CN114852381A - Be applied to sharp push rod instrument of space arm breakdown maintenance - Google Patents

Abstract

The invention provides a linear push rod tool applied to space manipulator fault maintenance, which comprises a quick connection module, a positioning and compressing module, a screw rod module and a fixed lock head module, wherein the fixed lock head module is arranged at one end of the screw rod module and is connected to the periphery of a capturing rod detachably connected to an end effector, the other end of the trapezoidal screw rod module is fixedly connected to a driving motor through the quick connection module, the periphery of the screw rod module is fixedly sleeved with the positioning and compressing module, and the positioning and compressing module is used for fixing the relative positions of the screw rod module and the end effector. According to the linear push rod tool applied to space manipulator fault maintenance, the steel wire rope is reversely driven by the linear push rod tool under the condition that the steel wire rope at the tail end of the space manipulator and the adapter capturing rod cannot be separated from each other, so that the tail end executor is separated from the capturing rod, and the space manipulator recovers the activity.

Description

Be applied to sharp push rod instrument of space arm breakdown maintenance

Technical Field

The invention belongs to the field of space manipulator fault maintenance, and particularly relates to a linear push rod tool applied to space manipulator fault maintenance.

Background

The space manipulator plays an important role in the in-orbit service process of space stations and spacecrafts in various countries, and can complete important tasks of auxiliary butt joint, target carrying, in-orbit construction and the like of the space stations. The perfect fit of the capture module of the space robot end effector with the adapter of the space station surface allows the space robot to achieve a wide range of free movement on the space station surface. If the capture module of the space manipulator end effector fails and cannot be separated from the adapter, the space manipulator loses crawling capability, and the on-orbit service capability of the space manipulator is greatly weakened.

The capturing module of the space manipulator end effector usually comprises a rotating ring, a fixed ring, a steel wire rope (3 groups), a driving assembly and the like, wherein two ends of the steel wire rope are respectively fixed on the fixed ring and the rotating ring, and are provided with small torsion springs, and the end parts of the steel wire rope are constrained on the inner walls of the rotating ring and the fixed ring in an initial state. When the capture module breaks down, three groups of steel wire ropes of the end effector wind and capture the capture rod of the target adapter, so that the end effector of the mechanical arm cannot be separated from the adapter on the cabin body, and if the fault state is solved, the capture assembly needs to be reversely driven (one end of the tool is fixed with the capture rod of the target adapter and the other end of the tool is fixed with the inner wall or the outer wall of the end effector to perform expansion or contraction actions by applying force to the steel wire rope assembly to reversely drive the capture assembly).

Disclosure of Invention

In view of this, the present invention is directed to a linear pushing rod tool for repairing a spatial manipulator failure, so as to solve the problem that the spatial manipulator failure can not be repaired when the capturing steel wire rope at the end of the spatial manipulator and the capturing rod of the adapter cannot be disconnected from each other.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the utility model provides a be applied to sharp push rod instrument of space arm trouble maintenance, including connect the module soon, the location compresses tightly the module, lead screw module and fixed lock head module, lead screw module's one end sets up fixed lock head module, and fixed lock head module is peripheral with the capture pole that can dismantle and be connected to end effector, trapezoidal lead screw module's the other end passes through fast and connects module fixed connection to driving motor soon, lead screw module's peripheral fixed cover connects to the location and compresses tightly the module, and the location compresses tightly the relative position that the module is used for fixed lead screw module and end effector.

Furthermore, the quick-change module comprises a quick-change female head and a quick-change male head, the quick-change female head comprises a connecting flange, a motor transmission shaft, an outer connecting sleeve, a reset spring, a limiting gland and a pressing end cover, the lower end of the outer connecting sleeve is fixedly connected to the periphery of the driving motor through the connecting flange, the motor transmission shaft is positioned on the inner ring of the outer connecting sleeve, the limiting gland is arranged in the outer connecting sleeve, one end of the limiting gland is fixedly connected to one end of the reset spring, the other end of the reset spring is fixedly connected to the inner side wall of the outer connecting sleeve, the other end of the limiting gland is abutted to one end of the pressing end cover, and the periphery of the pressing end cover is fixedly connected to the upper end of the outer connecting sleeve;

furthermore, the male joint of connecing soon includes first transmission shaft, outer direction ladder seat and first bearing, and the periphery of first transmission shaft rotates the inner circle that is connected to outer direction ladder seat through first bearing, and the one end fixed connection of trapezoidal connecting seat is to the one end of lead screw module, and the one end of first transmission shaft can be dismantled and be connected to motor drive shaft, the trapezoidal lead screw of the inside setting of lead screw module of the other end fixed connection of first transmission shaft.

