On-orbit service tool fixing device

Abstract

The invention relates to the technical field of aerospace, in particular to an on-orbit service tool fixing device which comprises a base, a limiting mechanism, a locking piece and a hot work cutter, the limiting mechanism is arranged on the base, the tool is limited on the base by being connected with the tool, and the limiting mechanism comprises a fixed limiting part and a movable limiting part; the movable limiting part is used for enabling the tool to be detachably connected with the base; the locking piece is arranged on the base and is connected with the fixed limiting part, so that the fixed limiting part is limited on the base; the hot working cutter is arranged on the base and used for disconnecting the fixed limiting part and the locking piece. The tool is rigidly supported through the fixed limiting part, the tool is supported in a floating mode through the movable limiting part, the movable limiting part buffers the upward impact load in the launching stage for the fixed limiting part, it is ensured that the fixing device can bear the vibration impact load in the upward movement process, and meanwhile the number of hot work cutters needed by a single tool is reduced; and the condition of shortage of electrical interface resources of the spacecraft is relieved.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to an on-orbit service tool fixture. Background Art

[0002] With the rapid development of spacecraft on-orbit servicing technology, space manipulators equipped with a variety of end effectors have become the development trend of on-orbit servicing. The uplink and on-orbit drift prevention of a variety of end effectors have become technical problems that need to be solved urgently.

[0003] At present, the traditional clamping method of using multiple pyrotechnics to clamp a single end effector requires multiple pyrotechnic electrical interfaces and can only meet the needs of one fixed uplink, which causes a huge waste of the spacecraft's entire electrical interface and uplink resources. Therefore, there is an urgent need for an end tool fixing device that can be used for in-orbit service. Summary of the invention

[0004] The present application provides an on-orbit service tool fixing device to solve the problem in the prior art of using multiple pyrotechnics to compress a single end effector, which causes waste of the entire spacecraft's electrical interface and uplink resources.

[0005] In one aspect, the present application provides an on-orbit service tool fixing device, comprising:

[0006] Pedestal;

[0007] A limiting mechanism is arranged on the base, and is connected with the tool to limit the tool on the base. The limiting mechanism includes a fixed limiting part and a movable limiting part, and the movable limiting part is used to make the tool detachably connected to the base;

[0008] A locking piece is arranged on the base and is connected with the fixed limiting part so that the fixed limiting part is limited on the base;

[0009] The pyrotechnic cutter is arranged on the base and is used for disconnecting the connection between the fixed limiting part and the locking piece.

[0010] In a possible design, the limiting mechanism includes multiple ones, and the fixed limiting parts of all the limiting mechanisms are respectively connected to the locking pieces.

[0011] In a possible design, each limiting mechanism has a first position and a second position respectively, and the limiting mechanism is moved to the first position so that the respective fixed limiting parts are connected to the locking pieces respectively; and the limiting mechanism is moved to the second position so that the orthographic projections of all limiting mechanisms on a plane perpendicular to the preset direction have no intersection area;

[0012] The movable limiting part can connect / disconnect the tool with the base by moving along a preset direction.

[0013] In a possible design, the movable limiting parts include at least two.

[0014] In a possible design, the movable limiting portion includes:

[0015] A latch seat is arranged on the base and is formed with a latch hole;

[0016] A connecting ear, used for connecting with a tool, and provided with a first latch and a second latch;

[0017] The first latch can be inserted into the latch hole along a preset direction to position the limiting mechanism at the first position;

[0018] The second latch can be inserted into the latch hole along a preset direction to position the limiting mechanism at the second position.

[0019] In a possible design, a slideway is provided on the latch seat, the slideway is connected to the latch hole, and the movable limit portion further includes:

[0020] The top ball is arranged at one end of the slideway close to the latch hole and is clearance-matched with the inner wall of the slideway;

[0021] A top screw is arranged at one end of the slideway away from the latch hole and is threadedly connected to the inner wall of the slideway;

[0022] The spring is arranged in the slideway, one end of which is in contact with the top screw and the other end of which is in contact with the top bead.

[0023] In a possible design, a spherical inner wall is formed at one end of the slideway close to the pin hole, and the spherical inner wall abuts against the outer surface of the top bead.

[0024] In a possible design, first annular grooves are respectively formed on the side walls of the first latch and the second latch, and the bottoms of the annular grooves abut against the outer surface of the top ball extending out of the slideway.

