An on-orbit replaceable module docking locking / releasing mechanism

Abstract

This invention discloses an on-orbit replaceable module docking locking / releasing mechanism, belonging to the field of spacecraft on-orbit servicing technology. The structure includes a docking module, a docking hatch, a secondary tensioning and locking mechanism, and a primary locking mechanism. This invention compensates for positional errors at the active and passive ends caused by the precision of the robotic arm through a cone-rod docking method, achieving a tolerance-tolerant connection; it employs an SMA spring actuator and a ball lock to enable repeated docking and unlocking processes; it incorporates a secondary tensioning and locking mechanism to overcome significant resistance that the robotic arm cannot overcome during the connection process; and it uses a universal flange, allowing it to be installed on various docking modules to complete the docking and locking process, thus achieving modularity.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft on-orbit servicing technology, specifically relating to an on-orbit replaceable module docking locking / releasing mechanism. Background Technology

[0002] In recent years, with the continuous development of aerospace technology, the number of objects in orbit has exploded, including not only active and decommissioned satellites, but also a large number of space debris. Statistics show that as of May 10, 2020, there were 5,799 payloads in orbit, of which only 2,863 were active (meaning they were in operation or partially operational, backup or standby, or in extended mission status), while there were as many as 14,851 pieces of space debris in orbit. Spacecraft operate in harsh environments, exposed for extended periods to extreme temperatures, intense radiation, high vacuum, and high drag. This can lead to functional degradation or even permanent damage to semiconductor devices and integrated circuits. Failures or damage to individual components and circuits can affect the functionality of their respective systems, potentially threatening the spacecraft's operational safety and causing overall failure. Failed payloads pose a significant threat to the normal operation of in-service spacecraft. However, research indicates that repairing damaged spacecraft has high economic value. For example, geosynchronous satellites (GEO satellites) have significant potential for extended service life and reactivation. Decommissioning such satellites would result in a substantial waste of limited orbital resources, hinder the launch of new satellites, and impact satellite deployment. Furthermore, with the continuous iteration and increasing complexity of space missions, fuel demands are now significantly higher. Refueling spacecraft using on-orbit refueling technology can reduce launch costs.

[0003] On-orbit repair of faulty spacecraft, on-orbit replacement of faulty modules, and on-orbit refueling are currently the most important aspects of on-orbit servicing, playing a crucial role in extending the on-orbit operational life of spacecraft and reducing the waste of space resources. Whether it's on-orbit repair, on-orbit replacement, or on-orbit refueling, all rely on reusable docking and locking mechanisms. The reusable docking and locking technology for replaceable on-orbit modules is the foundation of these three on-orbit servicing technologies and is one of the key research areas for future major spacefaring nations.

[0004] However, existing docking mechanisms suffer from poor compatibility between modules, lack of standardized design, and insufficient versatility; some traditional docking mechanisms can only achieve unidirectional locking of the active and passive ends and cannot achieve unlocking, or can only achieve single locking and the unlocking process cannot be reused; during on-orbit docking, the positional error between the active and passive ends is difficult to compensate effectively.

[0005] In summary, developing a high-tolerance, low-impact, highly versatile, and modular reusable locking and releasing mechanism is of great significance, thereby enabling docking, locking, and releasing processes for various on-orbit services and ensuring the safe and stable operation of spacecraft in orbit. Summary of the Invention

[0006] This invention addresses the problems existing in the prior art by disclosing an on-orbit replaceable module docking locking / releasing mechanism. This structure compensates for positional errors at the active and passive ends caused by the precision of the robotic arm through a cone-rod docking method, achieving tolerance-tolerant connection. It employs an SMA spring actuator and a ball lock to enable repeated docking and unlocking processes. A secondary tensioning and locking mechanism is added to overcome the significant resistance that the robotic arm cannot overcome during the connection process. A universal flange is used, allowing it to be installed on various docking modules to complete the docking and locking process, thus achieving modularity. Specifically, it is implemented as follows:

