590results about "Tools" patented technology

Disclosed in the present invention are a multi-modal shared teleoperation system and method for a three-arm space robot. The system at least comprises a master-side teleoperation system, a communication module and a slave-side robot system, wherein the master-side teleoperation system at least comprises two force feedback hand controllers, a microphone array and upper computer software, and the slave-side robot system comprises two operating arms each equipped with a gripper at the end, an observation arm having a binocular camera mounted at the end, a vision unit, a force sensor and lower computer software. The method comprises: an operator controlling two operating arms of an extravehicular robot to execute a task, and controlling an observation arm to acquire a better local field of view. In the method, a multi-modal teleoperation method comprising pose control, voice control and force control is fused with autonomous control of a robot by means of a shared control algorithm, and thus, human-robot collaborative control over the position, orientation and contact force of a robotic arm can be realized on the basis of the requirements of the operator, and the robot autonomously executes other relatively simple tasks, thereby reducing the operation burden of operators, and improving the control efficiency.

A multimodal shared telerobotic system and method for a three-arm space robot, the system at least includes a local-site system, a communication module, and a remote-site system, where the local-site system includes two force-feedback haptic devices for left and right hands, a microphone array, and upper computer software; the remote-site system includes two robotic arms provided with end-effectors, an observation arm with a stereo camera installed at an end thereof, two force sensors, a vision unit and lower computer software; an operator can control the two robotic arms of the robot outside a cabin for performing operations, and control the observation arm to obtain a better local view; and a multimodal telerobotic control method of pose control, voice control, and force control is integrated with the robot's autonomous control through a shared control algorithm.

A modular satellite system is provided comprising a main body member, one or more controllers, a communication system, a datastore, a power unit, and one or more orbital cameras. The controller(s) may be operable to perform a mission instruction. The communication system may be in communication with the controller(s) and with a client terminal. The datastore may store data accessible by the controller(s). The orbital camera(s) may be operable to capture one or more image(s) associated with the mission instruction, which may be defined as captured image(s). The controller(s) may be operable to detect and identify one or more predetermined object(s) in the one or more captured image(s). The controller(s) may generate a mission analytics packet, and the controller(s) may be operable to transmit the mission analytics packet to the client terminal.

The invention discloses a planetary detection system and method based on Uda muons. The planetary detection system comprises a muon generation system and a muon detector system. Wherein the muon generation system is used for controlling the position, the posture, the shape and the structure of a target material placed on the surface of a space or a star according to a muon generation demand sent by the outside, and the target material generates muons under the action of high-energy cosmic rays; and the muon detector system is used for collecting, analyzing and processing the muon signals to obtain parameters of the to-be-detected area and a visual image result.

Systems, methods, and devices for robotic capture of an object are provided. A system for robotic-based capture of a free flyer object includes a grapple fixture for mounting to the free flyer object and an end effector for capturing the free flyer object by interfacing with the grapple fixture. The grapple fixture includes a base and a deflectable probe. The end effector includes a probe guiding surface for deflecting and guiding a probe tip of the probe through an opening in the probe guiding surface and into a grappling position. The end effector includes a probe sensing element for sensing when the probe tip is in the grappling position and triggering a capture mechanism. The capture mechanism grapples the probe tip and an actuator retracts the capture mechanism to a predetermined position to establish a load-bearing interface between the free flyer object and the end effector.

Systems and methods for industrial robotic platforms. Squads of industrial robots autonomously communicate and work together. A control center may monitor the autonomous operations. Software at the control center, squad, and robot levels forms a distributed control system that analyzes various data related to the platform for monitoring of the various systems. Artificial intelligence, such as machine learning, is implemented at the control center, squad, and / or robot levels for swarm behavior driven by intelligent decision making. Each robot may include a universal platform attached to a task-specific tooling system. A robot may be elected as a squad leader, cartographer leader, or task planning leader. A squad leader, cartographer leader, or task planning leader may perform specialized planning functions for a squad of robots. Information generated by robots performing a task may be transmitted to the control center for further development of machine learning models.