Furthermore, a plurality of positioning blocks are uniformly distributed on the periphery of one end of the outer guide stepped seat along the circumferential direction, a plurality of sliding grooves are radially formed in the inner ring of the pressing end cover, the positioning blocks correspond to the sliding grooves one to one, and the positioning blocks are located between the pressing end cover and the limiting gland in the connection state of the quick-connection female head and the quick-connection male head.

Furthermore, the screw module comprises a trapezoidal screw, an outer sleeve, a second bearing, an inner push rod and a supporting guide sleeve, one end of the outer sleeve is fixedly connected to one end of the outer guiding stepped seat, the supporting guide sleeve is arranged on the inner ring of the other end of the outer sleeve, the trapezoidal screw is located on the inner ring of the outer sleeve, one end of the trapezoidal screw is fixedly connected to one end of the first transmission shaft, the periphery of the trapezoidal screw is rotatably sleeved to the inner ring of the outer sleeve through the second bearing, the inner ring of the inner push rod is in threaded connection with the periphery of the trapezoidal screw, and the periphery of the inner push rod is in sliding connection with the inner ring of the supporting guide sleeve.

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

Further, the module is compressed tightly in location is including compressing tightly the action bars, compressing tightly the subassembly, the location wedge, the arc compact heap and compressing tightly the extension board, and the peripheral fixed connection of outer sleeve compresses tightly the inner circle of extension board, and one side that compresses tightly the extension board is articulated to one side that compresses tightly the subassembly, and the opposite side that compresses tightly the extension board sets up the arc compact heap, and the upper end that compresses tightly the subassembly sets up compresses tightly the action bars, and the lower extreme that compresses tightly the subassembly sets up the location wedge, and location wedge and arc compact heap closely laminate to end effector's lateral wall for fixed lead screw module and end effector's relative position.

Furthermore, the fixed lock head module comprises a C-shaped lock body, a torsion spring, a pin shaft and a one-way swing rod, the periphery of the C-shaped lock body is fixedly connected to one end of the inner push rod, a capturing groove is formed in the C-shaped lock body and is a non-circular opening groove, two side walls of the opening are respectively hinged to the one-way swing rod through the pin shaft, the two one-way swing rods are symmetrically arranged, the torsion spring is arranged on the periphery of each pin shaft, and the torsion spring is used for resetting the relative position of the one-way swing rod.

Compared with the prior art, the linear push rod tool applied to the space manipulator fault maintenance has the following beneficial effects:

(1) the linear push rod tool applied to the fault maintenance of the space manipulator provides a maintenance solution for the fault of the space manipulator capture module, improves the on-orbit service capability and on-orbit service time of the space manipulator, meets the ergonomic requirement, and meets the space operation requirement of single-hand operation in the whole operation process.

(2) According to the linear push rod tool applied to the fault maintenance of the space manipulator, the initial position of the linear push rod tool is determined by the positioning and pressing device, the number of rotation turns is determined after the positioning is finished, the maintenance operation is finished by starting the hand driving tool, the operation process is simple, the operation steps are few, and the operation difficulty of outer spacemen is reduced.

(3) The linear push rod tool applied to the fault maintenance of the space manipulator disclosed by the invention realizes force closed loop in the operation implementation process, has no reaction force on an operator, reduces the difficulty of external maintenance of an outer space capsule, can be adjusted at multiple angles by a transmission path of a hand-driven operation end and a fixed locking head end of a capturing rod of the linear push rod tool, can be fully suitable for various complex maintenance working conditions in an outer space environment, effectively improves the operation space of a astronaut in the maintenance process, and reduces the operation risk.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a linear pusher tool for use in space manipulator fault repair, according to an embodiment of the present invention;

FIG. 2 is a side view of a linear pusher tool for use in space robot arm troubleshooting in accordance with an embodiment of the present invention;

FIG. 3 is a top view of a linear pusher tool for use in space robot arm troubleshooting in accordance with an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a positioning and compressing module according to an embodiment of the present invention;

FIG. 5 is a side view of a positioning and clamping module according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a quick-connect module according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a quick connect module according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a lead screw module according to an embodiment of the invention;

FIG. 9 is a schematic view of a stationary latch module according to an embodiment of the present invention;

FIG. 10 is a schematic view of a linear pusher tool in an operational state for use in space robot arm troubleshooting in accordance with an embodiment of the present invention;

fig. 11 is a side view of a linear pusher tool in an operational state for servicing a space manipulator failure in accordance with an embodiment of the present invention.

