Connecting rod type space on-orbit load device capable of being repeatedly positioned, detached and replaced

Abstract

The invention discloses a connecting rod type space on-orbit load device capable of being repeatedly positioned, detached and replaced, and belongs to the technical field of aerospace. The device comprises a driving end part, a driven end part and a repeated positioning mechanism, the repeated positioning mechanism comprises a butt joint and a butt joint assembly, the butt joint assembly comprises a floating seat, at least two connecting rod butt joint units and a seat driving mechanism, each connecting rod butt joint unit comprises a connecting rod seat, a rotating pin, a transmission rod and a locking rod, and the connecting rod seats are arranged on a driving end main body; the free end of the transmission rod is connected with the floating seat through a hinge pin, and the free end of the locking rod can swing inwards to lock the butt joint or swing outwards to loosen the butt joint under the action of the seat driving mechanism. According to the invention, the butt joint is matched with the butt joint assembly, so that the functional requirements of a space on-orbit satellite, a space station and a spaceflight platform for repeatedly positioning, replacing and replacing loads are met, the stability of the device is improved, the anti-loosening and anti-vibration capability after positioning is enhanced, and the situation of positioning failure in a space environment is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to a connecting rod type space on-orbit repeatable positioning and replacing load device, and belongs to the technical field of aerospace. BACKGROUND

[0002] With the development of aerospace technology, more and more tasks need to be completed, and space on-orbit satellites, space stations and space platforms all need to regularly replace camera, energy package and other consumable devices or consumable tank loads. Considering the cost and risk of astronauts going out of the cabin, and some satellites and space platforms are not equipped with astronauts, therefore, the existing on-orbit satellites, space stations or space platforms mainly cooperate with mechanical arms and repeatable positioning and replacing load devices to complete the on-orbit installation, replacement and recovery of on-orbit maintenance work such as camera, battery, energy package and other consumable devices or consumable tank loads.

[0003] At present, the structure of the space on-orbit repeatable positioning and replacing load device is complex, the stability is poor, and the anti-looseness and anti-vibration ability of the device after positioning is limited, and the positioning failure may occur in the space environment. In order to meet the requirement of stability, some sleeve jaws are generally equipped on the space on-orbit repeatable positioning and replacing load device. Although the anti-looseness and anti-vibration ability of the space on-orbit repeatable positioning and replacing load device can be improved, the volume of the space on-orbit repeatable positioning and replacing load device is increased. The space on-orbit repeatable positioning and replacing load device not only has a large volume, but also has an increased weight, which leads to that the space on-orbit repeatable positioning and replacing load device occupies more space on the space on-orbit satellite, space station or space platform, and further increases the energy consumption of the space on-orbit satellite, space station and space platform. SUMMARY

[0004] The present application provides a connecting rod type space on-orbit repeatable positioning and replacing load device aiming at the deficiencies of the prior art.

[0005] The technical scheme for solving the above technical problems is as follows: a connecting rod type space on-orbit repeatable positioning and replacing load device, comprising a driving end and a driven end, a guide positioning mechanism is arranged between the driving end and the driven end, and the driving end and the driven end are coarsely positioned through the guide positioning mechanism; A repeatable positioning mechanism is further arranged between the driving end and the driven end, the repeatable positioning mechanism comprises a butt joint and a butt joint assembly for locking or releasing the butt joint, the butt joint is arranged on the driven end body, and the butt joint assembly is arranged on the driving end body. The docking assembly includes a floating seat, at least two linkage docking units disposed on the floating seat, and a seat drive mechanism for driving the floating seat to move. The linkage docking unit includes a linkage seat, a rotating pin rotatably disposed on the linkage seat, a transmission rod disposed on the rotating pin and rotating synchronously, and a locking rod. The linkage seat is disposed on the active end body. The free end of the transmission rod is connected to the floating seat through a hinge pin. Under the action of the seat drive mechanism, the free end of the locking rod can swing inward to drive and lock the docking joint or swing outward to release the docking joint.