[0007] An on-orbit replaceable module docking locking / releasing mechanism is disclosed. The mechanism includes a docking module, with the docking module mounted on top of the docking module. A secondary tensioning and locking mechanism and a primary locking mechanism are sequentially arranged below the docking module. The docking module includes a module body, on which a robotic arm interface, an integrated docking assembly, a docking cone, and a locking rod are provided. The locking rod includes a locking rod body, a secondary locking spring, and a secondary locking wedge block. The robotic arm is fixed to the center of the upper surface of the module body. The integrated docking assembly and the docking cone are respectively fixed to the side surface of the module body. The locking rod body is fixed to the docking cone, and two secondary locking wedge blocks are placed in the internal slot to form a sliding pair, with a secondary locking spring placed between them.

[0008] Furthermore, the docking module includes a docking plate 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 plate body.

[0009] 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 reset spring, a secondary SMA spring actuator, and a secondary cooling plate; the secondary locking sleeve is fixed to the lower surface of the docking compartment body, the secondary limiting steel ball is placed in the slot 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 fixed to the connecting sleeve, the secondary SMA spring actuator is placed on the shaft inside the secondary locking sleeve, and the secondary cooling plate is fixed on the secondary locking sleeve and contacts the secondary SMA spring actuator.

[0010] Furthermore, the primary locking mechanism includes a primary locking sleeve, a primary locking steel ball, a primary locking pressure plate, a primary locking push rod, a primary return spring, a primary SMA spring actuator, and a primary cooling element; the primary locking sleeve and the connecting sleeve form a sliding connection; the primary locking steel ball is placed in the empty groove above the primary locking sleeve to form a sliding pair; the primary locking pressure plate and the primary locking sleeve form a sliding connection; the primary locking push rod and the primary locking pressure plate are fixedly connected; the primary return spring is placed on the primary locking push rod; the primary SMA spring actuator is placed in the empty groove below the primary locking sleeve; and the primary cooling element is fixed on the secondary locking sleeve and contacts the primary SMA spring actuator.

[0011] The present invention provides an on-orbit replaceable module docking locking / releasing mechanism. The connection locking of the mechanism includes a preparation process, a docking process, a primary locking process, and a secondary locking process, specifically as follows:

[0012] Preparation process of the on-orbit replaceable module docking locking / releasing mechanism: After the docking module receives the docking signal, the first-stage SMA spring actuator is energized and heated. As the first-stage SMA spring actuator extends and presses down on the first-stage locking plate, it drives the first-stage locking push rod to move downward, releasing the limit on the first-stage locking ball. At the same time, the first-stage return spring is compressed. While the first-stage SMA spring actuator is energized and heated, the second-stage SMA spring actuator is also heated. As the second-stage SMA spring actuator extends, it pushes the connecting sleeve, the second-stage locking push rod, and the first-stage locking mechanism upward, pushing the second-stage limit ball to complete the limit. At the same time, the second-stage return spring is further compressed.

[0013] The docking process of the on-orbit replaceable module docking locking / releasing mechanism is as follows: The robotic arm grasps the docking module to the predetermined docking position through the robotic arm interface. Due to the positional deviation at the end of the robotic arm, the docking module moves closer to the docking module after reaching the predetermined docking position. During the gradual approach, the ball end of the locking rod contacts the surface of the receiving cone. Under the action of the receiving cone, the docking module completes the positional adjustment. As the docking module moves closer to the docking module, the inclined surface below the secondary locking wedge block contacts the docking module and moves into 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.

[0014] The first-level locking process of the on-orbit replaceable module docking locking / releasing mechanism: The docking module stops supplying power to the first-level locking SMA spring actuator and supplies power to the first-level cooling chip to cool the first-level SMA spring actuator. As the temperature continues to drop, the first-level SMA spring actuator reaches the martensitic state. The first-level return spring extends and pushes the first-level locking push rod and the first-level locking pressure plate 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. The docking module stops supplying power to the first-level cooling chip.