Description of reference numerals:

1-a quick-connect module; 11-quick-connecting female joint; 111-a connecting flange; 112-a chute; 113-motor drive shaft; 114-an outer connecting sleeve; 115-a return spring; 116-a limiting gland; 117-compression end cap; 12-quick-connect male; 121-a first transmission shaft; 122-outer guide step seat; 123-a first bearing; 124-positioning blocks; 2, positioning and pressing the module; 21-a pressing operating rod; 22-a hold down assembly; 23-positioning the wedge block; 24-arc-shaped compaction blocks; 25-pressing the support plate; 3-a screw module; 31-outside bend; 32-universal coupling; 33-trapezoidal lead screw; 34-a second bearing; 35-an outer sleeve; 36-inner push rod; 37-supporting the guide sleeve; 4-fixing the locking head module; a 41-C type lock body; 42-pin shaft; 43-one-way swing link; 5-an adapter; 6-end effector; 7-driving a motor; 8-catch the pole.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-11, a linear push rod tool applied to space manipulator fault maintenance comprises a quick-connection module 1, a positioning compression module 2, a screw module 3 and a fixed lock head module 4, wherein one end of the screw module 3 is provided with the fixed lock head module 4, the fixed lock head module 4 is sleeved on the periphery of a capture rod 8 of an end effector 6 to fix the relative position of the tool and the capture rod 8, the other end of the trapezoidal screw module is fixedly connected to a driving motor 7 through the quick-connection module 1, the periphery of the screw module 3 is fixedly sleeved on the positioning compression module 2, the positioning compression module 2 is used for fixing the relative position of the screw module 3 and the end effector 6, the quick-change module comprises a quick-connection female head 11 and a quick-connection male head 12, the quick-connection female head 11 comprises a connection flange 111, a motor transmission shaft 113, an outer connection sleeve 114, a return spring 115, a limiting gland 116 and a compression end cover 117, the lower end of the outer connecting sleeve 114 is fixedly connected to the periphery of the driving motor 7 through a connecting flange 111, a motor transmission shaft 113 is positioned at the inner ring of the outer connecting sleeve 114, a limiting gland 116 is arranged in the outer connecting sleeve 114, one end of the limiting gland 116 is fixedly connected to one end of a return spring 115, the other end of the return spring 115 is fixedly connected to the inner side wall of the outer connecting sleeve 114, the other end of the limiting gland 116 is abutted to one end of a pressing end cover 117, and the periphery of the pressing end cover 117 is fixedly connected to the upper end of the outer connecting sleeve 114;

the quick-connection male joint 12 comprises a first transmission shaft 121, an outer guide stepped seat 122 and a first bearing 123, the periphery of the first transmission shaft 121 is rotatably connected to an inner ring of the outer guide stepped seat 122 through the first bearing 123, one end of a trapezoidal connection seat is fixedly connected to one end of the lead screw module 3, one end of the first transmission shaft 121 is detachably connected to the motor transmission shaft 113, and the other end of the first transmission shaft 121 is fixedly connected to a trapezoidal lead screw 33 arranged inside the lead screw module 3.

A plurality of positioning blocks 124 are uniformly distributed on the periphery of one end of an outer guide stepped seat 122 along the circumferential direction, a plurality of sliding grooves 112 are radially arranged on the inner ring of a pressing end cover 117, the positioning blocks 124 correspond to the sliding grooves 112 one by one, the positioning blocks 124 are positioned between the pressing end cover 117 and a limiting gland 116 in the state that a quick-connection female head 11 is connected with a quick-connection male head 12, the quick-connection female head 11 is fixed with a driving motor 7 through a driving end connecting flange 111, a motor transmission shaft 113 is connected with a motor output shaft to transmit power, the quick-connection male head 12 is connected with a screw module 3 through the guide stepped seats, when the quick-connection male head 12 is required to be quickly connected with the quick-connection female head 11, the outer guide stepped seat 122 of the quick-connection male head 12 is aligned with the quick-connection female head 11, then the quick-connection female head 11 and the quick-connection female head 11 are connected through the positioning blocks 124 and the sliding grooves 112, so that the connection of the male head and the female head is completed, and ensures the internal power transmission.