[0006] The beneficial effects of this invention are as follows: the active end is fixedly installed outside the cabin, and the load of vulnerable equipment or consumable storage tanks is installed on the passive end. The on-orbit robotic arm can grasp the moving load or the passive end, moving the passive end connected to the load above the active end. Then, the on-orbit robotic arm slowly moves downward, and the passive end and the active end are coarsely positioned by a guide positioning mechanism. As it continues to move downward, the docking joint enters the locking area of ​​the locking rod, completing the coarse positioning action. The on-orbit robotic arm then changes to a follower state, the seat drive mechanism actuates, pulls the floating seat back, and drives the linkage docking unit to capture the load. When the passive end of the robotic arm enters the precision positioning stage and the passive end moves into place, the free end of the locking rod presses and locks the docking joint. The on-orbit robotic arm can then release and move away, completing the docking between the passive end and the active end. When the load of vulnerable equipment or consumable storage tanks needs to be replaced or recycled, the on-orbit robotic arm can first grab the load or the passive end. The seat drive mechanism then moves, pushing the floating seat outward, causing the free end of the locking rod to swing outward and release the docking joint. The on-orbit robotic arm then grabs the load, causing the passive end to separate from the active end. The on-orbit robotic arm can then grab the load to perform on-orbit care work. This invention employs a docking joint and docking assembly. Driven by a seat drive mechanism, the floating seat can move the connecting rod docking unit, allowing the locking rod to flexibly tighten or loosen the docking joint. This fulfills the functional requirement of repositioning and replacing payloads on-orbit satellites, space stations, or space platforms, improving the stability of the device, enhancing its anti-loosening and vibration resistance after positioning, effectively preventing positioning failures in the space environment, greatly simplifying the overall structure, making it compact and lightweight, meeting the requirements for device size and weight, saving space occupied on on-orbit satellites, space stations, or space platforms, and reducing energy consumption.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the floating seat is provided with U-shaped brackets in the same number as the connecting rod docking units, the hinge pin is provided on the U-shaped brackets, and the transmission rod is provided with pin holes for the hinge pin to pass through, the pin holes being elongated through holes.

[0009] The beneficial effect of adopting the above-mentioned further solution is that each linkage docking unit is connected to the floating seat through a U-shaped bracket. The long through-hole pin hole on the transmission rod allows the transmission rod to have a certain amount of room for movement relative to the hinge pin, which can better adapt to the displacement changes of the floating seat during the driving process of the seat drive mechanism, and transmit the movement of the floating seat to the rotating pin, ensuring the smoothness and accuracy of the linkage docking unit's movement, and further improving the stability and reliability of the overall positioning of the device.

[0010] Furthermore, the rotating pin has a flat structure.

[0011] The beneficial effect of adopting the above-mentioned further solution is that the rotating pin has a flat structure, and the locking rod and the transmission rod are respectively provided with flat holes that are adapted to the rotating pin. When the transmission rod is pulled back or pushed out by the floating seat, it will drive the rotating pin to rotate. The locking rod will swing inward or outward with the rotation of the rotating pin, thereby realizing the locking rod locking or releasing the docking joint. During the operation of the device, the relative displacement deviation between the locking rod and the transmission rod is avoided, ensuring that the locking rod and the transmission rod can cooperate closely and move synchronously, thereby ensuring the accuracy and stability of the entire device during on-orbit positioning and load replacement operations in space.

[0012] Furthermore, the active end body has a cross-shaped structure; and / or the passive end body has a cross-shaped structure.

[0013] The advantages of adopting the above-mentioned further solutions are that the cross-shaped structure itself has good stability, meets the installation requirements of the hydraulic and electrical circuits needed for docking, will not interfere with the docking or disengagement between the passive and active ends, reduces docking errors caused by unreasonable structures, facilitates the assembly and disassembly of the device, and improves the convenience and efficiency of on-orbit operation. In addition, expandable interfaces can be reasonably arranged in the four quadrants formed by the cross-shaped structure of the active end body according to actual needs, so that the device has expandability.

[0014] Furthermore, the active end body is provided with a liquid circuit disconnector socket hole and an electrical connector socket hole for positioning the liquid circuit disconnector socket and the electrical connector socket, and the passive end body is provided with a liquid circuit disconnector plug hole and an electrical connector plug hole for positioning the liquid circuit disconnector plug and the electrical connector plug.