[0015] The on-orbit replaceable module docking locking / releasing mechanism's secondary tensioning and locking process: The docking module no longer supplies power to the secondary SMA spring actuator, but supplies power to the secondary cooling element to cool the secondary SMA spring actuator. As the temperature continues to drop, the secondary SMA spring actuator reaches the martensitic state. The secondary return spring extends, pushing the secondary locking push rod, connecting sleeve, and primary locking mechanism downwards. During 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 ball. As the connecting sleeve continues to move downwards, it pushes the primary locking mechanism downwards. Since the primary locking mechanism has now completed mechanical connection with the locking rod, the docking module also moves downwards. As the secondary return spring returns to its pre-tension length, the secondary locking spring resets, and the secondary locking wedge enters the locking groove of the secondary locking sleeve. The integrated docking assembly and the integrated docking interface are connected, and the docking cone surface fits against the receiving cone surface, completing the secondary tensioning and locking. The docking module then stops supplying power to the secondary cooling element.

[0016] The present invention provides an on-orbit replaceable module docking locking / releasing mechanism, wherein the unlocking and separation of the mechanism includes the following process:

[0017] The on-orbit replaceable module docking locking / releasing mechanism unlocking and separation process: The docking module supplies power to the secondary SMA spring actuator. As the secondary SMA spring actuator extends, it pushes the connecting sleeve and the secondary locking push rod upward. The secondary locking push rod pushes the secondary limit steel ball, and the secondary locking wedge block is pressed into 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, and the secondary reset spring is further compressed, thus disconnecting the integrated docking interface and the integrated docking assembly. At this time, the primary SMA spring actuator is energized and heated. As the primary SMA spring actuator extends and presses down on the primary locking plate, it drives the primary locking push rod downward, compressing the primary reset spring and releasing the limit on the primary locking steel ball, thus completing the unlocking. Afterward, the robotic arm can grasp the docking module through the robotic arm interface to complete the separation.

[0018] The advantages of this invention compared to the prior art are as follows:

[0019] Traditional locking mechanisms require multi-degree-of-freedom robotic arms for precise posture adjustment. This invention adopts a conical guide structure, which can achieve autonomous correction within a range of ±5mm position deviation and ±1.5° angle deviation through adaptive guidance of the conical surface and insertion of the rod body.

[0020] Traditional locking mechanisms often employ a drive chain consisting of a motor, reducer, and lead screw, which suffers from numerous transmission links and a large volume. This invention utilizes an SMA spring actuator, leveraging the phase-change contraction characteristics of SMA to directly output locking force, eliminating the wear risk associated with traditional mechanical transmission components.

[0021] Traditional locking mechanisms require a robotic arm to continuously provide an axial force of >50N, while being unable to withstand significant docking resistance. This invention requires only 20N of axial pressure from the robotic arm, and after completing the first-stage locking, it can provide an axial force of over 180N through the second-stage tensioning locking mechanism, thus completing the docking locking process with greater resistance.

[0022] Traditional locking mechanisms rely on a pre-compressed spring for rapid release during unlocking, which can easily generate large transient impact acceleration. This invention, by biasing an SMA spring driver and utilizing the phase change characteristics of the SMA during cooling, greatly reduces the impact force during unlocking and avoids the risk of damage to precision electronic components. Attached Figure Description

[0023] Figure 1 This is an isometric three-dimensional structural diagram of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0024] Figure 2 This is a schematic diagram of the docking module structure of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0025] Figure 3 This is a schematic diagram of the docking compartment structure of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0026] Figure 4 This is a schematic diagram of the two-stage tensioning and locking mechanism structure of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0027] Figure 5 This is a schematic diagram of the first-stage locking mechanism of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0028] Figure 6 This is a schematic diagram of the locking rod structure of an on-orbit replaceable module docking locking / releasing mechanism according to the present invention;

