A linear actuator tool for repairing space robot arm faults

Abstract

The present invention provides a linear push rod tool for space manipulator fault repair, including a quick-connect module, a positioning and clamping module, a screw module and a fixed locking module, one end of the screw module is provided with a fixed locking module, and the fixed locking module is identical to the periphery of a capture rod detachably connected to an end effector, the other end of the trapezoidal screw module is fixedly connected to a drive motor via a quick-connect module, the periphery of the screw module is fixedly sleeved to the positioning and clamping module, and the positioning and clamping module is used to fix the relative position of the screw module and the end effector. The linear push rod tool for space manipulator fault repair described in the present invention uses the linear push rod tool to reverse drive the wire rope when the wire rope at the end of the space manipulator and the adapter capture rod cannot be disengaged from the fault state, so that the end effector is separated from the capture rod, thereby restoring the mobility of the space manipulator.

Description

Technical Field

[0001] The invention belongs to the field of space robot arm fault maintenance, and in particular relates to a linear push rod tool used for space robot arm fault maintenance. Background Art

[0002] The space manipulator plays an important role in the on-orbit service of space stations and spacecrafts in various countries. It will complete important tasks such as auxiliary docking, target transportation, and on-orbit construction of the space station. The perfect match between the capture module of the end effector of the space manipulator and the adapter on the surface of the space station enables the space manipulator to move freely over a large range on the surface of the space station. If the capture module of the end effector of the space manipulator fails and cannot be separated from the adapter, the space manipulator will lose its crawling ability, which will greatly weaken the on-orbit service capability of the space manipulator.

[0003] The capture module of the end effector of the space manipulator is usually composed of a rotating ring, a fixed ring, wire ropes (3 groups), a driving assembly, etc. The two ends of the wire rope are fixed to the fixed ring and the rotating ring respectively, and a small torsion spring is installed to constrain the ends of the wire rope to the inner wall of the rotating ring and the fixed ring in the initial state. When the capture module fails, the three groups of wire ropes of the end effector will entangle and capture the target adapter capture rod, causing the end effector of the manipulator to be unable to detach from the adapter on the cabin. If you want to solve this fault state, you need to reverse the capture assembly (by applying force to reverse the wire rope assembly, one end of the tool is fixed to the target adapter capture rod, and the other end is fixed to the inner wall or outer wall of the end effector, and expand or contract). Summary of the invention

[0004] In view of this, the present invention aims to propose a linear push rod tool for space robot arm fault repair, so as to solve the problem that the space robot arm fault repair cannot be performed in the fault state where the capture wire rope at the end of the space robot arm and the adapter capture rod cannot be disengaged.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A linear push rod tool used for repairing faults of space manipulators comprises a quick-connect module, a positioning and clamping module, a screw module and a fixed locking module. The fixed locking module is arranged at one end of the screw module, and the fixed locking module is the same as the periphery of a capture rod detachably connected to an end effector. The other end of the trapezoidal screw module is fixedly connected to a drive motor through a quick-connect module. The periphery of the screw module is fixedly sleeved on the positioning and clamping module, and the positioning and clamping module is used to fix the relative position of the screw module and the end effector.

[0007] Furthermore, the quick-change module includes a quick-connect female head and a quick-connect male head, the quick-connect female head includes a connecting flange, a motor transmission shaft, an external connecting sleeve, a return spring, a limiting pressure cover and a clamping end cover, the lower end of the external connecting sleeve is fixedly connected to the periphery of the driving motor through the connecting flange, the motor transmission shaft is located at the inner ring of the external connecting sleeve, and a limiting pressure cover is arranged in the external connecting sleeve, one end of the limiting pressure cover is fixedly connected to one end of the return spring, the other end of the return spring is fixedly connected to the inner side wall of the external connecting sleeve, the other end of the limiting pressure cover abuts against one end of the clamping end cover, and the periphery of the clamping end cover is fixedly connected to the upper end of the external connecting sleeve;

[0008] Furthermore, the quick-connect male head includes a first transmission shaft, an outer guide step seat and a first bearing. The outer periphery of the first transmission shaft is rotatably connected to the inner ring of the outer guide step seat through the first bearing. One end of the trapezoidal connecting seat is fixedly connected to one end of the screw module. One end of the first transmission shaft is detachably connected to the motor transmission shaft, and the other end of the first transmission shaft is fixedly connected to the trapezoidal screw arranged inside the screw module.