[0015] The beneficial effect of adopting the above-mentioned further solution is that the active end body has a liquid circuit disconnector socket hole and an electrical connector socket hole, which are installed on the active end body. The passive end body has a liquid circuit disconnector plug hole and an electrical connector plug hole, which are installed in corresponding positions on the passive end body. This ensures the accurate positioning of the liquid circuit disconnector and electrical connector when they mate with the active end, avoiding problems such as liquid leakage or poor electrical connection caused by mating deviation, and ensuring the connection and transmission of liquid and electrical circuits during load replacement.

[0016] Furthermore, the seat drive mechanism includes a drive electric cylinder, the cylinder body of which is connected to the active end body, and the piston rod of which is connected to the floating seat.

[0017] The beneficial effect of adopting the above-mentioned further solution is that the floating seat can move linearly along the axis of the drive electric cylinder under the action of the drive electric cylinder. By controlling the extension and retraction of the drive electric cylinder, the position of the floating seat can be adjusted, thereby realizing the swing drive of the locking rod, which meets the requirement of on-rail repeatable positioning and load replacement. The seat drive mechanism has a simple and reliable structure and a rapid response, providing a strong guarantee for load replacement.

[0018] Furthermore, the piston rod of the drive cylinder is provided with a connecting joint, and the floating seat is provided with a connecting groove for engaging with the connecting joint.

[0019] The beneficial effects of adopting the above-mentioned further solution are that the connecting joint can be engaged with the connecting slot when it enters from the side, the movement of the drive cylinder is axial, the engagement of the connecting joint and the connecting slot is stable and reliable, avoiding loosening or separation between the floating seat and the piston rod, ensuring that the floating seat can move according to the preset trajectory and requirements. In addition, the engagement of the connecting joint and the connecting slot also has the advantages of convenient and quick installation and disassembly.

[0020] Furthermore, the guiding and positioning mechanism includes at least two guide grooves and corresponding guide protrusions adapted to the guide grooves. The guide grooves are disposed on the active end body or the passive end body, and the guide protrusions are disposed on the passive end body or the active end body.

[0021] The beneficial effect of adopting the above-mentioned further solution is that the passive end moves to the position directly opposite the active end, and the cooperation of the guide protrusion and the guide groove can guide and limit the docking of the two, ensuring that the passive end body can always maintain an accurate positional relationship with the active end body during the movement, and effectively preventing misalignment or displacement between the two.

[0022] Furthermore, the active end body includes a pair of main docking posts, and the guide groove is disposed on the inner surface of the main docking posts; the passive end body includes a pair of docked posts, and the guide ridge is disposed on the inner surface of the docked posts.

[0023] The beneficial effects of adopting the above-mentioned further scheme are that the guide groove is set on the main docking column and the guide protrusion is set on the docked column. Both the main docking column and the docked column are located on the periphery of the repeat positioning mechanism, which can perform coarse positioning and will not interfere with the docking and separation of the repeat positioning mechanism. The docking process between the passive end and the active end is stable and reliable, and can withstand the vibration in the orbital environment. It ensures that the load device will not have docking errors during the repeat positioning and replacement process, which greatly improves the reliability of the device.

[0024] Furthermore, the main docking column is provided with a guide slope structure at the docking end.

[0025] The beneficial effect of adopting the above-mentioned further scheme is that the guide slope structure can play a guiding role when the main docking column and the docked column initially contact each other, guiding the docked column to adjust its position along the guide slope structure, so that the docked column and the main docking column can enter the docking state more smoothly, realize coarse positioning docking, reduce collisions and friction during docking, effectively enhance the adaptability and stability of the device in complex on-orbit environment, and ensure the reliable operation of repeated positioning and replacement of the load device.

[0026] Furthermore, the main docking column is equipped with a positioning limit platform.