The screw module 3 comprises a trapezoidal screw 33, an outer sleeve 35, a second bearing 34, an inner push rod 36 and a supporting guide sleeve 37, one end of the outer sleeve 35 is fixedly connected to one end of the outer guiding stepped seat 122, the supporting guide sleeve 37 is arranged on the inner ring of the other end of the outer sleeve 35, the trapezoidal screw 33 is positioned on the inner ring of the outer sleeve 35, one end of the trapezoidal screw 33 is fixedly connected to one end of the first transmission shaft 121, the periphery of the trapezoidal screw 33 is rotatably sleeved to the inner ring of the outer sleeve 35 through the second bearing 34, the inner ring of the inner push rod 36 is in threaded connection with the periphery of the trapezoidal screw 33, the periphery of the inner push rod 36 is in sliding connection with the inner ring of the supporting guide sleeve 37, one end of the outer sleeve 35 is fixedly connected to one end of the outer guiding stepped seat 122 through the outer elbow 31, and a universal coupling is arranged in the outer bent pipe 31, and one end of the trapezoidal lead screw 33 is fixedly connected to one end of the first transmission shaft 121 through the universal coupling 32.

The working mode of the screw module 3 is as follows: thereby trapezoidal lead screw 33 connects universal joint 32 and connects first transmission shaft 121 of connecing module 1 soon, therefore trapezoidal lead screw 33 can be rotary motion under driving motor 7's drive, interior push rod 36 with carry out linear motion under trapezoidal lead screw 33 rotatory screw drive, in order to convert driving motor 7's output torque into the thrust of the fixed tapered end of linear push rod instrument capture pole 8, the radial motion of interior push rod 36 need to be strictly restricted, consequently, the lower surface processing of interior push rod 36 has a locating plane, support uide bushing 37 internal surface simultaneous processing has a locating plane with it complex, the motion of interior push rod 36 in radial direction has been strictly restricted in the cooperation of two machined surfaces, make interior push rod 36 only can be linear motion.

The positioning and pressing module 2 comprises a pressing operation rod 21, a pressing assembly 22, a positioning wedge block 23, an arc-shaped pressing block 24 and a pressing support plate 25, the periphery of an outer sleeve 35 is fixedly connected to an inner ring of the pressing support plate 25, one side of the pressing support plate 25 is hinged to one side of the pressing assembly 22, the other side of the pressing support plate 25 is provided with the arc-shaped pressing block 24, the pressing assembly 22 is a good-hand hinged pressing structure in the prior art, the upper end of the pressing assembly 22 is provided with the pressing operation rod 21, the lower end of the pressing assembly 22 is provided with the positioning wedge block 23, the positioning wedge block 23 and the arc-shaped pressing block 24 are tightly attached to the side wall of the end effector 6 and used for fixing the relative positions of the lead screw module 3 and the end effector 6, the diameter and the length of the pressing operation rod 21 meet the relevant requirements of ergonomics, and the specific operation process is as follows: the staff fixes a position the wedge that compresses tightly module 2 and is close to 6 inner wall bosss of arm end effector and fix a position, pushes up and bulldozes tight action bars 21, compresses tightly arc compact heap 24 that subassembly 22 is being connected and can hold tightly 6 extrados of arm end effector to realize the location of whole sharp push rod instrument, compress tightly and fixed connection.

The fixed lock head module 4 includes C type lock body 41, torsion spring 42, round pin axle 43 and one-way pendulum rod 44, the peripheral fixed connection of C type lock body 41 is to the one end of interior push rod 36, be equipped with on the C type lock body 41 and catch the groove, and catch the non-circular uncovered groove of groove, the open both sides wall that shows is articulated one-way pendulum rod 44 through a pivot pin respectively, two one-way pendulum rod 44 symmetries set up, every pivot periphery sets up a torsion spring 42, torsion spring 42 is used for the relative position of the one-way pendulum rod 44 that resets, the working method of fixed lock head module 4 is: an operator grasps the grasping position of the linear push rod maintenance tool, aligns the opening direction of the C-shaped lock body 41 of the fixed lock head module 4 with the capturing rod 8, enables the fixed lock head module 4 to be close to the capturing rod 8 until the capturing rod 8 jacks the one-way swing rods 44 on two sides to enter the inside of the fixed lock head, and the one-way swing rods 44 on two sides can automatically return after being separated from the capturing rod 8, so that the risk that the linear push rod tool is separated from the capturing rod 8 in the operation process is avoided.

