On-orbit replaceable module butt joint locking / releasing mechanism

Abstract

The invention discloses an on-orbit replaceable module butt joint locking / releasing mechanism, and belongs to the technical field of spacecraft on-orbit service. The structure comprises a butt joint module, a butt joint cabin plate, a second-stage tensioning and locking mechanism and a first-stage locking mechanism. Position errors of the active end and the passive end caused by the precision of the mechanical arm are compensated in a cone-rod type butt joint mode, and tolerance connection is achieved; the SMA spring driver and the spherical lock are adopted to realize multiple repeated butt joint and unlocking processes; a two-stage tensioning and locking mechanism is added to overcome large resistance which cannot be overcome by the mechanical arm in the connecting process; the universal flange is adopted, so that the universal flange can be installed on various butt joint modules, the butt joint locking process is completed, and modularization is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of on-orbit service of spacecraft, and in particular relates to an on-orbit replaceable module docking locking / releasing mechanism. Background Art

[0002] In recent years, with the continuous development of aerospace technology, the number of objects in orbit has also exploded, including not only active and retired satellites, but also a large number of space debris. Statistics show that as of May 10, 2020, there are 5,799 payloads in orbit, only 2,863 active payloads (meaning the payload is in operation or partial operation, backup or standby, or extended mission status), and as many as 14,851 space debris in orbit. Spacecraft work in a harsh environment. Long-term exposure to high and low temperatures, strong radiation, high vacuum, and high resistance in the space environment may cause semiconductor devices and integrated circuits to function poorly or even be permanently damaged. Once individual devices and circuits fail or are damaged, it will affect the functional realization of the system in which they are located, and even threaten the safety of spacecraft operation, causing the overall function of the spacecraft to fail. Failure loads pose a huge threat to the normal operation of in-service spacecraft. However, studies have shown that repairing damaged spacecraft has high economic value. For example, geosynchronous satellites (GEO Satellites) have a high potential for life extension and re-operation. If such satellites are abandoned, long-term occupation of orbit will cause a huge waste of limited orbital resources, hinder the launch of new satellites, and affect the deployment of satellites. In addition, with the continuous iteration of space missions, the complexity of missions has caused fuel demand to be different from the past. Refueling spacecraft through in-orbit refueling technology can reduce the launch cost of spacecraft.

[0003] On-orbit repair of faulty spacecraft, on-orbit replacement of faulty modules, and on-orbit fueling of spacecraft are the top priorities of on-orbit services at present, and play a vital role in extending the on-orbit service life of spacecraft and reducing the waste of space resources. Whether it is on-orbit repair, on-orbit replacement or on-orbit fueling, it is inseparable from the repeated docking, locking and releasing mechanism. The repeated docking, locking and releasing technology of on-orbit replaceable modules is the basis of the above three on-orbit service technologies and is one of the key research objects in the field of on-orbit services for the future space powers and space powers in the world.

[0004] However, existing docking mechanism modules have poor compatibility, lack of standardized design, and insufficient versatility; some traditional docking mechanisms only achieve one-way locking of the active and passive ends and are unable to achieve unlocking, or can only achieve a single locking and unlocking process and cannot be reused; during the on-track docking process, the position error between the active and passive ends is difficult to effectively compensate.

[0005] In summary, it is of great significance to develop a large tolerance, low impact, high versatility, modular repeated locking and releasing mechanism, so as to realize the docking locking and releasing process of various on-orbit services and ensure the safe and stable operation of on-orbit spacecraft. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention discloses an on-orbit replaceable module docking locking / releasing mechanism. The structure compensates for the position error of the active and passive ends caused by the accuracy of the robot arm through a cone-rod docking method to achieve tolerance connection; an SMA spring driver and a spherical lock are used to achieve multiple repeated docking and unlocking processes; a secondary tensioning and locking mechanism is added to overcome the large resistance that the robot arm cannot overcome during the connection process; a universal flange is used so that it can be installed on a variety of docking modules to complete the docking and locking process and achieve modularization. It is specifically implemented as follows: A docking locking / releasing mechanism for an on-track replaceable module, the mechanism comprising a docking module, the docking module being located on the docking module; a secondary tensioning locking mechanism and a primary locking mechanism being sequentially arranged under the docking module; the docking module comprising a module body, the module body being provided with a mechanical arm interface, a comprehensive docking assembly, a docking cone, and a locking rod; the locking rod comprising a locking rod body, a secondary locking spring, and a secondary locking wedge block; the mechanical arm being fixedly connected at the center of the upper surface of the module body, the comprehensive docking assembly and the docking cone being respectively fixed to the side surfaces of the module body, the locking rod body being fixedly connected to the docking cone, two secondary locking wedge blocks being placed in an empty groove therein to form a sliding pair, and a secondary locking spring being placed between the two.