The invention provides a maintenance tool suitable for high-precision positioning of a space solar wing. The maintenance tool comprises a clamping positioning tool and an electric drilling tool. The clamping and positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly. The clamping assembly is used for clamping the space solar wing and providing an alignment window corresponding to a to-be-maintained part on the space solar wing; the handle fixing assembly provides extra pressure for the clamping assembly after the clamping assembly clamps the space solar wing, and reliable fixing of the space solar wing is achieved. The angle positioning assembly drives the electric drilling tool to move to the alignment window; the electric drilling tool comprises a motor driving part, a drilling part and a protection part. The protection component is used for providing outboard protection for the drilling component in a non-operation stage, and during operation, the protection component is taken down, and a tool bit of the drilling component is aligned to a drilling area of outboard equipment; the motor driving part is used for providing stable rotation output in the drilling direction; and the drilling component takes the output of the motor driving component as the input to ensure that the tool bit is always kept in close contact with an object through the applied downward pressing acting force in the operation process to complete drilling maintenance.

The invention belongs to the technical field of space docking, and particularly relates to a petal type docking interface driving device for space on-orbit assembly. The butt joint interface driving device comprises a driving module, a fixing module, a locking module, an active interface and a passive interface. The locking module is in contact connection with the driving module, and the driving module and the active interface are connected with the fixing module through bolts to jointly form an active butt joint module. When the two modules are in butt joint, the petal type active and passive butt joint interfaces of different structures are connected with each other, and a locking push rod in the locking module is driven by a motor to push a locking sleeve and a lock pin to reach and leave a lock groove, so that active locking and unlocking are achieved. The butt joint interface driving device is simple and compact in structure, small in overall size, light in weight, high in reliability and suitable for rapid butt joint and separation between a space modular robot and a mechanical arm, and power-off self-locking of the motor can be achieved.

The invention provides a flywheel unloading method based on an electric pushing mechanical arm in a position protection period. The flywheel unloading method comprises the steps that a joint corner combination is selected when the thrust direction is in a position protection allowable range; the control torque under the joint rotation angle combination of each mechanical arm is determined, and an initial table look-up matrix is established; determining an optimal torque and a torque error allowable range; according to the control torque, the optimal torque and the torque error allowable range, grade division is conducted on the joint corner combination; constructing a cost function according to the optimal torque and the control torque; on the basis of grade division, the smaller the cost function is, the higher the priority of the joint corner combination is; selecting a joint corner combination with the highest priority from the initial look-up table matrix, performing permutation and combination of joint corners around the joint corner combination in a fine step length manner, determining a corresponding control moment, forming a second-order look-up table matrix, and selecting a joint corner combination with the highest priority; and circularly selecting the joint corner combination with the highest priority to obtain a final joint corner combination.

An advanced tool drive system (ATDS) is capable of grasping a variety of tools through a common interface and provides multiple modes of operation for these tools for these tools. The ATDS is a combination of both a tool actuator and tool change-out mechanism and provides three nested drive actuators-two rotary and one linear. In addition to the tool drive, the ATDS includes four brushless direct current (BLDC) motors which provide the actuation torque to accomplish the multiple modes of ATDS operation, and a camera positioning mechanism (CPM) capable of viewing features on a client satellite or asteroid. By consolidating the drive actuation motors within the ATDS, the design of mating tools becomes less complex and reduces risk and cost of multiple drive actuators having to be installed in multiple tools.

A preparation method of a foldable / unfoldable honeycomb structure lunar module can meet the requirements of astronauts living on extraterrestrial bodies, liquid transportation, pressure-resistant containers, etc. In the present invention, a planar circular ring sheet material is equally divided and marked, misaligned and connected, axially stretched, and then glued and cured at a specified position to obtain a foldable and telescopic hollow honeycomb structure; the structure shaping of the honeycomb structure lunar module is realized by stepwise curing of the resin coating on the honeycomb surface. The present invention proposes a new hollow honeycomb structure as the skeleton structure of the lunar module. The planar honeycomb structure has the advantages of low density and strong pressure resistance, and is applied to the sandwich of anti-theft doors, airplanes, corrugated cardboard, etc. When the planar honeycomb is bent, the honeycomb will be deformed, seriously affecting its mechanical properties. The novel hollow honeycomb structure not only has the advantages of the planar honeycomb, but also solves the problem that the planar honeycomb is difficult to be applied to curved surfaces.

The present invention relates to articulating spacecraft chassis and methods of making and using same. The present invention relates to spacecraft chassis and methods of making and using same. Such spacecraft chassis have a dynamic movement capability that allows the spacecraft to alter its structure while still maintaining industry volumetric launch standards. This capability increases opens up a wide range of achievable volumetric states and increases the ability to meet mission requirements by introducing a new tunable parameter. In addition, the judicious selection of certain dynamic movement parameters can result increased payload capabilities and improved maneuverability.