[0009] Furthermore, a plurality of positioning blocks are evenly distributed along the circumferential direction on the outer periphery of one end of the outer guide stepped seat, a plurality of sliding grooves are radially provided on the inner ring of the clamping end cover, and the positioning blocks and the sliding grooves correspond one to one. When the quick-connect female head and the quick-connect male head are connected, the positioning blocks are located between the clamping end cover and the limiting pressure cover.

[0010] Furthermore, the screw module includes a trapezoidal screw, an outer sleeve, a second bearing, an inner push rod and a supporting guide sleeve. One end of the outer sleeve is fixedly connected to one end of the outer guide step seat, and a supporting guide sleeve is arranged on the inner ring of the other end of the outer sleeve. The trapezoidal screw is located in the inner ring of the outer sleeve, and one end of the trapezoidal screw is fixedly connected to one end of the first transmission shaft. The outer periphery of the trapezoidal screw is rotatably sleeved to the inner ring of the outer sleeve through the second bearing, the inner ring of the inner push rod is threadedly connected to the outer periphery of the trapezoidal screw, and the outer periphery of the inner push rod is slidably connected to the inner ring of the supporting guide sleeve.

[0011] Furthermore, one end of the outer sleeve is fixedly connected to one end of the outer guide step seat through an outer bent pipe, and a universal coupling is arranged in the outer bent pipe, and one end of the trapezoidal screw is fixedly connected to one end of the first transmission shaft through a universal coupling.

[0012] Furthermore, the positioning and clamping module includes a clamping operating rod, a clamping assembly, a positioning wedge block, an arc-shaped clamping block and a clamping support plate. The outer periphery of the outer sleeve is fixedly connected to the inner ring of the clamping support plate, one side of the clamping support plate is hinged to one side of the clamping assembly, and an arc-shaped clamping block is arranged on the other side of the clamping support plate. The clamping operating rod is arranged at the upper end of the clamping assembly, and the positioning wedge block is arranged at the lower end of the clamping assembly. The positioning wedge block and the arc-shaped clamping block are tightly fitted to the side wall of the end actuator, so as to fix the relative position of the screw module and the end actuator.

[0013] Furthermore, the fixed lock module includes a C-shaped lock body, a torsion spring, a pin shaft and a one-way rocker arm. The periphery of the C-shaped lock body is fixedly connected to one end of the inner push rod. The C-shaped lock body is provided with a capture groove, and the capture groove is a non-circular open groove. The two side walls of the opening are respectively hinged to a one-way rocker arm through an axle pin. The two one-way rockers are symmetrically arranged. A torsion spring is arranged around each axle pin. The torsion spring is used to reset the relative position of the one-way rocker arm.

[0014] Compared with the prior art, the linear actuator tool for repairing a space robot arm fault according to the present invention has the following beneficial effects:

[0015] (1) The linear push rod tool used for repairing space robot arm faults described in the present invention provides a repair solution for the failure of the space robot arm capture module, improves the on-orbit service capability and on-orbit service time of the space robot arm, meets the requirements of ergonomics, and the entire operation process meets the space operation requirements of single-handed operation.

[0016] (2) The linear push rod tool used for repairing space robot arm faults described in the present invention uses a positioning and clamping device to determine the initial position of the linear push rod tool. After the positioning is completed, the number of rotations is determined, and the hand-driven tool is started to complete the maintenance work. The operation process is simple and the operation steps are few, which reduces the operation difficulty of astronauts in outer space.

[0017] (3) The linear push rod tool used for repairing space robot arm faults described in the present invention realizes a force closed loop during the operation process, has no reaction force on the operator, and reduces the difficulty of maintenance outside the outer space capsule. The transmission path between the hand-driven operating end and the fixed lock end of the linear push rod tool capture rod can be adjusted at multiple angles, which can fully adapt to various complex maintenance conditions in the outer space environment, effectively improve the operating space of astronauts during the maintenance process, and reduce the risk of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic structural diagram of a linear push rod tool used for repairing a space robot arm fault according to an embodiment of the present invention;

[0020] Figure 2 A side view of a linear actuator tool for repairing a space robot arm fault according to an embodiment of the present invention;

[0021] Figure 3A top view of a linear actuator tool for repairing a space robot arm fault according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic structural diagram of a positioning and pressing module according to an embodiment of the present invention;

[0023] Figure 5 It is a side view of the positioning and pressing module according to an embodiment of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the quick-connect module according to an embodiment of the present invention;

[0025] Figure 7 is a cross-sectional view of a quick-connect module according to an embodiment of the present invention;

[0026] Figure 8 is a cross-sectional view of a lead screw module according to an embodiment of the present invention;

[0027] Fig. 9 This is a schematic structural diagram of a fixed lock module according to an embodiment of the present invention;

[0028] Fig.10 This is a structural schematic diagram of a linear push rod tool used for repairing a space robot arm fault according to an embodiment of the present invention in an operating state;

[0029] Fig.11 It is a side view of a linear push rod tool used for repairing space robot arm faults according to an embodiment of the present invention in an operating state.