[0007] Furthermore, the docking module includes a docking panel body, a receiving cone, and an integrated docking interface; the receiving cone and the integrated docking interface are fixed to the upper surface of the docking panel body.

[0008] Furthermore, the secondary tensioning and locking mechanism includes a secondary locking sleeve, a secondary limiting steel ball, a connecting sleeve, a secondary locking push rod, a secondary return spring, a secondary SMA spring driver, and a secondary cooling plate; the secondary locking sleeve is fixed to the lower surface of the docking cabin body, the secondary limiting steel ball is placed in the empty groove above the secondary locking sleeve to form a sliding pair, the connecting sleeve and the secondary locking sleeve form a sliding connection, the secondary locking push rod is fixedly connected to the connecting sleeve, the secondary SMA spring driver is placed on the internal shaft of the secondary locking sleeve, and the secondary cooling plate is fixed on the secondary locking sleeve and contacts with the secondary SMA spring driver.

[0009] Furthermore, the first-level locking mechanism includes a first-level locking sleeve, a first-level locking steel ball, a first-level locking pressure plate, a first-level locking push rod, a first-level reset spring, a first-level SMA spring driver, and a first-level cooling plate; the first-level locking sleeve forms a sliding connection with the connecting sleeve, the first-level locking steel ball is placed in an empty groove above the first-level locking sleeve to form a sliding pair, the first-level locking pressure plate forms a sliding connection with the first-level locking sleeve, the first-level locking push rod is fixedly connected to the first-level locking pressure plate, the first-level reset spring is placed on the first-level locking push rod, the first-level SMA spring driver is placed in the empty groove below the first-level locking sleeve, and the first-level cooling plate is fixed on the second-level locking sleeve and contacts with the first-level SMA spring driver.

[0010] The invention discloses an on-rail replaceable module docking locking / releasing mechanism, wherein the connection locking of the mechanism includes a preparation process, a docking process, a primary locking process and a secondary locking process, specifically: Preparation process of the locking / releasing mechanism for docking the on-orbit replaceable module: after the docking module receives the docking signal, the primary SMA spring driver is powered on and heated. As the primary SMA spring driver stretches, it presses down the primary locking pressure plate, driving the primary locking push rod to move downward, releasing the limit on the primary locking steel ball, and at the same time the primary reset spring is compressed; while the primary SMA spring driver is powered on and heated, the secondary SMA spring driver is heated as well. As the secondary SMA spring driver stretches, it pushes the connecting sleeve, the secondary locking push rod and the primary locking mechanism upward, pushing the secondary limit steel ball to complete the limit, and at the same time the secondary reset spring is further compressed; The docking process of the on-orbit replaceable module docking locking / release mechanism: the robotic arm grabs the docking module to the predetermined docking position through the robotic arm interface. Due to the posture deviation of the end of the robotic arm, the docking module further approaches the docking module after reaching the predetermined docking position. During the gradual approach process, the ball head at the end of the locking rod contacts the surface of the receiving cone. Under the action of the receiving cone, the docking module completes the posture adjustment. As the docking module further approaches the docking module, the lower inclined surface of the secondary locking wedge block contacts the docking module, and moves toward the inside of the locking rod body under the push of the robotic arm. The secondary locking spring is compressed, and then the docking module reaches the primary locking position; The first-level locking process of the docking locking / releasing mechanism of the on-orbit replaceable module: the docking module no longer supplies power to the first-level locking SMA spring driver, but supplies power to the first-level cooling plate to cool down the first-level SMA spring driver. As the temperature continues to drop, the first-level SMA spring driver reaches the martensite state, the first-level return spring stretches and pushes the first-level locking push rod and the first-level locking pressure plate to move upward, the first-level locking push rod pushes the first-level locking steel ball into the locking groove of the locking rod to complete the first-level locking, and the docking module stops supplying power to the first-level cooling plate; Secondary tensioning and locking process of the on-orbit replaceable module docking locking / release mechanism: the docking module no longer supplies power to the secondary locking SMA spring driver, but supplies power to the secondary cooling plate to cool down the secondary SMA spring driver. As the temperature continues to drop, the secondary SMA spring driver reaches the martensite state, and the secondary reset spring stretches to push the secondary locking push rod, the connecting sleeve and the primary locking mechanism downward. In this process, the lower surface of the connecting sleeve first contacts the primary locking mechanism. At this time, the secondary locking push rod releases the limit on the secondary locking steel ball. As the connecting sleeve continues to move downward, it pushes the primary locking mechanism downward. Since the primary locking mechanism has completed mechanical connection with the locking rod at this time, the docking module also moves downward. As the secondary reset spring recovers to the pre-tightening length, the secondary locking spring resets, the secondary locking wedge block enters the locking groove of the secondary locking sleeve, the integrated docking assembly is connected to the integrated docking interface, the conical surface of the docking cone fits with the conical surface of the receiving cone, the secondary tensioning and locking is completed, and the docking module stops supplying power to the secondary cooling plate.