[0025] In a possible design, a second annular groove is further formed on the side wall of the first latch pin, and the second annular groove is disposed on a side of the first annular groove close to the tip of the first latch pin.

[0026] In a possible design, the fixed limiting portion includes a connecting arm, one end of the connecting arm is used to connect with the tool, and the other end of the connecting arm is provided with a connecting hole;

[0027] The lock hardware includes:

[0028] A pressing seat is arranged on the base;

[0029] A clamping cap is arranged on the connecting arm away from the base;

[0030] The clamping rod is inserted into the connecting hole, one end of which is connected to the clamping seat, and the other end of which is connected to the clamping cap.

[0031] The beneficial effects of this application are as follows:

[0032] The on-orbit service tool fixing device of the present application provides rigid support for the tool by setting a fixed limit part, and provides floating support for the tool by setting a movable limit part, so that during the ascent process of the spacecraft, the fixed limit part and the movable limit part can jointly press the tool onto the base. On the one hand, the movable limit part buffers the upward impact load of the fixed limit part during the launch phase, ensuring that the fixing device can withstand the vibration impact load during the ascent process, and at the same time can effectively reduce the number of pyrotechnic cutters required for a single tool, alleviating the shortage of electrical interface resources of the spacecraft; on the other hand, when the spacecraft is in-orbit, the movable limit part can also realize floating limit of the tool, making it convenient for the robot arm to grab the tool to realize the picking and placing of the tool on the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A front view of an on-orbit service tool fixing device provided in an embodiment of the present application;

[0035] Figure 2 A top view of the on-orbit service tool fixing device provided in an embodiment of the present application in the upward stage;

[0036] Figure 3 A top view of the on-orbit service tool fixture provided by an embodiment of the present application in the on-orbit stage;

[0037] Figure 4 A cross-sectional view of an on-orbit service tool fixing device provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the structure of a locking device for an on-orbit service tool fixing device provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of the structure of a first latch of an on-orbit service tool fixing device provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of the structure of the second pin of the on-orbit service tool fixing device provided in an embodiment of the present application.

[0041] Reference numerals:

[0042] 100, base; 110, middle connecting plate; 200, limiting mechanism; 210, fixed limiting part; 211, connecting arm; 2111, connecting hole; 220, movable limiting part; 221, latch seat; 2211, latch hole; 2212, slideway; 222, connecting ear; 223, first latch; 224, second latch; 225, top ball; 226, top screw; 227, spring; 228, spherical inner wall; 2291, first annular groove; 2292, second annular groove; 300, locking piece; 310, clamping seat; 320, clamping cap; 330, clamping rod; 400, pyrotechnic cutter; 510, conical recess; 520, conical protrusion; 530, conical mouth; 600, tool. DETAILED DESCRIPTION

[0043] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0044] Combine the following Figure 1-Figure 7 , describing the on-orbit service tool fixing device provided in an embodiment of the present application.

[0045] Reference Figure 1 As shown, an embodiment of the present application provides an on-orbit service tool fixing device, including a base 100, a limiting mechanism 200, a locking piece 300 and a pyrotechnic cutter 400. The base 100 is installed outside the cabin of the spacecraft. The limiting mechanism 200 is arranged on the base 100. The limiting mechanism 200 is connected to the tool 600 so that the tool is limited on the base 100. The limiting mechanism 200 includes a fixed limiting portion 210 and a movable limiting portion 220. The movable limiting portion 220 is used to make the tool and the base 100 detachably connected; the locking piece 300 is arranged on the base 100, and is connected to the fixed limiting portion 210 so that the fixed limiting portion 210 is limited on the base 100; the pyrotechnic cutter 400 is arranged on the base 100 and is used to disconnect the connection between the fixed limiting portion 210 and the locking piece 300. Referring to Figure 4As shown, in some specific embodiments, the fixed limiting portion 210 includes a connecting arm 211, one end of the connecting arm 211 is connected to the tool bolt, and the other end of the connecting arm 211 is provided with a connecting hole 2111 for connecting with the locking piece 300; the locking piece 300 includes a clamping seat 310, a clamping cap 320 and a clamping rod 330, the clamping seat 310 is installed on the base 100; the clamping cap 320 is installed on the connecting arm 211 by bolts; the clamping rod 330 is passed through the connecting hole 2111 in a direction perpendicular to the base 100, one end of the clamping rod 330 is connected to the clamping seat 310, and the other end of the clamping rod 330 is connected to the clamping cap 320; pyrotechnic cutting The tool 400 is installed on the pressing seat 310; during the ascent stage of the spacecraft, under the pulling of the pressing rod 330, the pressing cap 320 presses the connecting arm 211 tightly on the pressing seat 310, so that the movable limiting part 220 and the connecting arm 211 jointly fix the tool on the base 100; during the on-orbit stage of the spacecraft, the pyrotechnic cutter 400 uses high-temperature and high-pressure flames and sprays high-speed iron oxide powder to form a high-temperature reaction to cut off the pressing rod 330, so that the connecting arm 211 loses its limiting function along the length direction of the pressing rod 330, and the connecting arm 211 loses its limiting function, and the tool is only fixed by the movable limiting part 220 to prevent the tool from detaching from the base 100 in a weightless state. In some specific embodiments, the movable limiting part 220 is a plug-in mechanism to facilitate the removal and placement of the tool on the base 100.