[0030] Description of reference numerals:

[0031] 1-quick-connect module; 11-quick-connect female head; 111-connecting flange; 112-slideway; 113-motor transmission shaft; 114-external connection sleeve; 115-reset spring; 116-limiting gland; 117-clamping end cap; 12-quick-connect male head; 121-first transmission shaft; 122-external guide stepped seat; 123-first bearing; 124-positioning block; 2-positioning clamping module; 21-clamping operating rod; 22-clamping group Parts; 23-positioning wedge block; 24-arc-shaped clamping block; 25-clamping support plate; 3-screw module; 31-outer elbow; 32-universal coupling; 33-trapezoidal screw; 34-second bearing; 35-outer sleeve; 36-inner push rod; 37-support guide sleeve; 4-fixed lock head module; 41-C-type lock body; 42-pin shaft; 43-one-way rocker; 5-adapter; 6-end effector; 7-drive motor; 8-capture rod. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0035] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0036] like Figure 1-11As shown, a linear push rod tool used for repairing faults of space manipulators includes a quick-connect module 1, a positioning and clamping module 2, a screw module 3 and a fixed locking module 4. The fixed locking module 4 is arranged at one end of the screw module 3, and the fixed locking module 4 is connected to the periphery of the capture rod 8 which is sleeved to the end effector 6 to fix the relative position of the tool and the capture rod 8. The other end of the trapezoidal screw module is fixedly connected to the drive motor 7 through the quick-connect module 1. The periphery of the screw module 3 is fixedly sleeved to the positioning and clamping module 2, and the positioning and clamping module 2 is used to fix the relative position of the screw module 3 and the end effector 6. The quick-change module includes a quick-connect female head 11 and a quick-connect male head 12. The quick-connect female head 11 includes a connecting flange 111, motor drive shaft 113, external connection sleeve 114, return spring 115, limit pressure cover 116 and clamping end cover 117, the lower end of the external connection sleeve 114 is fixedly connected to the periphery of the drive motor 7 through the connection flange 111, the motor drive shaft 113 is located in the inner ring of the external connection sleeve 114, and a limit pressure cover 116 is arranged in the external connection sleeve 114, one end of the limit pressure cover 116 is fixedly connected to one end of the return spring 115, the other end of the return spring 115 is fixedly connected to the inner side wall of the external connection sleeve 114, the other end of the limit pressure cover 116 is abutted to one end of the clamping end cover 117, and the periphery of the clamping end cover 117 is fixedly connected to the upper end of the external connection sleeve 114;

[0037] The quick-connect male connector 12 includes a first transmission shaft 121, an outer guide step seat 122 and a first bearing 123. The outer periphery of the first transmission shaft 121 is rotatably connected to the inner ring of the outer guide step seat 122 through the first bearing 123. One end of the trapezoidal connecting seat is fixedly connected to one end of the screw module 3. One end of the first transmission shaft 121 is detachably connected to the motor transmission shaft 113. The other end of the first transmission shaft 121 is fixedly connected to the trapezoidal screw 33 arranged inside the screw module 3.

[0038] A plurality of positioning blocks 124 are evenly distributed along the circumferential direction on the outer periphery of one end of the outer guide stepped seat 122, and a plurality of slide grooves 112 are radially arranged on the inner ring of the clamping end cover 117, and the positioning blocks 124 correspond to the slide grooves 112 one by one. When the quick-connect female head 11 and the quick-connect male head 12 are connected, the positioning blocks 124 are located between the clamping end cover 117 and the limiting gland 116. The working mode of the quick-connect female head 11 is that the quick-connect female head 11 is fixed to the drive motor 7 through the drive end connecting flange 111, and the electric The machine transmission shaft 113 is connected to the motor output shaft to transmit power, and the quick-connect male head 12 is connected to the screw module 3 through the guide step seat. When the quick-connect male head 12 and the quick-connect female head 11 need to be quickly connected, first align the outer guide step seat 122 of the quick-connect male head 12 with the quick-connect female head 11, and then connect the quick-connect female head 11 and the quick-connect female head 11 through the positioning block 124 and the slide groove 112, thereby completing the connection between the male end and the female end, while ensuring the internal power transmission.