[0011] The invention provides an on-rail replaceable module docking locking / releasing mechanism, wherein the unlocking and separation of the mechanism includes the following processes: The unlocking and separation process of the on-rail replaceable module docking locking / release mechanism: the docking module supplies power to the secondary SMA spring driver. As the secondary SMA spring driver extends, it pushes the connecting sleeve and the secondary locking push rod upward, the secondary locking push rod pushes the secondary limiting steel ball, and the secondary locking wedge block is pressed to move toward the inside of the locking rod body, compressing the secondary locking spring and releasing the secondary lock. As the connecting sleeve moves further, the primary locking mechanism and the module body move upward, the secondary reset spring is further compressed, and the integrated docking interface and the integrated docking assembly are disconnected; at this time, the primary SMA spring driver is energized and heated, and as the primary SMA spring driver extends, it presses down the primary locking pressure plate, driving the primary locking push rod to move downward, the primary reset spring is compressed, and the limit on the primary locking steel ball is released to complete the unlocking. After that, the robotic arm grabs the docking module through the robotic arm interface to complete the separation.

[0012] The beneficial effects of the present invention compared with the prior art are: The traditional locking mechanism requires a multi-degree-of-freedom robotic arm to precisely adjust its posture. The present invention adopts a tapered rod guiding structure, which can achieve autonomous correction within the range of ±5mm position deviation and ±1.5° angle deviation through the adaptive guidance of the tapered surface and the plug-in cooperation of the rod body.

[0013] Traditional locking mechanisms mostly use a drive chain of motor + reducer + lead screw, which has many transmission links and large volume. The present invention uses an SMA spring driver, which directly outputs the locking force by utilizing the SMA phase change contraction characteristics, without the risk of wear of traditional mechanical transmission parts.