[0046] By utilizing the technical solution provided in the above-mentioned embodiment, the tool is rigidly supported by setting a fixed limit part 210, and the tool is floatingly supported by setting a movable limit part 220, so that during the ascent of the spacecraft, the fixed limit part 210 and the movable limit part 220 can jointly press the tool onto the base 100. On the one hand, the movable limit part 220 buffers the upward impact load of the fixed limit part 210 in the launch phase, ensuring that the fixing device can withstand the vibration impact load during the ascent process. At the same time, it can also effectively reduce the number of pyrotechnic cutters 400 required for a single tool, alleviating the shortage of electrical interface resources of the spacecraft; on the other hand, when the spacecraft is in orbit, the movable limit part 220 can also realize floating limit of the tool, which is convenient for the robot arm to grasp the tool to realize the picking and placing of the tool on the base 100.

[0047] Reference Figure 2 , Figure 4As shown, in some embodiments of the present application, the limiting mechanism 200 includes a plurality of, for example, the number of the limiting mechanisms 200 may be two, three, four, etc., and the fixed limiting portions 210 of all the limiting mechanisms 200 are respectively connected to the locking pieces 300. In this way, one locking piece 300 can fix multiple tools at the same time, thereby reducing the number of pyrotechnics required for a single tool. In some specific embodiments, the limiting mechanism 200 includes two limiting mechanisms 200, which are arranged on the same base 100. The base 100 is in the shape of an elliptical ring, and the middle part of the base 100 has an intermediate connecting plate 110. The two limiting mechanisms 200 are respectively arranged on the left and right sides of the intermediate connecting plate 110, and the locking seat is installed on the intermediate connecting plate 110. The pyrotechnic cutter 400 is arranged on the locking seat. The connecting arms 211 of the two limiting mechanisms 200 are respectively arranged above the same locking seat, so that the locking rod passes through the connecting hole 2111 of the connecting arm 211, and the locking cap is pressed on the uppermost connecting arm 211; the movable limiting parts 220 of the two limiting mechanisms 200 are respectively arranged at the edge positions of the corresponding sides of the base 100; in this way, the two limiting mechanisms 200 can share a locking piece 300, which effectively reduces the number of pyrotechnic cutters 400 required to fix a single tool and alleviates the shortage of electrical interface resources of the spacecraft. Reference Figure 5 As shown, in some specific embodiments, a conical recess 510 is provided on the lower end surface of the connecting arm 211 away from the pressing seat 310, and a conical convex portion 520 is provided on the upper end surface and the lower end surface of the connecting arm 211 close to the pressing seat 310, respectively, and a conical mouth 530 is provided on the upper end surface of the pressing seat 310. In this way, the pressing seat 310 and the connecting arm 211 are clearance-fitted by the mutually matching conical convex portion 520 and the conical mouth 530, and the two connecting arms 211 are clearance-fitted by the mutually matching conical recess 510 and the conical convex portion 520, so that a quick connection between the pressing seat 310 and the connecting arm 211 and between the two connecting arms 211 can be achieved, and axial misalignment of the two connecting arms 211 relative to the pressing seat 310 can be prevented.