[0039] The screw module 3 includes a trapezoidal screw 33, an outer sleeve 35, a second bearing 34, an inner push rod 36 and a supporting guide sleeve 37. One end of the outer sleeve 35 is fixedly connected to one end of the outer guide step seat 122, and a supporting guide sleeve 37 is set in the inner ring of the other end of the outer sleeve 35. The trapezoidal screw 33 is located in the inner ring of the outer sleeve 35, and one end of the trapezoidal screw 33 is fixedly connected to one end of the first transmission shaft 121. The outer periphery of the trapezoidal screw 33 is rotatably sleeved to the inner ring of the outer sleeve 35 through the second bearing 34. The inner ring of the inner push rod 36 is threadedly connected to the outer periphery of the trapezoidal screw 33, and the outer periphery of the inner push rod 36 is slidably connected to the inner ring of the supporting guide sleeve 37. One end of the outer sleeve 35 is fixedly connected to one end of the outer guide step seat 122 through the outer bent pipe 31, and a universal coupling is set in the outer bent pipe 31. One end of the trapezoidal screw 33 is fixedly connected to one end of the first transmission shaft 121 through the universal coupling 32.

[0040] The working mode of the screw module 3 is as follows: the trapezoidal screw 33 is connected to the universal coupling 32 and thus connected to the first transmission shaft 121 of the quick-connect module 1, so that the trapezoidal screw 33 can make a rotational motion driven by the drive motor 7, and the inner push rod 36 makes a linear motion driven by the rotating thread of the trapezoidal screw 33. In order to convert the output torque of the drive motor 7 into the thrust of the linear push rod tool capture rod 8 to fix the lock head, it is necessary to strictly limit the radial movement of the inner push rod 36. Therefore, a positioning plane is machined on the lower surface of the inner push rod 36, and a positioning plane matching it is also machined on the inner surface of the support guide sleeve 37. The cooperation of the two machined surfaces strictly limits the movement of the inner push rod 36 in the radial direction, so that the inner push rod 36 can only make a linear motion.

[0041] The positioning and clamping module 2 includes a clamping operating rod 21, a clamping assembly 22, a positioning wedge block 23, an arc-shaped clamping block 24 and a clamping support plate 25. The outer periphery of the outer sleeve 35 is fixedly connected to the inner ring of the clamping support plate 25. One side of the clamping support plate 25 is hinged to one side of the clamping assembly 22. The other side of the clamping support plate 25 is provided with an arc-shaped clamping block 24. The clamping assembly 22 is a hand-type hinged clamping structure of the prior art. The clamping operating rod 21 is provided at the upper end of the clamping assembly 22, and the positioning wedge block 23 is provided at the lower end of the clamping assembly 22. The positioning wedge block 23 and The arc-shaped clamping block 24 fits tightly to the side wall of the end effector 6 and is used to fix the relative position of the screw module 3 and the end effector 6. The diameter and length of the clamping operating rod 21 meet the relevant requirements of ergonomics. The specific operation process is: the staff positions the wedge block of the positioning and clamping module 2 close to the inner wall boss of the robot arm end effector 6, pushes up the clamping operating rod 21, and the arc-shaped clamping block 24 connected to the clamping assembly 22 will hold the outer arc surface of the robot arm end effector 6, thereby realizing the positioning, clamping and fixed connection of the entire linear push rod tool.

[0042] The fixed lock module 4 includes a C-shaped lock body 41, a torsion spring, a pin shaft 42 and a one-way rocker arm 43. The periphery of the C-shaped lock body 41 is fixedly connected to one end of the inner push rod 36. A capture groove is provided on the C-shaped lock body 41, and the capture groove is a non-circular open groove. The two side walls of the opening are respectively hinged to a one-way rocker arm 43 through an axle pin. The two one-way rocker arms 43 are symmetrically arranged. A torsion spring is arranged around each axle pin. The torsion spring is used to reset the relative position of the one-way rocker arm 43. The working mode of the fixed lock module 4 is as follows: the operator grasps the grasping position of the linear push rod maintenance tool, aligns the opening direction of the C-shaped lock body 41 of the fixed lock module 4 with the capture rod 8, and moves the fixed lock module 4 close to the capture rod 8 until the capture rod 8 pushes open the one-way rocker arms 43 on both sides and enters the fixed lock. The one-way rocker arms 43 on both sides will automatically return to their positions after being separated from the capture rod 8, thereby avoiding the risk of the linear push rod tool being detached from the capture rod 8 during operation.