[0014] The traditional locking mechanism requires the robot arm to continuously provide an axial force of more than 50N, and at the same time cannot resist a large docking resistance; the present invention only requires a 20N axial pressure of the robot arm, and after completing the first-level locking, the second-level tightening locking mechanism can provide an axial force of more than 180N, which can complete the docking locking process with large resistance; The traditional locking mechanism relies on the rapid release of the pre-stressed spring when unlocking, which easily produces a large transient impact acceleration; the present invention offsets the SMA spring driver and applies the phase change characteristics of the SMA cooling process to greatly reduce the impact force when unlocking and avoid the risk of damage to precision electronic components. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the isometric three-dimensional structure of an on-track replaceable module docking locking / releasing mechanism of the present invention; Figure 2 It is a schematic diagram of the docking module structure of an on-track replaceable module docking locking / releasing mechanism of the present invention; Figure 3 A schematic diagram of the docking cabin structure of an on-orbit replaceable module docking locking / releasing mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of a secondary tensioning and locking mechanism of an on-track replaceable module docking locking / releasing mechanism of the present invention; Figure 5 It is a structural schematic diagram of a primary locking mechanism of an on-track replaceable module docking locking / releasing mechanism of the present invention; Figure 6 A schematic diagram of the locking rod structure of an on-track replaceable module docking locking / releasing mechanism of the present invention; Among them, 1-docking module, 2-docking cabin board, 3-secondary tensioning and locking mechanism, 4-primary locking mechanism, 101-module body, 102-mechanical arm interface, 103-integrated docking assembly, 104-docking cone, 105-locking rod, 201-cabin board body, 202-receiving cone, 203-integrated docking interface, 301-secondary locking sleeve, 302-secondary limiting steel ball, 303-connecting sleeve, 304-secondary locking push rod, 305-secondary return spring, 306-secondary SMA spring driver, 307-secondary cooling plate, 401-first-level locking sleeve, 402-first-level locking steel ball, 403-first-level locking pressure plate, 404-first-level locking push rod, 405-first-level return spring, 406-first-level SMA spring driver, 407-first-level cooling plate, 1051-locking rod body, 1052-secondary locking spring, 1053-secondary locking wedge block. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail by enumerating examples below. It should be noted that the specific implementation described here is only used to explain the present invention and is not used to limit the present invention.

[0017] like Figures 1 to 6 As shown, the present invention provides an on-track replaceable module docking locking / releasing mechanism, comprising a docking module 1, a docking cabin plate 2, a secondary tensioning and locking mechanism 3 and a primary locking mechanism 4; The docking module 1 includes a module body 101, a mechanical arm interface 102, an integrated docking assembly 103, a docking cone 104, and a locking rod 105; the locking rod 105 includes a locking rod body 1051, a secondary locking spring 1052, and a secondary locking wedge block 1053; the mechanical arm is fixedly connected to the center of the upper surface of the module body 101, the integrated docking assembly 103 and the docking cone 104 are respectively fixed to the side surface of the module body 101, the locking rod body 1051 is fixedly connected to the docking cone 104, and two secondary locking wedge blocks 1053 are placed in the internal empty groove to form a sliding pair, and a secondary locking spring 1052 is placed between the two; The docking panel 2 includes a docking panel 2 body, a receiving cone 202, and a comprehensive docking interface 203; the receiving cone 202 and the comprehensive docking interface 203 are fixed to the upper surface of the docking panel 2 body; The secondary tensioning and locking mechanism 3 includes a secondary locking sleeve 301, a secondary limiting steel ball 302, a connecting sleeve 303, a secondary locking push rod 304, a secondary reset spring 305, a secondary SMA spring driver 306, and a secondary cooling plate 307; the secondary locking sleeve 301 is fixed to the lower surface of the docking cabin 2 body, the secondary limiting steel ball 302 is placed in the empty groove above it to form a sliding pair, the connecting sleeve 303 forms a sliding connection with the secondary locking sleeve 301, the secondary locking push rod 304 is fixedly connected to the connecting sleeve 303, the secondary SMA spring driver 306 is placed on the internal axis of the secondary locking sleeve 301, and the secondary cooling plate 307 is fixed on the secondary locking sleeve 301 and contacts the secondary SMA spring driver 306; The primary locking mechanism 4 includes a primary locking sleeve 401, a primary locking steel ball 402, a primary locking pressure plate 403, a primary locking push rod 404, a primary return spring 405, a primary SMA spring driver 406, and a primary cooling plate 407; the primary locking sleeve 401 forms a sliding connection with the connecting sleeve 303, the primary locking steel ball 402 is placed in the empty groove above it to form a sliding pair, the primary locking pressure plate 403 forms a sliding connection with the primary locking sleeve 401, the primary locking push rod 404 is fixedly connected to the primary locking pressure plate 403, the primary return spring 405 is placed on the primary locking push rod 404, the primary SMA spring driver 406 is placed in the empty groove below the primary locking sleeve 401, and the primary cooling plate 407 is fixed on the secondary locking sleeve 301 and contacts with the primary SMA spring driver 406.