[0048] Reference Figure 2 , Figure 3 As shown, in some embodiments of the present application, each limiting mechanism 200 has a first position ( Figure 2 shown position) and a second position ( Figure 3The limiting mechanism 200 moves to the first position so that the fixed limiting parts 210 are connected to the locking parts 300 respectively; the limiting mechanism 200 moves to the second position so that the orthographic projections of all limiting mechanisms 200 on the plane perpendicular to the preset direction do not overlap at all; the movable limiting part 220 can connect / disconnect the tool with the base 100 by moving along the preset direction. Specifically, the preset direction is the height direction of the base 100; it should be noted that the robot arm is limited by the on-track working space, and the actions that the robot arm can perform are relatively limited. Therefore, by moving the limiting mechanism 200 from the first position ( Figure 2 shown position) to the second position ( Figure 3 The position shown in the figure) can prevent each tool and its limiting mechanism 200 from colliding during the process of the robot arm taking and placing the tool. Specifically, after the robot arm is connected to the end adapter on the tool for the first time, the robot arm will drive the tool away from the base 100 along the height direction of the base 100 to separate the tool from the base 100, and then rotate the tool to drive the limiting mechanism 200 to rotate as a whole, so that the limiting mechanism 200 rotates from the first position to the second position. At this time, since the orthographic projections of all the limiting mechanisms 200 on the plane perpendicular to the height direction of the base 100 do not overlap at all, it can effectively avoid the collision of the tool and its limiting mechanism 200 during the process of the robot arm taking and placing the tool.

[0049] Reference Figure 2 As shown, in some embodiments of the present application, the movable limiting parts 220 include at least two. In this way, during the ascent stage of the spacecraft, each tool is respectively connected to two movable limiting parts 220 and one fixed limiting part 210 to form a triangular fixed structure, ensuring that the tool can withstand the vibration impact load during the ascent process; during the on-orbit stage of the spacecraft, the fixed limiting part 210 loses its limiting function after the pyrotechnic cutter 400 is actuated, and at this time, there are still two movable limiting parts 220 left, and the two movable limiting parts 220 can form a two-point limit for the tool to prevent the tool from drifting on the base 100.

[0050] Reference Figure 2 , Figure 3 , Figure 4As shown, in some embodiments of the present application, the movable limiting portion 220 includes a latch seat 221 and a connecting ear 222, the latch seat 221 is installed on the base 100, and is formed with a latch hole 2211; the connecting ear 222 is connected to the tool by a bolt, and a first latch 223 and a second latch 224 are provided on the connecting ear 222; the first latch 223 can be inserted into the latch hole 2211 along the height direction of the base 100 to enable the limiting mechanism 200 to be located in the first position; the second latch 224 can be inserted into the latch hole 2211 along the height direction of the base 100 to enable the limiting mechanism 200 to be located in the second position. In one specific embodiment, the connecting ear 222 is in a "V" shape, and the first pin 223 and the second pin 224 are respectively installed at the two ends of the "V"-shaped connecting ear 222; during the ascent phase of the spacecraft, the first pin 223 is inserted into the pin hole 2211; when the spacecraft is in orbit, the robotic arm pulls out the first pin 223 from the pin hole 2211 along the height direction of the base 100, and then rotates the tool around its central axis by a preset angle to enable the second pin 224 to be located directly above the pin hole 2211, and the robotic arm then inserts the second pin 224 into the pin hole 2211 along the height direction of the base 100. In some specific embodiments, each tool is connected to two connecting ears 222, and the two connecting ears 222 are respectively distributed on both sides of the tool. Each connecting ear 222 is provided with a first latch 223 and a second latch 224. The line connecting the center points of the end face circles of the two first latches 223 passes through the center of mass of the tool, and the line connecting the center points of the end face circles of the two second latches 224 also passes through the center of mass of the tool. Specifically, there is a certain angle between the two connecting lines, which is generally greater than or equal to 30 degrees. For example, there is a 30-degree angle between the two connecting lines. In this way, the robot arm can insert the second latch 224 into the latch hole 2211 by rotating 30 degrees around the center of mass of the tool, so that the two tools are separated from each other in the on-track stage, and the tools are prevented from colliding with each other during the process of picking and placing. In other specific embodiments, the straight line where the central axis of the connecting arm 211 is located also passes through the center of mass of the tool. In this way, all three straight lines pass through the center of mass of the tool, which is conducive to keeping the tool's force arm short and reducing the risk of breaking the connecting arm 211 and the connecting ear 222. In some specific embodiments, the end of the pin hole 2211 corresponding to the pin seat 221 is a conical hole structure, and the diameter of the end of the conical hole is greater than or equal to 20 mm, so as to adapt to the positioning tolerance of the end of the robotic arm of ±10 mm, and the cone angle of the conical hole is less than or equal to 90 degrees, so that the lateral force during the downward sliding of the first pin 223 or the second pin 224 is greater than the supporting reaction force, which can reduce the driving force required for the downward movement of the robotic arm grasping tool; the lower ends of the first pin 223 and the second pin 224 are conical tips, which is conducive to the rapid insertion of the first pin 223 or the second pin 224 into the pin hole 2211.