[0029] The components are as follows: 1-Dock module, 2-Dock panel, 3-Secondary tensioning and locking mechanism, 4-Primary locking mechanism, 101-Module body, 102-Mechanical arm interface, 103-Integrated docking assembly, 104-Dock cone, 105-Locking rod, 201-Panel 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 actuator, 307-Secondary cooling element, 401-Primary locking sleeve, 402-Primary locking steel ball, 403-Primary locking pressure plate, 404-Primary locking push rod, 405-Primary return spring, 406-Primary SMA spring actuator, 407-Primary cooling element, 1051-Locking rod body, 1052-Secondary locking spring, 1053-Secondary locking wedge block. Detailed Implementation

[0030] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the following examples provide a more detailed description of the invention. It should be noted that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0031] like Figures 1-6 As shown, the present invention provides an on-orbit replaceable module docking locking / releasing mechanism, including a docking module 1, a docking compartment 2, a secondary tensioning and locking mechanism 3, and a primary locking mechanism 4;

[0032] The docking module 1 includes a module body 101, a robotic 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 robotic arm is fixed 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 fixed to the docking cone 104. Two secondary locking wedge blocks 1053 are placed in the internal slot to form a sliding pair, and a secondary locking spring 1052 is placed between them.

[0033] The docking plate 2 includes a docking plate 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 plate 2 body.

[0034] 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 return spring 305, a secondary SMA spring actuator 306, and a secondary cooling plate 307. The secondary locking sleeve 301 is fixed to the lower surface of the docking compartment 2 body. The secondary limiting steel ball 302 is placed in the slot above it to form a sliding pair. The connecting sleeve 303 is slidably connected to the secondary locking sleeve 301. The secondary locking push rod 304 is fixedly connected to the connecting sleeve 303. The secondary SMA spring actuator 306 is placed on the shaft inside the secondary locking sleeve 301. The secondary cooling plate 307 is fixed on the secondary locking sleeve 301 and contacts the secondary SMA spring actuator 306.

[0035] The primary locking mechanism 4 includes a primary locking sleeve 401, a primary locking ball 402, a primary locking pressure plate 403, a primary locking push rod 404, a primary return spring 405, a primary SMA spring actuator 406, and a primary cooling element 407. The primary locking sleeve 401 is slidably connected to the connecting sleeve 303, the primary locking ball 402 is placed in the slot above it to form a sliding pair, the primary locking pressure plate 403 is slidably connected to 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 actuator 406 is placed in the slot below the primary locking sleeve 401, and the primary cooling element 407 is fixed on the secondary locking sleeve 301 and contacts the primary SMA spring actuator 406.

[0036] Preparation process of the on-orbit replaceable module docking locking / releasing mechanism: After receiving the docking signal, the first-stage SMA spring actuator 406 is energized and heated. As the first-stage SMA spring actuator 406 extends and presses down on the first-stage locking plate 403, it drives the first-stage locking push rod 404 to move downward, releasing the limit on the first-stage locking ball 402. At the same time, the first-stage return spring 405 is compressed. While the first-stage SMA spring actuator 406 is energized and heated, the second-stage SMA spring actuator 306 is heated. As the second-stage SMA spring actuator 306 extends, it pushes the connecting sleeve 303, the second-stage locking push rod 304 and the first-stage locking mechanism 4 to move upward, pushing the second-stage limit ball 302 to complete the limit. At the same time, the second-stage return spring 305 is further compressed.

[0037] The docking process of the on-orbit replaceable module docking locking / releasing mechanism is as follows: The robotic arm grasps the docking module 1 to the predetermined docking position through the robotic arm interface 102. Due to the positional deviation at the end of the robotic arm, the docking module 1 moves closer to the docking compartment 2 after reaching the predetermined docking position. During the gradual approach, the ball 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 positional adjustment. As the docking module 1 moves closer to the docking compartment 2, the inclined surface below the secondary locking wedge block 1053 contacts the docking compartment 2. Under the push of the robotic arm, it moves into the locking rod body 1051, and the secondary locking spring 1052 is compressed. Then the docking module 1 reaches the primary locking position.