[0018] Preparation process of the on-orbit replaceable module docking locking / release mechanism: after the docking cabin plate 2 receives the docking signal, the first-level SMA spring driver 406 is powered on and heated. As the first-level SMA spring driver 406 extends, it presses down the first-level locking pressure plate 403, driving the first-level locking push rod 404 to move downward, releasing the limit on the first-level locking steel ball 402, and at the same time the first-level reset spring 405 is compressed; while the first-level SMA spring driver 406 is powered on and heated, the second-level SMA spring driver 306 is heated. As the second-level SMA spring driver 306 extends, it pushes the connecting sleeve 303, the second-level locking push rod 304 and the first-level locking mechanism 4 to move upward, pushing the second-level limiting steel ball 302 to complete the limit, and at the same time the second-level reset spring 305 is further compressed.

[0019] The docking process of the on-orbit replaceable module docking locking / release mechanism: the robotic arm grabs the docking module 1 to the predetermined docking position through the robotic arm interface 102. Due to the posture deviation at the end of the robotic arm, the docking module 1 further approaches the docking cabin board 2 after reaching the predetermined docking position. In the process of gradual approach, the ball head at the end of the locking rod 105 contacts the surface of the receiving cone 202. Under the action of the receiving cone 202, the docking module 1 completes the posture adjustment. As the docking module 1 further approaches the docking cabin board 2, the lower inclined surface of the secondary locking wedge block 1053 contacts the docking cabin board 2, and moves toward the inside of the locking rod body 1051 under the push of the robotic arm. The secondary locking spring 1052 is compressed, and then the docking module 1 reaches the primary locking position.

[0020] The first-level locking process of the on-orbit replaceable module docking locking / releasing mechanism: the docking cabin 2 no longer supplies power to the first-level locking SMA spring driver, and supplies power to the first-level cooling plate 407 to cool the first-level SMA spring driver 406. As the temperature continues to drop, the first-level SMA spring driver 406 reaches the martensite state, the first-level return spring 405 stretches to push the first-level locking push rod 404 and the first-level locking pressure plate 403 to move upward, the first-level locking push rod 404 pushes the first-level locking steel ball 402 into the locking groove of the locking rod 105 to complete the first-level locking, and the docking cabin 2 stops supplying power to the first-level cooling plate 407; The secondary tensioning and locking process of the on-orbit replaceable module docking locking / releasing mechanism: the docking cabin 2 no longer supplies power to the secondary locking SMA spring driver, and supplies power to the secondary cooling plate 307 to cool down the secondary SMA spring driver 306. As the temperature continues to drop, the secondary SMA spring driver 306 reaches the martensite state, and the secondary return spring 305 extends to push the secondary locking push rod 304, the connecting sleeve 303 and the primary locking mechanism 4 downward. In this process, the lower surface of the connecting sleeve 303 first contacts the primary locking mechanism 4, and at this time, the secondary locking push rod 304 releases the limit on the secondary locking steel ball. As the connecting sleeve 303 continues to move downward, the primary locking mechanism 4 is pushed downward. Since the primary locking mechanism 4 has completed mechanical connection with the locking rod 105 at this time, the docking module 1 also moves downward; as the secondary reset spring 305 recovers to the pre-tightening length, the secondary locking spring 1052 is reset, and the secondary locking wedge block 1053 enters the locking groove of the secondary locking sleeve 301, the integrated docking assembly 103 is connected to the integrated docking interface 203, and the conical surface of the docking cone 104 fits with the conical surface of the receiving cone 202, completing the secondary tensioning and locking, and the docking cabin board 2 stops supplying power to the secondary cooling plate 307; The unlocking and separation process of the docking locking / releasing mechanism of the on-orbit replaceable module: the docking cabin plate 2 supplies power to the secondary SMA spring driver 306. As the secondary SMA spring driver 306 extends, it pushes the connecting sleeve 303 and the secondary locking push rod 304 to move upward. The secondary locking push rod 304 pushes the secondary limiting steel ball 302. The secondary locking wedge block 1053 is pressed to move toward the inside of the locking rod body 1051, compressing the secondary locking spring 1052 and releasing the secondary lock. As the connecting sleeve 303 moves further, the primary locking mechanism 4 and the module The block body 101 moves upward, the secondary return spring 305 is further compressed, and the integrated docking interface 203 and the integrated docking assembly 103 are disconnected; at this time, the primary SMA spring driver 406 is powered on and heated, and as the primary SMA spring driver 406 extends and presses down the primary locking pressure plate 403, it drives the primary locking push rod 404 to move downward, and the primary return spring 405 is compressed, releasing the limit on the primary locking steel ball 402 to complete the unlocking, and then the robotic arm grabs the docking module 1 through the robotic arm interface 102 to complete the separation.