[0027] The beneficial effects of adopting the above-mentioned further solution are that the positioning limiter can play a limiting role when the main docking column and the docked column are docked in place, preventing the docked column from continuing to move after docking, thus ensuring the stability and reliability of the docking. The positioning limiter also avoids potential damage to the device due to over-docking, improving the safety of the device. In complex on-orbit environments, the positioning limiter can ensure that the load device reaches the accurate positioning position each time during repeated positioning and replacement processes, guaranteeing the accuracy and efficiency of the load device's operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Front view structural diagram; Figure 3 for Figure 2 A schematic diagram of the cross-sectional structure along the AA direction; Figure 4 This is a structural schematic diagram of the coarse positioning start state of the present invention; Figure 5 forFigure 4 A schematic diagram of the cross-sectional structure along the BB direction; Figure 6 This is a schematic diagram of the structure for completing the coarse positioning action of the present invention; Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure along the CC direction; Figure 8 This is a schematic diagram of the structure of the present invention with the active end in a released state; Figure 9 This is a schematic diagram of the docking and locking state of the present invention; Figure 10 for Figure 9 A schematic diagram of the cross-sectional structure along the DD direction; Figure 11 This is a schematic diagram of the structure of the present invention with the active end in a locked state; Figure 12 This is a schematic diagram of the docking component of the present invention in a locked state; Figure 13 for Figure 13 A top-view structural diagram; Figure 14 This is a cross-sectional structural diagram of the docking assembly in the locked state according to the present invention; Figure 15 This is a schematic diagram of the docking process between the passive end and the active end of the present invention; In the diagram, 100 is the active end; 101 is the active end body; 102 is the floating seat; 103 is the connecting rod seat; 104 is the transmission rod; 105 is the locking rod; 106 is the rotating pin; 107 is the hinge pin; 108 is the U-shaped bracket; 109 is the pin hole; 110 is the drive cylinder; 111 is the connecting joint; 112 is the connecting slot; 113 is the main docking post; 114 is the guide groove; 115 is the guide inclined surface structure; 116 is the positioning limit platform; 200 is the passive end; 201 is the passive end body; 202 is the docking joint; 203 is the docked post; 204 is the guide protrusion; 205 is the clearance slot; 300 is the hydraulic circuit disconnector socket; 400 is the electrical connector socket; 500 is the hydraulic circuit disconnector plug; 600 is the electrical connector plug. Detailed Implementation

[0029] The principles and features of the present invention are described below with reference to examples. The examples are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0030] like Figures 1-15As shown, a linkage-type space on-orbit repeatable positioning and load replacement device includes an active end 100 and a passive end 200. A guide positioning mechanism is provided between the active end 100 and the passive end 200, and the active end 100 and the passive end 200 are coarsely positioned through the guide positioning mechanism. A repeat positioning mechanism is also provided between the active end 100 and the passive end 200. The repeat positioning mechanism includes a docking joint 202 and a docking component for locking or releasing the docking joint 202. The docking joint 202 is disposed on the passive end body 201, and the docking component is disposed on the active end body 101. The docking assembly includes a floating seat 102, at least two linkage docking units disposed on the floating seat 102, and a seat drive mechanism for driving the floating seat 102. The floating seat 102 is connected to the drive end of the seat drive mechanism. The linkage docking unit includes a linkage seat 103, a rotating pin 106 rotatably disposed on the linkage seat 103, a transmission rod 104 disposed on the rotating pin 106 and rotating synchronously, and a locking rod 105. The linkage seat 103 is disposed on the active end body 101. The free end of the transmission rod 104 is connected to the floating seat 102 through a hinge pin 107. Under the action of the seat drive mechanism, the free end of the locking rod 105 can swing inward to drive and lock the docking joint 202 or swing outward to release the docking joint 202.

[0031] The mating joint 202 is connected to the passive end body 201 via a joint shaft.

[0032] The floating seat 102 is provided with U-shaped brackets 108 in number matching the number of connecting rod docking units. The hinge pins 107 are mounted on the U-shaped brackets 108. The transmission rod 104 has pin holes 109 through which the hinge pins 107 pass. Each connecting rod docking unit is connected to the floating seat 102 via the U-shaped brackets 108. The elongated pin holes 109 on the transmission rod 104 provide a certain amount of space for movement relative to the hinge pins 107, allowing for better adaptation to the displacement changes of the floating seat 102 during the driving process of the seat drive mechanism. This also transmits the movement of the floating seat 102 to the rotating pins 106, ensuring the smoothness and accuracy of the connecting rod docking unit's movement and further improving the overall stability and reliability of the device's positioning.