The utility model provides a be applied to linear push rod instrument's of space arm trouble maintenance working process:

in this embodiment, a common driving motor 7 is used as a power source to reversely drive and unlock the capturing rod 8 and the steel wire rope wound at the end of the mechanical arm, the connection mode of the mechanical arm end effector 6 and the adapter 5 is shown in fig. 10 and 11, and the whole unlocking process is as follows: firstly, a fixed lock head module 4 of a linear push rod tool is utilized to buckle a capture rod 8, a one-way swing rod 44 for fixing a lock head is pressed into the lock head in the buckling process, after the capture rod 8 completely enters the lock head, the one-way swing rod 44 is rebounded under the action of a torsion spring 42, and the capture rod 8 is limited from moving outwards; then the staff pushes away the straight line push rod instrument forward, until the location compress tightly the location wedge 23 of module 2 and be located within the terminal inner wall of arm, then be close to arm end effector 6 with the straight line push rod instrument, will fix a position wedge 23 and laminate with the terminal inner wall boss of arm, then outwards pull whole instrument, location wedge 23 card this moment is on the inner wall boss, then will compress tightly action bars 21 and upwards push away, compress tightly the arc compact heap 24 of subassembly 22 this moment and paste the terminal outer wall of arm and realize compressing tightly.

Then the driving motor 7 with the quick coupling female head 11 is right opposite to the quick coupling male head 12 of the linear push rod tool, the quick coupling male head 12 is aligned with a middle hole position of the quick coupling female head 11, the square shaft part of the motor transmission shaft 113 of the driving motor 7 is mainly ensured to be aligned with the square hole of the first transmission shaft 121 of the tool in the alignment process, then the quick coupling female head 11 is close to the quick coupling male head 12 until the positioning block 124 of the male head end is attached to the end surface of the female head, then the driving motor 7 is held by hand to rotate until the three positioning blocks 124 of the quick coupling male head 12 are aligned with the three sliding grooves 112 of the pressing end cover 117 of the quick coupling female head 11, at the moment, the positioning blocks 124 can extrude the limit gland 116 to compress the return spring 115, the driving motor 7 with the quick coupling female head 11 is rotated by 90 degrees when the limit gland 116 reaches the limit position, at the moment, under the action of the return spring 115, the three limit bosses of the quick coupling male head 12 can be clamped into the sliding grooves 112 at the other side of the pressing end cover 117 of the quick coupling female head 11, thereby completing the connection of the male head end and the female head end, simultaneously ensuring the internal power transmission, at the moment, the shell of the driving motor 7, the outer sleeve 35 of the special maintenance tool and the positioning and pressing module 2 are all connected and fixed with the tail end of the mechanical arm, the output shaft of the driving motor 7 outputs the power as the thrust of the fixed lock head of the capturing rod 8 through the first transmission shaft 121 of the quick connector, the universal coupler 32 and the trapezoidal screw 33, at the moment, after the driving motor 7 is started, the motor transmission shaft 113 drives the universal coupling 32 to drive the trapezoidal lead screw 33 to realize the linear motion of the inner push rod 36, the acting force of the driving motor 7 realizes the force closed loop in the whole unlocking process, and no reaction force is generated for an operator, after the steel wire rope is reversely driven, the tail end of the mechanical arm moves downwards, the capturing rod 8 of the adapter 5 is withdrawn from the inner hole of the steel wire rope, and therefore unlocking between the tail end of the mechanical arm and the adapter 5 is completed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. The utility model provides a be applied to sharp push rod instrument of space arm breakdown maintenance which characterized in that: including connect module (1) soon, the location compresses tightly module (2), lead screw module (3) and fixed lock head module (4), the one end of lead screw module (3) sets up fixed lock head module (4), and fixed lock head module (4) are with can dismantle the capture pole periphery that is connected to end effector (6), trapezoidal lead screw module's the other end is through connecing module (1) fixed connection to driving motor (7) soon, the peripheral fixed cover of lead screw module (3) connects to the location and compresses tightly module (2), and the location compresses tightly module (2) and is used for the relative position of fixed lead screw module (3) and end effector (6).

2. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: the quick-change module comprises a quick-change female head (11) and a quick-change male head (12), the quick-change female head (11) comprises a connecting flange (111), a motor transmission shaft (113), an outer connecting sleeve (114), a reset spring (115), a limiting gland (116) and a pressing end cover (117), the lower end of the outer connecting sleeve (114) is fixedly connected to the periphery of the driving motor (7) through the connecting flange (111), the motor transmission shaft (113) is positioned at the inner ring of the outer connecting sleeve (114), a limiting gland (116) is arranged in the outer connecting sleeve (114), one end of the limiting gland (116) is fixedly connected to one end of a return spring (115), the other end of the return spring (115) is fixedly connected to the inner side wall of the outer connecting sleeve (114), the other end of the limiting gland (116) is abutted to one end of a pressing end cover (117), and the periphery of the pressing end cover (117) is fixedly connected to the upper end of the outer connecting sleeve (114);

the quick-connection male connector (12) comprises a first transmission shaft (121), an outer guide stepped seat (122) and a first bearing (123), the periphery of the first transmission shaft (121) is rotatably connected to an inner ring of the outer guide stepped seat (122) through the first bearing (123), one end of a trapezoidal connecting seat is fixedly connected to one end of a lead screw module (3), one end of the first transmission shaft (121) is detachably connected to a motor transmission shaft (113), and the other end of the first transmission shaft (121) is fixedly connected to a trapezoidal lead screw (33) arranged inside the lead screw module (3).

3. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: a plurality of positioning blocks (124) are uniformly distributed on the periphery of one end of the outer guide stepped seat (122) along the circumferential direction, a plurality of sliding grooves (112) are radially formed in the inner ring of the pressing end cover (117), the positioning blocks (124) correspond to the sliding grooves (112) one to one, and the positioning blocks (124) are located between the pressing end cover (117) and the limiting pressing cover (116) in the connecting state of the quick-connection female head (11) and the quick-connection male head (12).

4. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: the lead screw module (3) comprises a trapezoidal lead screw (33), an outer sleeve (35), a second bearing (34), an inner push rod (36) and a supporting guide sleeve (37), one end of the outer sleeve (35) is fixedly connected to one end of an outer guiding stepped seat (122), the inner ring of the other end of the outer sleeve (35) is provided with the supporting guide sleeve (37), the trapezoidal lead screw (33) is located at the inner ring of the outer sleeve (35), one end of the trapezoidal lead screw (33) is fixedly connected to one end of a first transmission shaft (121), the periphery of the trapezoidal lead screw (33) is rotatably sleeved to the inner ring of the outer sleeve (35) through the second bearing (34), the inner ring of the inner push rod (36) is in threaded connection with the periphery of the trapezoidal lead screw (33), and the periphery of the inner push rod (36) is in sliding connection with the inner ring of the supporting guide sleeve (37).

5. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: one end of the outer sleeve (35) is fixedly connected to one end of the outer guide stepped seat (122) through the outer side bent pipe (31), a universal coupling is arranged in the outer side bent pipe (31), and one end of the trapezoidal lead screw (33) is fixedly connected to one end of the first transmission shaft (121) through the universal coupling (32).

6. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: the positioning and pressing module (2) comprises a pressing operation rod (21), a pressing assembly (22), a positioning wedge block (23), an arc-shaped pressing block (24) and a pressing support plate (25), the periphery of an outer sleeve (35) is fixedly connected to an inner ring of the pressing support plate (25), one side of the pressing support plate (25) is hinged to one side of the pressing assembly (22), the other side of the pressing support plate (25) is provided with the arc-shaped pressing block (24), the upper end of the pressing assembly (22) is provided with the pressing operation rod (21), the lower end of the pressing assembly (22) is provided with the positioning wedge block (23), the positioning wedge block (23) and the arc-shaped pressing block (24) are tightly attached to the side wall of the end effector (6), and the relative positions of the lead screw module (3) and the end effector (6) are fixed.

7. The linear push rod tool applied to the space manipulator fault maintenance is characterized in that: the fixed lock head module (4) comprises a C-shaped lock body (41), a torsion spring (42), a pin shaft (43) and an unidirectional swing rod (44), the periphery of the C-shaped lock body (41) is fixedly connected to one end of the inner push rod (36), a capture groove is formed in the C-shaped lock body (41), the capture groove is a non-circular open groove, two side walls of the shown open groove are respectively hinged to the unidirectional swing rod (44) through a pin shaft, the two unidirectional swing rods (44) are symmetrically arranged, the periphery of each pin shaft is provided with the torsion spring (42), and the torsion spring (42) is used for resetting the relative position of the unidirectional swing rod (44).

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