[0021] The following lists specific data examples to illustrate the mechanism of the present invention.

[0022] like Figure 1 The module body shown is a cuboid of 375*250*205mm, the cabin body is a thin plate of 574*274*5mm, the outer diameter of the upper bottom surface of the receiving cone is 70mm, the outer diameter of the lower bottom surface is 24mm, the wall thickness is 2mm, the rotation angle is 335°, and it is fixed in the 70*70mm square space at the upper left corner and the lower right corner of the cabin body through flanges; the upper bottom surface diameter of the docking cone is 46mm and the lower bottom surface diameter is 20mm, which is connected to the side of the module body through flanges, and the axis of the docking cone is aligned with the module body The distance between the side surfaces is 36mm; the main body of the secondary locking sleeve is a 70mm cylinder, with four ears extended for threaded connection, the diameter of the secondary locking steel ball is 9mm, the diameter of the top cylinder of the secondary locking push rod is 6mm, the diameter of the middle cylinder is 12mm, and the diameter of the bottom cylinder is 3.8mm, which is connected to the connecting cone sleeve by threads; the top of the connecting cone sleeve is a thin plate with a diameter of 64mm, the middle is a cylinder with a diameter of 25mm, two rectangular blocks are extended for limiting, and the bottom is a thin plate with a diameter of 35mm. The secondary SMA spring driver is made of nickel-titanium alloy, with a wire diameter of 2.5mm and an inner diameter of 10mm. The number of turns is 3 and the maximum output force can reach 95N; the stiffness of the secondary reset spring is 2N / mm, the original length is 80mm, and the pre-tightening length is 50mm; the length of the locking rod is 152mm, the diameter of the upper cylinder is 14mm, the diameter of the middle cylinder is 19mm, and the diameter of the ball head is 20mm. The envelope size of the secondary locking wedge block is 19*8*8mm, the preload length of the secondary locking spring is 19mm, and the stiffness is 1N / mm; the main body of the primary locking sleeve is a 62mm cylinder, with four extended ears for threaded connection, the diameter of the primary locking steel ball is 9mm, the diameter of the top cylinder of the primary locking push rod is 6mm, the diameter of the middle cylinder is 12mm, and the diameter of the bottom cylinder is 5mm; the top of the primary locking pressure plate is a thin plate with a diameter of 17mm, the middle is a cylinder with a diameter of 10mm, and the bottom is a thin plate with a diameter of 56mm. The primary locking push rod is connected to the primary lock by threads. The thin plate below the locking pressure plate; the first-level SMA spring driver is made of nickel-titanium alloy, with a wire diameter of 2.5mm and an inner diameter of 10mm. The number of turns is 3 and the maximum output force can reach 95N; the second-level return spring stiffness is 2.5N / mm, the original length is 25mm, and the pre-tightening length is 21.5mm; for the locking rod and the first-level locking mechanism, a force of 1500N is applied to the locking rod, and the maximum equivalent stress and the maximum equivalent elastic strain appear at the connection hole between the upper side of the locking rod and the docking cone. The maximum equivalent stress is 35.314MPa, and the maximum equivalent elastic strain is 5.0226*10 -4 mm; the minimum equivalent stress and the minimum equivalent elastic strain appear on the primary sleeve, and the minimum equivalent stress is 2.9546*10-5 MPa, the minimum equivalent elastic strain is 1.4076*10 -9 mm.