[0033] The rotating pin 106 has a flat structure. The locking rod 105 and the transmission rod 104 are respectively provided with flat holes adapted to the rotating pin 106. When the transmission rod 104 is pulled back or pushed out by the floating seat 102, it will drive the rotating pin 106 to rotate. The locking rod 105 will swing inward or outward with the rotation of the rotating pin 106, thereby locking or releasing the docking joint 202. During the operation of the device, relative displacement deviation between the locking rod 105 and the transmission rod 104 is avoided, ensuring that the locking rod 105 and the transmission rod 104 can cooperate closely and move synchronously, thus ensuring the accuracy and stability of the entire device during on-orbit positioning and load replacement operations.

[0034] The active end body 101 has a cross-shaped structure; and / or the passive end body 201 has a cross-shaped structure. The cross-shaped structure itself has good stability, meets the installation requirements of the hydraulic and electrical circuits needed for docking, and will not interfere with the docking or disengagement between the passive end 200 and the active end 100. This reduces docking errors caused by unreasonable structures, facilitates the assembly and disassembly of the device, and improves the convenience and efficiency of on-orbit operation. In addition, a pair of main docking posts 113 on the active end body 101 can be set on the horizontal arm of the active end body 101, and the hydraulic circuit disconnector and electrical connector can be set on the vertical arm of the active end body 101. Expandable interfaces can be rationally arranged within the four quadrants formed by the cross-shaped structure of the active end body 101 according to actual needs, making the device expandable.

[0035] The active end body 101 is provided with liquid circuit disconnector socket holes and electrical connector socket holes for positioning the liquid circuit disconnector socket 300 and the electrical connector socket 400. The passive end body 201 is provided with liquid circuit disconnector plug holes and electrical connector plug holes for positioning the liquid circuit disconnector plug 500 and the electrical connector plug 600. The active end body 101 has liquid circuit disconnector socket holes and electrical connector socket holes, and the liquid circuit disconnector socket 300 and the electrical connector socket 400 are installed on the active end body 101. The passive end body 201 has liquid circuit disconnector plug holes and electrical connector plug holes, and the corresponding arrangement of the liquid circuit disconnector plug 500 and the electrical connector plug 600 installed on the passive end body 201 ensures accurate positioning of the liquid circuit disconnector and electrical connector when the passive end 200 and the active end 100 are docked, avoiding problems such as liquid leakage or poor electrical connection caused by docking deviation, and ensuring the connection and transmission of liquid circuit and electrical circuit during load replacement.

[0036] The seat drive mechanism includes a drive cylinder 110, the cylinder body of which is connected to the active end body 101, and the piston rod of which is connected to the floating seat 102. Under the action of the drive cylinder 110, the floating seat 102 can move linearly along the axial direction of the drive cylinder 110. The active end is mounted on the outside of the cabin, which can supply power to the drive cylinder. By controlling the extension and retraction of the drive cylinder 110, the position of the floating seat 102 can be adjusted, thereby enabling the swing drive of the locking lever 105, meeting the requirement for on-orbit repeatable positioning and load replacement. The seat drive mechanism has a simple and reliable structure and a rapid response, providing strong support for load replacement.

[0037] The piston rod of the drive cylinder 110 is provided with a connecting joint 111, and the floating seat 102 is provided with a connecting groove 112 for engaging with the connecting joint 111. The connecting joint 111 enters the connecting groove 112 from the side and can engage with the connecting groove 112. The movement of the drive cylinder 110 is axial. The engagement between the connecting joint 111 and the connecting groove 112 is stable and reliable, preventing loosening or separation between the floating seat 102 and the piston rod, and ensuring that the floating seat 102 can move according to the preset trajectory and requirements. In addition, the engagement between the connecting joint 111 and the connecting groove 112 also has the advantages of convenient and quick installation and disassembly.

[0038] The guiding and positioning mechanism includes at least two guide grooves 114 and corresponding guide protrusions 204 adapted to the guide grooves 114. The guide grooves 114 are disposed on the active end body 101 or the passive end body 201, and the guide protrusions 204 are disposed on the passive end body 201 or the active end body 101. When the passive end 200 moves to a position directly opposite the active end 100, the cooperation between the guide protrusions 204 and the guide grooves 114 can guide and limit the docking of the two, ensuring that the passive end body 201 can maintain an accurate positional relationship with the active end body 101 during movement, effectively preventing misalignment or displacement between the two.