[0038] The first-level locking process of the on-orbit replaceable module docking locking / releasing mechanism: The docking compartment 2 no longer supplies power to the first-level locking SMA spring actuator, but supplies power to the first-level cooling chip 407 to cool the first-level SMA spring actuator 406. As the temperature continues to drop, the first-level SMA spring actuator 406 reaches the martensitic state. The first-level return spring 405 extends and pushes the first-level locking push rod 404 and the first-level locking pressure plate 403 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. The docking compartment 2 stops supplying power to the first-level cooling chip 407.

[0039] The secondary tensioning and locking process of the on-orbit replaceable module docking locking / releasing mechanism: The docking compartment 2 no longer supplies power to the secondary locking SMA spring actuator, but supplies power to the secondary cooling plate 307 to cool the secondary SMA spring actuator 306. As the temperature continues to drop, the secondary SMA spring actuator 306 reaches the martensitic 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. During this process, the lower surface of the connecting sleeve 303 first makes contact with the primary locking mechanism 4. At this time, the secondary locking push rod 304 releases the restriction on the secondary locking steel ball. As the connecting sleeve 303 continues to move downward, it pushes the first-level locking mechanism 4 downward. Since the first-level locking mechanism 4 has completed mechanical connection with the locking rod 105 at this time, the docking module 1 also moves downward. As the second-level return spring 305 returns to the pre-tight length, the second-level locking spring 1052 resets, and the second-level locking wedge block 1053 enters the locking groove of the second-level locking sleeve 301. The integrated docking assembly 103 and the integrated docking interface 203 are connected. The cone surface of the docking cone 104 fits with the cone surface of the receiving cone 202, completing the second-level tensioning and locking. The docking compartment 2 stops supplying power to the second-level cooling chip 307.

[0040] On-orbit replaceable module docking locking / release mechanism unlocking and separation process: The docking compartment 2 supplies power to the secondary SMA spring actuator 306. As the secondary SMA spring actuator 306 extends, it pushes the connecting sleeve 303 and the secondary locking push rod 304 upward. The secondary locking push rod 304 pushes the secondary limit ball 302, and the secondary locking wedge block 1053 is pressed into 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 reset 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 actuator 406 is energized and heated. As the primary SMA spring actuator 406 extends and presses down on the primary locking plate 403, it drives the primary locking push rod 404 to move downward, the primary reset spring 405 is compressed, and the limit on the primary locking steel ball 402 is released to complete the unlocking. After that, the robotic arm can grasp the docking module 1 through the robotic arm interface 102 to complete the separation.

[0041] The following specific data examples illustrate the mechanism of the present invention.