[0023] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. An on-track replaceable module docking locking / releasing mechanism, characterized in that: The mechanism comprises a docking panel (2), on which a docking module (1) is disposed; and below the docking panel (2) a secondary tensioning and locking mechanism (3) and a primary locking mechanism (4) are sequentially disposed. The docking module (1) comprises a module body (101), on which a mechanical arm interface (102), a comprehensive docking assembly (103), a docking cone (104), and a locking rod (105) are arranged; The locking rod comprises a locking rod body (1051), a secondary locking spring (1052), and a secondary locking wedge block (1053); The mechanical arm is fixedly connected to the center of the upper surface of the module body (101), the integrated docking assembly (103) and the docking cone (104) are respectively fixed to the side surfaces of the module body (101), the locking rod body (1051) is fixedly connected to the docking cone (104), and two secondary locking wedge blocks (1053) are placed in the internal empty groove to form a sliding pair, and a secondary locking spring (1052) is placed between the two.

2. The on-rail replaceable module docking locking / releasing mechanism according to claim 1, characterized in that: The docking panel (2) comprises a docking panel body (201), a receiving cone (202), and a comprehensive docking interface (203); the receiving cone (202) and the comprehensive docking interface (203) are fixed to the upper surface of the docking panel body (203).

3. The on-rail replaceable module docking locking / releasing mechanism according to claim 1, characterized in that: The secondary tensioning and locking mechanism (3) comprises a secondary locking sleeve (301), a secondary limiting steel ball (302), a connecting sleeve (303), a secondary locking push rod (304), a secondary return spring (305), a secondary SMA spring driver (306), and a secondary cooling plate (307); the secondary locking sleeve (301) is fixed to the lower surface of the docking cabin plate body (201); the secondary limiting steel ball (302) is placed in an empty groove above the secondary locking sleeve (301) to form a sliding pair; the connecting sleeve (303) and the secondary locking sleeve (301) are slidably connected; the secondary locking push rod (304) and the connecting sleeve (303) are fixedly connected; the secondary SMA spring driver (306) is placed on the internal shaft of the secondary locking sleeve (301); and the secondary cooling plate (307) is fixed on the secondary locking sleeve (301) and contacts the secondary SMA spring driver (306).

4. The on-rail replaceable module docking locking / releasing mechanism according to claim 1, characterized in that: The primary locking mechanism (4) comprises a primary locking sleeve (401), a primary locking steel ball (402), a primary locking pressure plate (403), a primary locking push rod (404), a primary return spring (405), a primary SMA spring driver (406), and a primary cooling plate (407); the primary locking sleeve (401) and the connecting sleeve (303) are slidably connected, the primary locking steel ball (402) is arranged in an empty groove above the primary locking sleeve (401) to form a sliding pair, the primary locking pressure plate (403) and the primary locking sleeve (401) are slidably connected, the primary locking push rod (404) and the primary locking pressure plate (403) are fixedly connected, the primary return spring (405) is arranged on the primary locking push rod (404), the primary SMA spring driver (406) is arranged in an empty groove below the primary locking sleeve (401), and the primary cooling plate (407) is fixed on the secondary locking sleeve (301) and contacts the primary SMA spring driver (406).