[0051] Reference Figure 6, Figure 7 As shown, in some specific embodiments, a slideway 2212 is provided on the latch seat 221, and the slideway 2212 is connected to the latch hole 2211. The movable limiting portion 220 also includes a top ball 225, a top screw 226 and a spring 227. The top ball 225 is arranged at one end of the slideway 2212 close to the latch hole 2211, and is clearance-matched with the inner wall of the slideway 2212; the top screw 226 is arranged at one end of the slideway 2212 away from the latch hole 2211, and is threadedly connected with the inner wall of the slideway 2212; the spring 227 is arranged in the slideway 2212, one end of which is abutted against the top screw 226, and the other end of which is abutted against the top ball 225. In some specific embodiments, the slides 2212 are distributed circumferentially along the latch hole 2211. For example, there are three slides 2212. The axis of each slide 2212 is perpendicular to the axis of the latch hole 2211. When the first latch 223 or the second latch 224 is inserted into the latch hole 2211, under the elastic force of the spring 227, the top ball 225 can provide radial pressure to the first latch 223 or the second latch 224 to prevent the first latch 223 or the second latch 224 from falling out of the latch hole 2211. In some of the specific embodiments, a spherical inner wall 228 is formed at one end of the slide 2212 near the pin hole 2211, and the spherical inner wall 228 abuts against the outer surface of the top bead 225, so that under the limitation of the spherical inner wall 228, the top bead 225 is always located in the slide 2212, preventing the top bead 225 from falling out of the slide 2212 after the first pin 223 or the second pin 224 is pulled out of the pin hole 2211.

[0052] Reference Figure 6 , Figure 7 As shown, in some embodiments of the present application, first annular grooves 2291 are respectively formed on the side walls of the first latch pin 223 and the second latch pin 224, and the bottom of the annular grooves abuts against the outer surface of the top bead 225 extending out of the slideway 2212. In this way, each top bead 225 can abut against the bottom of the first annular groove 2291, so that the inner wall of the first annular groove 2291 plays a limiting role on the top bead 225, so that the top bead 225 can better provide radial pressure for the first latch pin 223 or the second latch pin 224, so as to prevent the first latch pin 223 or the second latch pin 224 from coming out of the latch hole 2211.

[0053] Reference Figure 6As shown, in some embodiments of the present application, a second annular groove 2292 is further formed on the side wall of the first latch pin 223 , and the second annular groove 2292 is disposed on a side of the first annular groove 2291 close to the tip of the first latch pin 223 . Specifically, there is a certain distance between the first annular groove 2291 and the second annular groove 2292. After the clamping rod 330 is cut by the pyrotechnic cutter 400, a certain instantaneous impact force will be generated, and the connecting arm 211 connected to the clamping cap 320 will tend to move upward. At this time, the inner wall of the first annular groove 2291 of the first latch 223 will squeeze the top bead 225, and the top bead 225 compresses the spring 227 to absorb the energy generated by the impact. After the first latch 223 moves up a certain distance, the top bead 225 slides into the second annular groove 2292 of the first latch 223, providing radial pressure for the first latch 223 again to prevent the first latch 223 from continuing to move up, thereby preventing the first latch 223 from being subjected to excessive impact force during the release and separation process, causing the first latch 223 to completely fall out of the latch hole 2211, resulting in the tool drifting away and other unexpected situations.

[0054] The workflow of the on-orbit service tool fixture of this application:

[0055] Reference Figure 2 As shown, before the spacecraft is launched upward, the two connecting arms 211 are pressed on the pressing seat 310 by the pressing rod 330, and the connecting arm 211 of the right tool is located at the top, so that the left tool 600 and the right tool 600 are respectively fixed to the base 100 with high rigidity, and the latch seat 221 is connected to the base 100 with weak rigidity floating connection;