[0042] like Figure 1The module body shown is a cuboid with dimensions of 375*250*205mm, while the hatch body is a thin plate with dimensions of 574*274*5mm. The receiving cone has an outer diameter of 70mm on the upper bottom surface and 24mm on the outer bottom surface, a wall thickness of 2mm, and a rotation angle of 335°. It is fixed to the upper left and lower right corners of the hatch body in a 70*70mm square space via flanges. The docking cone has an upper bottom surface diameter of 46mm and a lower bottom surface diameter of 20mm, and is connected to the side of the module body via flanges. 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 extended lugs for threaded connection; the diameter of the secondary locking ball is 9mm; the diameter of the uppermost column of the secondary locking push rod is 6mm, the diameter of the middle column is 12mm, and the diameter of the lowermost column is 3.8mm, connected to the connecting cone sleeve by threads; the upper part of the connecting cone sleeve is a 64mm diameter thin plate, the middle part is a 25mm diameter cylinder, extending two cuboids for limiting, and the lower part is a 35mm diameter thin plate. The secondary SMA spring actuator is made of nickel-titanium alloy material, with a wire diameter of 2.5mm, an inner diameter of 10mm, and 3 turns, with a maximum output force of 95N; the secondary return spring stiffness is 2N / mm, the original length is 80mm, and the preload length is 50mm; the locking rod length is 152mm, the upper column diameter is 14mm, the middle column diameter is 19mm, and the ball head diameter is 20mm. The secondary locking wedge block has an envelope size of 19*8*8mm, a preload length of 19mm, and a stiffness of 1N / mm. The primary locking sleeve body is a 62mm cylinder with four extended lugs for threaded connection. The primary locking ball diameter is 9mm. The uppermost column of the primary locking push rod has a diameter of 6mm, the middle column diameter is 12mm, and the lowermost column diameter is 5mm. The primary locking pressure plate has a 17mm diameter plate above, a 10mm diameter cylinder in the middle, and a 56mm diameter plate below. The primary locking push rod is threaded onto the primary locking plate. On the thin plate below the locking plate; the first-stage SMA spring actuator is made of nickel-titanium alloy, with a wire diameter of 2.5mm, an inner diameter of 10mm, and 3 turns, with a maximum output force of 95N; the second-stage return spring has a stiffness of 2.5N / mm, an original length of 25mm, and a preload length of 21.5mm; for the locking rod and the first-stage locking mechanism, when a force of 1500N is applied to the locking rod, the maximum equivalent stress and maximum equivalent elastic strain occur at the connection hole between the upper side of the locking rod and the mating cone, with a maximum equivalent stress of 35.314MPa and a maximum equivalent elastic strain of 5.0226*10. -4 mm; the minimum equivalent stress and minimum equivalent elastic strain occur on the first-stage sleeve, with the minimum equivalent stress being 2.9546*10 mm. -5 MPa, minimum equivalent elastic strain is 1.4076*10 -9 mm.

[0043] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. An on-orbit replaceable module docking locking / releasing mechanism, characterized in that, The mechanism includes a docking compartment (2), on which a docking module (1) is mounted; a secondary tensioning and locking mechanism (3) and a primary locking mechanism (4) are sequentially arranged below the docking compartment (2); The docking module (1) includes a module body (101), on which a robotic arm interface (102), an integrated docking assembly (103), a docking cone (104), and a locking rod (105) are provided. The locking lever includes a locking lever body (1051), a secondary locking spring (1052), and a secondary locking wedge block (1053). The robotic arm is fixed 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 fixed to the docking cone (104). Two secondary locking wedges (1053) are placed in the internal slot to form a sliding pair. A secondary locking spring (1052) is placed between the two. The docking plate (2) includes a docking plate 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 plate body (201); 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 actuator (306), and a secondary... Cooling element (307); Secondary locking sleeve (301) is fixed to the lower surface of docking compartment body (201); Secondary limiting steel ball (302) is placed in the slot above secondary locking sleeve (301) to form a sliding pair; connecting sleeve (303) and secondary locking sleeve (301) form a sliding connection; secondary locking push rod (304) is fixed to connecting sleeve (303); Secondary SMA spring actuator (306) is placed on the shaft inside secondary locking sleeve (301); Secondary cooling element (307) is fixed to secondary locking element. The fixed sleeve (301) contacts the secondary SMA spring actuator (306); the primary locking mechanism (4) includes a primary locking sleeve (401), a primary locking ball (402), a primary locking pressure plate (403), a primary locking push rod (404), a primary return spring (405), a primary SMA spring actuator (406), and a primary cooling plate (407); the primary locking sleeve (401) and the connecting sleeve (303) form a sliding connection, and the primary locking ball (402) is placed on the primary locking sleeve. (401) A sliding pair is formed in the empty slot above. The first-level locking pressure plate (403) and the first-level locking sleeve (401) are slidably connected. The first-level locking push rod (404) is fixedly connected to the first-level locking pressure plate (403). The first-level reset spring (405) is placed on the first-level locking push rod (404). The first-level SMA spring driver (406) is placed in the empty slot below the first-level locking sleeve (401). The first-level cooling chip (407) is fixed on the second-level locking sleeve (301) and contacts the first-level SMA spring driver (406).