5. The on-track replaceable module docking locking / releasing mechanism according to any one of claims 1 to 4, characterized in that: The connection locking of the mechanism includes a preparation process, a docking process, a primary locking process and a secondary locking process, specifically: Preparation process of the docking locking / releasing mechanism of the on-orbit replaceable module: after the docking cabin plate (2) receives the docking signal, the primary SMA spring driver (406) is powered on and heated, and as the primary SMA spring driver (406) stretches, it presses down the primary locking pressure plate (403), driving the primary locking push rod (404) to move downward, releasing the limit of the primary locking steel ball (402), and at the same time the primary reset spring (405) is compressed; while the primary SMA spring driver (406) is powered on and heated, the secondary SMA spring driver (306) is heated, and as the secondary SMA spring driver (306) stretches, it pushes the connecting sleeve (303), the secondary locking push rod (304) and the primary locking mechanism (4) to move upward, pushing the secondary limit steel ball (302) to complete the limit, and at the same time the secondary reset spring (305) is further compressed; The docking process of the on-orbit replaceable module docking locking / releasing mechanism is as follows: the robotic arm grabs the docking module (1) to the predetermined docking position through the robotic arm interface (102); due to the posture deviation at the end of the robotic arm, the docking module (1) further approaches the docking cabin (2) after reaching the predetermined docking position; during the gradual approaching process, the ball head at the end of the locking rod (105) contacts the surface of the receiving cone (202); under the action of the receiving cone (202), the docking module (1) completes posture adjustment; as the docking module (1) further approaches the docking cabin (2), the lower inclined surface of the secondary locking wedge block (1053) contacts the docking cabin (2), and moves toward the inside of the locking rod body (1051) under the push of the robotic arm; the secondary locking spring (1052) is compressed, and then the docking module (1) reaches the primary locking position; The first-level locking process of the on-orbit replaceable module docking locking / releasing mechanism: the docking cabin (2) no longer supplies power to the first-level locking SMA spring driver, and supplies power to the first-level cooling plate (407) to cool the first-level SMA spring driver (406). As the temperature continues to drop, the first-level SMA spring driver (406) reaches the martensite state, the first-level return spring (405) stretches to push the first-level locking push rod (404) and the first-level locking pressure plate (403) to move upward, the first-level locking push rod (404) pushes the first-level locking steel ball (402) into the locking groove of the locking rod (105) to complete the first-level locking, and the docking cabin (2) stops supplying power to the first-level cooling plate (407); The secondary tensioning and locking process of the on-orbit replaceable module docking locking / releasing mechanism: the docking cabin plate (2) no longer supplies power to the secondary locking SMA spring driver, and supplies power to the secondary cooling plate (307) to cool the secondary SMA spring driver (306). As the temperature continues to drop, the secondary SMA spring driver (306) reaches the martensite state, and the secondary return spring (305) stretches to push the secondary locking push rod (304), the connecting sleeve (303) and the primary locking mechanism (4) downward. During this process, the lower surface of the connecting sleeve (303) first contacts the primary locking mechanism (4). At this time, the secondary locking push rod (304) releases the limit on the secondary locking steel ball. As the connecting sleeve (303) moves downward, the secondary locking push rod (304) releases the limit on the secondary locking steel ball. The sleeve (303) continues to move downward, pushing the primary locking mechanism (4) to move downward. Since the primary locking mechanism (4) has completed mechanical connection with the locking rod (105) at this time, the docking module (1) also moves downward; as the secondary reset spring (305) returns to the pre-tightening length, the secondary locking spring (1052) is reset, and the secondary locking wedge block (1053) enters the locking groove of the secondary locking sleeve (301), the integrated docking assembly (103) is connected to the integrated docking interface (203), the conical surface of the docking cone (104) fits with the conical surface of the receiving cone (202), completing the secondary tensioning and locking, and the docking cabin plate (2) stops supplying power to the secondary refrigeration plate (307).

6. The on-track replaceable module docking locking / releasing mechanism according to any one of claims 1 to 4, characterized in that: The unlocking and separation of the mechanism includes the following processes: The unlocking and separation process of the docking locking / releasing mechanism of the on-orbit replaceable module is as follows: the docking cabin plate (2) supplies power to the secondary SMA spring driver (306). As the secondary SMA spring driver (306) extends, it pushes the connecting sleeve (303) and the secondary locking push rod (304) to move upwards. The secondary locking push rod (304) pushes the secondary limiting steel ball (302). The secondary locking wedge block (1053) is pressed to move toward the inside of the locking rod body (1051), compressing the secondary locking spring (1052) and releasing the secondary locking. As the connecting sleeve (303) moves further, the primary locking mechanism (4) and the module are released. The block body (101) moves upward, the secondary return spring (305) is further compressed, and the integrated docking interface (203) and the integrated docking assembly (103) are disconnected; at this time, the primary SMA spring driver (406) is powered on and heated, and as the primary SMA spring driver (406) extends and presses down the primary locking pressure plate (403), the primary locking push rod (404) moves downward, the primary return spring (405) is compressed, and the limit of the primary locking steel ball (402) is released to complete unlocking, and then the robotic arm grabs the docking module (1) through the robotic arm interface (102) to complete separation.

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