[0039] The active end body 101 includes a pair of main docking posts 113, and the guide groove 114 is disposed on the inner surface of the main docking posts 113. The passive end body 201 includes a pair of docked posts 203, and the guide ridge 204 is disposed on the inner surface of the docked posts 203. The guide groove 114 is disposed on the main docking posts 113, and the guide ridge 204 is disposed on the docked posts 203. Both the main docking posts 113 and the docked posts 203 are located on the periphery of the repeat positioning mechanism, which enables coarse positioning and does not interfere with the docking and disengagement of the repeat positioning mechanism. The docking process between the passive end 200 and the active end 100 is stable and reliable, and can withstand vibrations in the orbital environment, ensuring that the load device will not have docking errors during the repeat positioning and replacement process, thus greatly improving the reliability of the device.

[0040] The main docking post 113 is provided with a guide ramp structure 115 at its docking end. The guide ramp structure 115 can guide the main docking post 113 and the docked post 203 when they initially make contact, guiding the docked post 203 to adjust its position along the guide ramp structure 115, so that the docked post 203 and the main docking post 113 can enter the docking state more smoothly, achieving accurate coarse positioning and docking, reducing collisions and friction during the docking process, effectively enhancing the adaptability and stability of the device in complex on-orbit environments, and ensuring the reliable operation of repeated positioning and replacement of the load device.

[0041] The main docking column 113 is equipped with a positioning limit platform 116. The positioning limit platform 116 acts as a limit when the main docking column 113 and the docked column 203 are fully docked, preventing the docked column 203 from continuing to move after docking. The positioning limit platform 116 also avoids potential damage to the device due to over-docking, improving the device's safety. In complex on-orbit environments, the positioning limit platform 116 ensures that the load device reaches the accurate positioning position each time it docks during repeated positioning and replacement processes, guaranteeing the accuracy and efficiency of the load device's operation.

[0042] The passive end body 201 is provided with a clearance slot 205 for avoiding the locking rod 105. Sufficient room for movement of the locking rod 105 is reserved when the two are in cooperation, so as to avoid interference from the locking rod 105 when the passive end 200 moves closer to the active end 100.

[0043] An angle is provided between the transmission rod 104 and the locking rod 105. The size of the angle can be adjusted by the extension and retraction of the drive electric cylinder according to the working conditions. The angle required for capturing, locking and other working conditions is determined by actual debugging.