[0043] Working process of a linear actuator tool used for space robot arm fault repair:

[0044] This embodiment uses a common drive motor 7 as a power source to reversely unlock the capture rod 8 and the wire rope wrapped around the end of the robot arm. The connection method between the end effector 6 of the robot arm and the adapter 5 is as follows: Fig.10 and Fig.11 As shown, the entire unlocking process is: first, use the linear push rod tool to fix the lock head module 4 to buckle the capture rod 8, and the one-way rocker rod 43 of the fixed lock head is pressed into the lock head during the buckling process. After the capture rod 8 completely enters the lock head, the one-way rocker rod 43 is rebounded under the action of the torsion spring, limiting the outward movement of the capture rod 8; then the staff pushes the linear push rod tool forward until the positioning wedge block 23 of the positioning and clamping module 2 is located inside the inner wall of the end of the robot arm, and then the linear push rod tool is close to the end actuator 6 of the robot arm, and the positioning wedge block 23 is fitted with the inner wall boss of the end of the robot arm, and then the entire tool is pulled outward. At this time, the positioning wedge block 23 is stuck on the inner wall boss, and then the clamping operating rod 21 is pushed upward. At this time, the arc-shaped clamping block 24 of the clamping assembly 22 is attached to the outer wall of the end of the robot arm and clamping is achieved.

