least one retaining element 4, or in contact with a support element attached to the distal end section 14, wherein the coupling section 302 is designed such that the release body 300 can be coupled to the actuator module 200 at different angles.

Example 59. System 100 according to Example 58, wherein the coupling section 302 is rotationally symmetric, in particular spherical.

Example 60. Satellite 400, comprising at least one actuator module 200 according to one of examples 1 to 56 and/or at least one system 100 according to one of examples 57 to 59.

Example 61. Satellite 400 according to Example 60, wherein at least one actuator module 200 and/or at least one system 100 is connected via a thermal The decoupling element is connected to a mounting section of the satellite.

Example 62. Satellite according to Example 61, wherein the thermal decoupling element has a lower thermal conductivity compared to a metal.

The technology described herein can enable the provision of a compact, lightweight, and cost-effectively manufactured actuator module 200. In particular, the actuator module 200 can be designed to be especially flat and provide reliable retention of the release element 300. For example, the shape of the levers 4 allows for a small installation space. Furthermore, the toothing 35 of the levers 4 can ensure reliable support of the release element.

The described technique enables, in particular, the release of the release body out of plane 3 (out-of-plane release). A force pushing the release body 300 towards the release path 15 can be transmitted from the levers 4 to the module base 2 without the levers 4 rotating.

The lever arms 4 of varying lengths can reduce the load on the locking body 6 and allow the use of a relatively low second spring preload. This also reduces the force required by the actuator component 10 to move the locking body 6.

The resettable actuator module 200 allows, in particular, multiple tests of the function before installation in the satellite 400 or in another object (e.g. an aircraft or a rocket).

The feedback mechanism can provide information about the correct actuation of the actuator module 200, particularly during testing and, if applicable, during deployment of the actuator module 200 in space.

A combined mechanical and electrical connection of the actuator component 10 can simplify manufacturing and increase reliability. Manufacturing the actuator component from a film is particularly simple and cost-effective.

Further advantages of the solution described herein will become apparent to the person skilled in the art upon study of the present disclosure. It is understood that further modifications of the actuator module, the system, and the satellite are possible, not all of which are explicitly mentioned herein.

Claims (18)

Actuator module (200) for releasing a release element (300), comprising: a module base (2); at least one retaining element (4) rotatable relative to the module base (2) between a ready position and a working position in a plane (3), designed as a lever, with a distal end section (14) and an adjacent proximal end section (16), which prevents release of the release element (300) in the ready position and permits release of the release element (300) from the plane (3) in the working position, wherein the at least one retaining element (4) is under the action of a first spring preload in the ready position, which forces the at least one retaining element (4) towards the working position; a locking body (6) movable between a locking position and a release position relative to the module base (2), which in its locking position blocks movement of the at least one retaining element (4) from the ready position to the working position and in its release position allows movement of the at least one retaining element (4) from the ready position to the working position; and an actuator device (8) for moving the locking body (6) from the locking position to the release position, wherein the actuator device (8) comprises at least one actuator component (10) made of a shape memory material, which is fixed relative to the module base (2) by a first fastening section (24) and relative to the locking body (6) by a second fastening section (26). Actuator module (200) according to Claim 1 , wherein the distal end section (14) or a support element attached to the distal end section (14) is in contact with a coupling section (302) of the release body (300) in the blocking position and is spaced apart from the coupling section (302) of the release body (300) in the release position. Actuator module (200) according to Claim 2 , wherein the distal end section (14) or the support element attached thereto has a surface (18) which is designed to rest on a rotationally symmetric coupling section (302) of the release body (300). Actuator module (200) according to one of the Claims 1 until 3 , wherein the at least one retaining element (4) rests at least partially on the module base (2) or on a support attached to the module base (2) in the ready position. Actuator module (200) according to one of the Claims 1 until 4 , wherein the distal end section (14) has a beveled and/or rounded outer contour. Actuator module (200) according to one of the Claims 1 until 5 , wherein the proximal end section (16) is at least partially flatter than the distal end section (14). Actuator module (200) according to one of the Claims 1 until 6 , wherein the at least one retaining element (4) comprises two such retaining elements (4). Actuator module (200) according to Claim 7 , wherein the two retaining elements (4) are configured to rotate in opposite directions to move from the ready position to the release position and/or wherein the distal end sections (14) of the two retaining elements (4) are designed such that they engage with each other in the ready position of the two retaining elements (4). Actuator module (200) according to one of the Claims 1 until 8 , wherein the locking element (6) is in the release position under the action of a second spring preload which forces the locking element (6) into the locking position and/or wherein the locking element (6) is movable purely translationally between the locking position and the release position along a translational axis (29). Actuator module (200) according to one of the Claims 1 until 9 , wherein the actuator module (200), in particular the at least one retaining element (4) and/or the blocking body (6), is designed to be resettable. Actuator module (200) according to one of the Claims 1 until 10 , wherein the actuator component (10) is essentially planar. Actuator module (200) according to one of the Claims 1 until 11 , further comprising a feedback mechanism configured to indicate at least one of the following states: (i) the locking body (6) is in the locking position; (ii) the locking body (6) is in the release position; (iii) the at least one holding element (4) is in the ready position; (iv) the at least one holding element (4) is in the working position; (v) the release body (300) is inserted into the actuator module (200); (vi) the release body (300) is released; (vii) the actuator component (10) is in an initial state in which it has a shape stored by the shape memory material; (viii) the actuator component (10) is in a deformation state different from the initial state in which it has a shape different from the stored shape. Actuator module (200) according to one of the Claims 1 until 12 , furthermore comprising an electrical circuit which is set up to actuate the actuator device (8). Actuator module (200) according to Claim 13 , wherein the electrical circuit is arranged on a printed circuit board (28) and the first mounting section (24) of the actuator component (10) is fixed to the printed circuit board (28). Actuator module (200) according to one of the Claims 1 until 14 , wherein one or more parts of the actuator module (200), in particular the actuator component (10) and/or the electrical circuit, are designed redundantly. System (100), comprising an actuator module (200) according to one of the Claims 1 until 15 and the release body (300). System (100) according to the Claim 16 , wherein the release body (300) has a coupling section (302) which, in the ready position of the at least one retaining element (4), is in contact with the distal end section (14) of the at least one retaining element (4), or in contact with a support element attached to the distal end section (14), wherein the coupling section (302) is designed such that the release body (300) can be coupled to the actuator module (200) at different angles and/or removed from the actuator module (200) along different release paths. Satellite (400), comprising at least one actuator module (200) according to one of the Claims 1 until 15 and/or at least one system (100) according to Claim 16 or 17 .