[0056] When the spacecraft is launched into the predetermined orbit, the pyrotechnic cutter 400 is detonated to cut off the clamping rod 330 and release the connecting arm 211, so that the left tool and the right tool have the freedom of movement along the height direction of the base 100; wherein, when the pyrotechnic cutter 400 cuts off the clamping rod 330, the clamping cap 320 drives the connecting arm 211 to move upward under the impact force of the detonation and cutting, at which time, the top ball 225 that clamps the first latch 223 may enter the second latch 2292 from the first annular groove 2291, thereby preventing the first latch 223 from completely falling out of the latch seat 221;

[0057] Reference Figure 3As shown, after the spacecraft is in orbit, when the robotic arm grabs the end tool for the first time to carry out on-orbit service, the robotic arm first grabs the end adapter on the right tool, pulls out the right tool and the connecting ear 222 connected to the right tool along the height direction of the base 100, then rotates them by a certain angle, and reinserts them into the corresponding latch seat 221 to complete the on-orbit placement of the right tool; the robotic arm then grabs the left tool, pulls out the left tool and the connecting ear 222 connected to the left tool along the height direction of the base 100, and rotates them by a certain angle and reinserts them into the corresponding latch seat 221 to complete the on-orbit storage of the left tool and the right tool.

[0058] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0062] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An on-orbit service tool fixing device, characterized in that: include: Pedestal; A limiting mechanism is arranged on the base, and is connected with the tool to limit the tool on the base, wherein the limiting mechanism comprises a fixed limiting part and a movable limiting part, and the movable limiting part is used to make the tool detachably connected to the base; A locking member, disposed on the base, and connected to the fixed limiting portion so that the fixed limiting portion is limited on the base; The pyrotechnic cutter is arranged on the base and is used for disconnecting the connection between the fixed limiting part and the locking piece.

2. The on-orbit service tool fixing device according to claim 1, characterized in that: The limiting mechanism includes a plurality of fixed limiting parts, and the fixed limiting parts of all the limiting mechanisms are respectively connected to the locking members.

3. The on-orbit service tool fixing device according to claim 2, characterized in that: Each of the limiting mechanisms has a first position and a second position, and the limiting mechanisms are moved to the first position so that the respective fixed limiting parts are connected to the locking members respectively; and the limiting mechanisms are moved to the second position so that the orthographic projections of all the limiting mechanisms on a plane perpendicular to the preset direction have no intersection area; The movable limiting portion can connect / disconnect the tool with the base by moving along the preset direction.

4. The on-orbit service tool fixing device according to any one of claims 1 to 3, characterized in that: The movable limiting parts include at least two.

5. The on-orbit service tool fixing device according to claim 3, characterized in that: The movable limiting part comprises: A latch seat, arranged on the base, and formed with a latch hole; A connecting ear, used to connect with the tool, the connecting ear being provided with a first latch and a second latch; The first latch can cause the limiting mechanism to be located at the first position by inserting the first latch into the latch hole along the preset direction; The second latch can locate the limiting mechanism at the second position by being inserted into the latch hole along the preset direction.

6. The on-orbit service tool fixing device according to claim 5, characterized in that: The latch seat is provided with a slideway, the slideway is connected to the latch hole, and the movable limiting part further comprises: A top ball is arranged at one end of the slideway close to the latch hole and is clearance-matched with the inner wall of the slideway; A top screw, arranged at one end of the slideway away from the latch hole, and threadedly connected to the inner wall of the slideway; A spring is arranged in the slideway, one end of which is in contact with the top screw and the other end of which is in contact with the top bead.

7. The on-orbit service tool fixing device according to claim 6, characterized in that: A spherical inner wall is formed at one end of the slideway close to the pin hole, and the spherical inner wall abuts against the outer surface of the top ball.

8. The on-orbit service tool fixing device according to claim 6, characterized in that: A first annular groove is respectively formed on the side walls of the first latch and the second latch, and the bottom of the annular groove abuts against the outer surface of the top ball extending out of the slideway.

9. The on-orbit service tool fixing device according to claim 8, characterized in that: A second annular groove is also formed on the side wall of the first latch pin, and the second annular groove is arranged on a side of the first annular groove close to the tip of the first latch pin.

10. The on-orbit service tool fixing device according to any one of claims 1 to 3, characterized in that: The fixed limiting portion comprises a connecting arm, one end of which is used to connect with the tool, and the other end of which is provided with a connecting hole; The locking element comprises: A pressing seat, arranged on the base; A clamping cap, disposed on the connecting arm away from the base; A clamping rod is inserted into the connecting hole, one end of which is connected to the clamping seat, and the other end of which is connected to the clamping cap.

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