[0044] The linkage-type on-orbit repeatable positioning and load swapping device includes an active end 100 and a passive end 200. The active end 100 is installed outside the spacecraft, while the passive end 200, after being connected to payload equipment such as cameras, batteries, and power packs, can be stored inside the spacecraft. After the spacecraft reaches the operational orbit, the on-orbit robotic arm can grasp the passive end 200 or move the payload toward the active end 100. Coarse positioning is achieved through the guide ramp structure 115 on the active end 100 and the cooperation between the guide protrusion 204 and the guide groove 114. After the docking joint 202 enters the locking area of ​​the locking rod 105, the on-orbit robotic arm changes to a follow-up state, driving the electric cylinder 110 to pull back the floating seat 102. The free end of the transmission rod 104 moves with the floating seat 102, driving the rotating pin 106 to rotate, and the locking rod 105 swings accordingly to capture the docking. When joint 202 enters the precision positioning stage, the passive end 200 continues to move toward the active end 100 until the passive end 200 is in place. The drive cylinder 110 can lock it in place, and the on-orbit robotic arm can release the passive end 200 or remove the load. The active end 100 and the passive end 200 are then docked and locked. When the load of vulnerable equipment or consumable storage tanks needs to be replaced or recycled, the on-orbit robotic arm can first grab the passive end 200 or the load. The drive cylinder 110 then moves, pushing the floating seat 102 outward toward the passive end 200. The free end of the transmission rod 104 moves outward, and the rotating pin 106 rotates, causing the free end of the locking rod 105 to swing outward and release the docking joint 202. The on-orbit robotic arm grabs the load and the passive end 200 disengages from the active end 100. The on-orbit robotic arm can then grab the load to perform on-orbit care work. This device boasts high tolerance and stability. The passive end cap 200 can still complete docking and capture operations within a positional error of ±12mm and an angle of ±20°. It can adapt to the low precision requirements of a robotic arm operating at high vibration frequencies in space. The overall shape of the active end cap 100 and the passive end cap 200 is expandable, allowing for the addition of electrical and hydraulic interfaces to connect circuitry and power as needed. A drive cylinder with a self-locking function can be selected. The drive cylinder 110's built-in power-off locking mechanism provides self-locking capability, further improving anti-loosening and vibration resistance, thus fulfilling the requirements for repositionable and replaceable payloads for space-based satellites, space stations, and aerospace platforms.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A linkage-type on-orbit repeatable positioning and load-changing device, comprising an active end (100) and a passive end (200), characterized in that, A guiding and positioning mechanism is provided between the active end (100) and the passive end (200), and the active end (100) and the passive end (200) are coarsely positioned by the guiding and positioning mechanism; A repeat positioning mechanism is also provided between the active end (100) and the passive end (200). The repeat positioning mechanism includes a docking joint (202) and a docking component for locking or releasing the docking joint (202). The docking joint (202) is disposed on the passive end body (201), and the docking component is disposed on the active end body (101). The docking assembly includes a floating seat (102), at least two linkage docking units disposed on the floating seat (102), and a seat drive mechanism for driving the floating seat (102) to move. The linkage docking unit includes a linkage seat (103), a rotating pin (106) rotatably disposed on the linkage seat (103), a transmission rod (104) disposed on the rotating pin (106) and rotating synchronously, and a locking rod (105). The linkage seat (103) is disposed on the active end body (101). The free end of the transmission rod (104) is connected to the floating seat (102) through a hinge pin (107). Under the action of the seat drive mechanism, the free end of the locking rod (105) can swing inward to drive and lock the docking joint (202) or swing outward to release the docking joint (202).

2. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 1, characterized in that, The floating seat (102) is provided with a U-shaped bracket (108) with the same number of connecting rod docking units as the floating seat (102). The hinge pin (107) is provided on the U-shaped bracket (108). The transmission rod (104) is provided with a pin hole (109) for the hinge pin (107) to pass through. The pin hole (109) is a long through hole.

3. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 1, characterized in that, The rotating pin (106) has a flat structure.

4. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 1, characterized in that, The active end body (101) has a cross-shaped structure; and / or the passive end body (201) has a cross-shaped structure.

5. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 1, characterized in that, The active end body (101) is provided with a liquid circuit disconnector socket hole and an electrical connector socket hole for positioning the liquid circuit disconnector socket (300) and the electrical connector socket (400), and the passive end body (201) is provided with a liquid circuit disconnector plug hole and an electrical connector plug hole for positioning the liquid circuit disconnector plug (500) and the electrical connector plug (600).

6. The linkage-type on-orbit repeatable positioning and load-changing device according to any one of claims 1-5, characterized in that, The seat drive mechanism includes a drive electric cylinder (110), the cylinder body of which is connected to the active end body (101), and the piston rod of which is connected to the floating seat (102).

7. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 6, characterized in that, The piston rod of the drive cylinder (110) is provided with a connecting joint (111), and the floating seat (102) is provided with a connecting slot (112) for engaging with the connecting joint (111).

8. The linkage-type on-orbit repeatable positioning and load-changing device according to any one of claims 1-5, characterized in that, The guiding and positioning mechanism includes at least two guide grooves (114) and guide protrusions (204) that are adapted to the guide grooves (114). The guide grooves (114) are disposed on the active end body (101) or the passive end body (201), and the guide protrusions (204) are disposed on the passive end body (201) or the active end body (101).

9. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 8, characterized in that, The active end body (101) includes a pair of main docking posts (113), and the guide groove (114) is disposed on the inner surface of the main docking posts (113). The passive end body (201) includes a pair of docked posts (203), and the guide ridge (204) is disposed on the inner surface of the docked posts (203).

10. The linkage-type on-orbit repeatable positioning and load-changing device according to claim 9, characterized in that, The main docking column (113) is provided with a guide slope structure (115) at the docking end; and / or the main docking column (113) is provided with a positioning limit platform (116).

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