Page 92 - 《真空与低温》2025年第5期

第 31 卷 第 5 期 真空与低温
2025 年 9 月 Vacuum and Cryogenics 631

空 间 楔 形 自 锁 式 重 复 锁 紧 机 构

康 永，马动涛 ，闫春杰，陆登柏，马洪炯，肖 强，孙 健
*
（兰州空间技术物理研究所，兰州 730000）

摘要：针对宇宙真空环境下， 舱外机械臂或航天员操作下的在轨可更换单元重复锁紧困难的问题，研究了
一种以电动为主、航天员手动操作为辅的空间楔形自锁式重复锁紧机构。设计了锁紧执行机构和驱动机构，确定
了锁紧驱动力、滑移面材料等关键参数。结果表明，10 kg 的原型机承载能力达到 350 kg，能够适应舱外机械臂或
EVA 操作，受载条件下自锁可靠、定位精度良好，−45～60 ℃ 的真空环境下运动可靠，锁紧和解锁功能正常。
关键词：航天器；锁紧机构；自锁；锁紧执行机构；锁紧驱动机构
中图分类号：TB71；V443 文献标志码：A 文章编号：1006−7086（2025）05−0631−07
DOI：10.12446/j.issn.1006-7086.2025.05.012

A Repeated Locking Device for Space Vehicles Based on Wedge Self-locking Principle

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KANG Yong，MA Dongtao ，YAN Chunjie，LU Dengbai，MA Hongjiong，XIAO Qiang，SUN Jian
（Lanzhou Institute of Physics，Lanzhou 730000，China）

Abstract：In the vacuum，high and low temperatures，space radiation and other cosmic environments of the universe，
aiming at the problem of repeated locking orbital replacement unit based on manipulator operating，planetary extravehicular
activity （EVA） and the operation of the manipulator cooperating with the operation of the astronaut cabin，a repeated lock-
ing device based on wedge self-locking principle which could be mainly electric or manual operated was put forward in this
paper. Extravehicular activity （EVA） is one of the most dangerous activities of human space exploration. In order to ensure
the safety of astronauts and the success of missions，it is imperative to identify and mitigate the inherent risks and challenges
associated with EVAs. Space robots have high mission flexibility， working ability and operational accuracy， and have the
ability to replace astronauts to complete dangerous tasks. Robot operation replaces astronauts' out-of-cabin operations，which
will greatly reduce the danger of astronauts，and save the airlock opening life and gas resources of the aircraft. The lock actu-
ator and lock driver of the repeated locking device for space vehicles based on wedge self-locking principle were meticulous-
ly，comprehensively and cleverly designed. The key technologies of lock driving force and slip surface material were deter-
mined. The results of the load capacity test，life test，manipulator operation matching test and thermal vacuum environment
test showed that the prototype sets with deadweight of 10 kg could bear the weight of 350 kg and could adapt to manipulator
operating and EVA and had the advantages of self-locking and positioning accuracy under load. This device could adapt to
the vacuum temperature of −45～60 ℃ and had the advantages of reliably locking and unlocking movement. In the subse-
quent space docking mechanism or locking mechanism design process，it can be given priority as an alternative configuration.
It can improve the level of China's related space repeatable locking technology，and lay a solid foundation for China's space
industry.
Key words：space vehicles；locking device；self-locking；lock actuator；lock driver

0 引言 环境监测、空间生命科学、空间天文和空间地球科
国际空间站（ISS）开展了大量材料暴露、空间 学等领域的实验研究，取得了丰硕的研究成果 [1-4] 。

收稿日期：2024−08−16
基金项目：真空技术与物理重点实验室基金（6142207210201）
作者简介：康永，高级工程师。E-mail：kangyongaa@126.com
通信作者：马动涛，研究员。E-mail：madongtao@sina.com