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 locking 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 actuator and lock driver of the repeated locking device for space vehicles based on wedge self-locking principle were meticulously, comprehensively and cleverly designed. The key technologies of lock driving force and slip surface material were determined. 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 subsequent 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.