[0045] Then, the driving motor 7 equipped with the quick-connect female head 11 is aligned with the quick-connect male head 12 of the linear push rod tool, and the quick-connect male head 12 is aligned with the middle hole of the quick-connect female head 11. During the alignment process, it is mainly ensured that the square shaft part of the motor transmission shaft 113 of the driving motor 7 is aligned with the square hole of the first transmission shaft 121 of the tool. Then, the quick-connect female head 11 is close to the quick-connect male head 12 until the male head end positioning block 124 is attached to the female head end face, and then the driving motor 7 is rotated by hand until the three positioning blocks 124 of the quick-connect male head 12 are aligned with the three slide grooves 112 of the quick-connect female head 11 pressing the end cover 117. At this time, the positioning block 124 will squeeze the limiting pressure cover 116 to compress the reset spring 115. When the limiting pressure cover 116 reaches the limit position, the driving motor 7 with the quick-connect female head 11 is rotated 90 degrees. At this time, under the action of the reset spring 115, the three limiting bosses of the quick-connect male head 12 will be stuck in the quick-connect female head. The head 11 is pressed into the slide groove 112 on the other side of the end cover 117, thereby completing the connection between the male end and the female end, and at the same time ensuring the internal power transmission. At this time, the outer casing of the drive motor 7, the outer sleeve 35 of the special maintenance tool, and the positioning and clamping module 2 are all connected and fixed to the end of the mechanical arm, and the output shaft of the drive motor 7 outputs the power as the thrust of the capture rod 8 to fix the lock head through the first transmission shaft 121, the universal coupling 32, and the trapezoidal screw 33 of the quick-connect interface. At this moment, after starting the drive motor 7, the motor transmission shaft 113 drives the universal coupling 32 and then drives the trapezoidal screw 33 to realize the linear movement of the inner push rod 36. The force of the drive motor 7 during the entire unlocking process realizes a force closed loop, and there is no reaction force for the operator. After the wire rope is reversed, the end of the mechanical arm moves downward, and the adapter 5 capture rod 8 withdraws from the internal hole of the wire rope, thereby completing the unlocking of the end of the mechanical arm and the adapter 5.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A linear actuator tool used for repairing a space robot arm fault, characterized in that: The invention comprises a quick-connect module (1), a positioning and clamping module (2), a screw module (3) and a fixed locking module (4); one end of the screw module (3) is provided with a fixed locking module (4), and the fixed locking module (4) is detachably connected to the periphery of a capture rod of an end effector (6); the other end of the screw module (3) is fixedly connected to a drive motor (7) through the quick-connect module (1); the periphery of the screw module (3) is fixedly sleeved on the positioning and clamping module (2), and the positioning and clamping module (2) is used to fix the relative position of the screw module (3) and the end effector (6); The quick-connect module (1) comprises a quick-connect female head (11) and a quick-connect male head (12); the quick-connect female head (11) comprises a connecting flange (111), a motor transmission shaft (113), an external connecting sleeve (114), a return spring (115), a limiting pressure cover (116) and a pressing end cover (117); the lower end of the external connecting sleeve (114) is fixedly connected to the periphery of a driving motor (7) through the connecting flange (111); the motor transmission shaft (113) is located in the external connecting sleeve (114), and a limiting pressure cover (116) is arranged inside the external connection sleeve (114), one end of the limiting pressure cover (116) is fixedly connected to one end of the return spring (115), the other end of the return spring (115) is fixedly connected to the inner side wall of the external connection sleeve (114), the other end of the limiting pressure cover (116) is abutted to one end of the clamping end cover (117), and the outer periphery of the clamping end cover (117) is fixedly connected to the upper end of the external connection sleeve (114); The quick-connect male connector (12) comprises a first transmission shaft (121), an outer guide stepped seat (122) and a first bearing (123); the outer periphery of the first transmission shaft (121) is rotatably connected to the inner ring of the outer guide stepped seat (122) via the first bearing (123); one end of the first transmission shaft (121) is detachably connected to the motor transmission shaft (113); and the other end of the first transmission shaft (121) is fixedly connected to a trapezoidal lead screw (33) disposed inside the lead screw module (3); The screw module (3) comprises a trapezoidal screw (33), an outer sleeve (35), a second bearing (34), an inner push rod (36) and a supporting guide sleeve (37), one end of the outer sleeve (35) is fixedly connected to one end of the outer guide stepped seat (122), the inner ring of the other end of the outer sleeve (35) is provided with a supporting guide sleeve (37), the trapezoidal screw (33) is located in the inner ring of the outer sleeve (35), one end of the trapezoidal screw (33) is fixedly connected to one end of the first transmission shaft (121), the outer periphery of the trapezoidal screw (33) is rotatably sleeved to the inner ring of the outer sleeve (35) through the second bearing (34), the inner ring of the inner push rod (36) is threadedly connected to the outer periphery of the trapezoidal screw (33), and the outer periphery of the inner push rod (36) is slidably connected to the inner ring of the supporting guide sleeve (37); The positioning and clamping module (2) comprises a clamping operating rod (21), a clamping assembly (22), a positioning wedge block (23), an arc-shaped clamping block (24) and a clamping support plate (25); the outer periphery of the outer sleeve (35) is fixedly connected to the inner ring of the clamping support plate (25); one side of the clamping support plate (25) is hinged to one side of the clamping assembly (22); the other side of the clamping support plate (25) is provided with an arc-shaped clamping block (24); the clamping operating rod (21) is provided at the upper end of the clamping assembly (22); the positioning wedge block (23) is provided at the lower end of the clamping assembly (22); the positioning wedge block (23) and the arc-shaped clamping block (24) are tightly fitted to the side wall of the end effector (6) and are used to fix the relative position of the screw module (3) and the end effector (6); The fixed lock head module (4) comprises a C-shaped lock body (41), a torsion spring, a pin shaft (42) and a one-way swing rod (43). The periphery of the C-shaped lock body (41) is fixedly connected to one end of the inner push rod (36). A capture groove is provided on the C-shaped lock body (41), and the capture groove is a non-circular open groove. The two side walls of the open groove are respectively hinged to a one-way swing rod (43) through an axle pin (42). The two one-way swing rods (43) are symmetrically arranged. A torsion spring is arranged on the periphery of each pin shaft (42). The torsion spring is used to reset the relative position of the one-way swing rod (43).

2. The linear actuator tool for repairing a space robot arm fault according to claim 1, characterized in that: A plurality of positioning blocks (124) are evenly distributed along the circumferential direction on the outer periphery of one end of the outer guide stepped seat (122), a plurality of slide grooves (112) are radially arranged on the inner ring of the clamping end cover (117), and the positioning blocks (124) and the slide grooves (112) correspond one to one. When the quick-connect female head (11) and the quick-connect male head (12) are connected, the positioning blocks (124) are located between the clamping end cover (117) and the limiting clamping cover (116).

3. The linear actuator tool for repairing a space robot arm fault according to claim 1, characterized in that: One end of the outer sleeve (35) is fixedly connected to one end of the outer guide stepped seat (122) via an outer curved tube (31), and a universal coupling is arranged inside the outer curved tube (31), and one end of the trapezoidal lead screw (33) is fixedly connected to one end of the first transmission shaft (121) via the universal coupling (32).

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