2. The on-orbit replaceable module docking locking / releasing mechanism according to claim 1, characterized in that, The connection locking mechanism includes a preparation process, a docking process, a primary locking process, and a secondary locking process, specifically as follows: Preparation process of on-orbit replaceable module docking locking / releasing mechanism: After the docking compartment (2) receives the docking signal, the first-stage SMA spring actuator (406) is energized and heated. As the first-stage SMA spring actuator (406) extends and presses down on the first-stage locking plate (403), it drives the first-stage locking push rod (404) to move downward, releasing the limit on the first-stage locking ball (402). At the same time, the first-stage return spring (405) is compressed. While the first-stage SMA spring actuator (406) is energized and heated, the second-stage SMA spring actuator (306) is heated. As the second-stage SMA spring actuator (306) extends and pushes the connecting sleeve (303), the second-stage locking push rod (304) and the first-stage locking mechanism (4) to move upward, it pushes the second-stage limit ball (302) to complete the limit. At the same time, the second-stage return 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 positional deviation at the end of the robotic arm, the docking module (1) moves closer to the docking compartment (2) after reaching the predetermined docking position. During the 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 positional adjustment. As the docking module (1) moves closer to the docking compartment (2), the inclined surface below the secondary locking wedge block (1053) contacts the docking compartment (2). Under the push of the robotic arm, it moves into the locking rod body (1051). 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 docking locking / releasing mechanism of the on-orbit replaceable module is as follows: The docking panel (2) no longer supplies power to the first-level locking SMA spring actuator, but supplies power to the first-level cooling plate (407) to cool down the first-level SMA spring actuator (406). As the temperature continues to drop, the first-level SMA spring actuator (406) reaches the martensitic state. The first-level reset spring (405) extends and pushes the first-level locking push rod (404) and the first-level locking pressure plate (403) 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. The docking panel (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 compartment plate (2) no longer supplies power to the secondary SMA spring actuator, but supplies power to the secondary cooling plate (307) to cool the secondary SMA spring actuator (306). As the temperature continues to drop, the secondary SMA spring actuator (306) reaches the martensitic state. The secondary reset spring (305) extends and pushes 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 makes contact with 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... The cylinder (303) continues to move downward, pushing the first-level locking mechanism (4) downward. Since the first-level locking mechanism (4) has completed mechanical connection with the locking rod (105) at this time, the docking module (1) also moves downward. As the second-level reset spring (305) returns to the pre-tightening length, the second-level locking spring (1052) resets, and the second-level locking wedge block (1053) enters the locking groove of the second-level locking sleeve (301). The integrated docking assembly (103) and the integrated docking interface (203) are connected. The cone surface of the docking cone (104) fits with the cone surface of the receiving cone (202), completing the second-level tensioning and locking. The docking compartment plate (2) stops supplying power to the second-level cooling chip (307).

3. The on-orbit replaceable module docking locking / releasing mechanism according to claim 1, characterized in that, The unlocking and separation of the aforementioned mechanism includes the following process: On-orbit replaceable module docking locking / release mechanism unlocking and separation process: The docking compartment (2) supplies power to the secondary SMA spring actuator (306). As the secondary SMA spring actuator (306) extends, it pushes the connecting sleeve (303) and the secondary locking push rod (304) upward. The secondary locking push rod (304) pushes the secondary limit ball (302). The secondary locking wedge block (1053) is pressed into 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 reset 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 energized and heated. As the primary SMA spring driver (406) extends and presses down on the primary locking plate (403), it drives the primary locking push rod (404) to move downward. The primary reset spring (405) is compressed, and the limit on the primary locking steel ball (402) is released to complete the unlocking. After that, the robotic arm can complete the separation by grabbing the docking module (1) through the robotic arm interface (102).

Images