Robotic systems, methods, and devices for grappling and actuating a pay load are provided. A robotic end effector device includes a grapple mechanism for capturing and rigidizing a pay load through a grapple fixture. The grapple mechanism grapples a probe of the grapple fixture and retracts the probe to bring a first coupling element of the grapple fixture into mating connection with a second coupling element on the grapple mechanism. Each coupling element includes a plurality of radially-disposed teeth and notches which are configured to mate with the notches of the other coupling element. The grapple mechanism includes a pay load present sensor for sensing the probe is present in the grapple mechanism to initiate grappling and a calibration sensor for tracking position of a moving component of the grapple mechanism. Retraction of the moving component is stopped at a target preload position based on the position tracking.

End effectors and systems may capture, release, and / or create a mating engagement between the end effector and a target object, such as in capture and launch applications, grasping applications, or pick-and-place applications. The end effectors are tolerant of positional and rotational misalignment of the target object, and may include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. Control devices enable operation of these and other end effectors in a portable, self-contained system that a single operator can use in a hand-held or wearable form factor. The control devices may include a drive system for power transfer, manual and automatic leveling or angular positioning mechanisms, and / or operator-mounting features. Related methods may involve capture and release, pick-and-place, and / or grasping operations performed with the disclosed control device and one or more end effectors coupled thereto.

The invention discloses a large-tolerance docking capturing device for capturing an on-orbit load, and belongs to the technical field of on-orbit service of spacecrafts. The existing in-orbit load docking capture process has the problems of complex docking operation, low docking efficiency, large required docking space and the like. The device comprises a capturing and locking mechanism and a positioning mechanism, the positioning mechanism comprises an active positioning module and a passive positioning module, the active positioning module is provided with a first positioning molded surface, the passive positioning module is provided with a second positioning molded surface, and the active positioning module is installed on the butt joint end face of the capturing and locking mechanism. The passive positioning module is installed on the butt joint end face of the on-orbit target, and in the process that the capturing and locking mechanism captures and pulls the on-orbit target to move towards the capturing and locking mechanism side, the second positioning molded surface on the passive positioning module makes contact with the first positioning molded surface on the active positioning module and is obliquely supported. The passive positioning module drives the on-orbit target to rotate in the circumferential direction so as to achieve positioning of the on-orbit target and the capturing and locking mechanism. The method is used for capturing the space on-orbit load.

A space flexible gripper driven by tiny comprises a flexible grasping part and a trigger part; the flexible grasping part comprises a plurality of articulated segments, each of which comprises two mutually articulated grasping plates; the trigger part comprises two movable plates to be close to each other or to be far away from each other; two grasping plates of the first segment are fixed to two movable plates respectively. The invention utilizes an electric signal to trigger the microelectric triggering springs to expand and contract, which indirectly drives two movable plates to be close to each other or to be far away from each other; at the same time, as two mutually articulated grasping plates of the first segment are respectively fixed to two symmetrical movable plates, the mutual approach or mutual distance of the grasping plates of the first segment can be quickly realized.

The invention discloses an attached type variable-structure robot for on-orbit assembly. The attached type variable-structure robot comprises a tool magazine, a robot body, an operation arm and an adsorption actuator. The tool magazine is located above the robot body. The four operation arms are located on the side of the robot body. And the four sets of adsorption actuators are uniformly distributed below the robot body. Configuration transformation of the operation arm can be achieved on orbit, the configuration requirements under different tasks are met, the flexibility of the operation arm is improved, through multi-arm collaborative operation of the operation arm, the on-orbit working efficiency and the operation precision can be remarkably improved, and meanwhile the working reliability and the fault-tolerant capability are further improved; rapid replacement of a tail end tool can be achieved on orbit, expansion of the on-orbit function of the robot is achieved, and the robot can better adapt to various on-orbit tasks; the robot and the spacecraft are attached and fixed in an electromagnetic adsorption mode, and the robot and the spacecraft can better adapt to on-orbit tasks in a vacuum environment; solar energy can be fully utilized to provide electric energy for on-orbit tasks of the robot, and the on-orbit operation time of the robot is effectively prolonged.

The present invention relates to the field of space launch and assembly technology, and specifically provides an assembling method for an on-orbit space telescope. The method mainly comprises the following steps: splitting the space telescope into modules, reasonably selecting the size of a carrier rocket cargo package according to the size of each module, designing an astronaut cabin assembly plan and the number of astronauts' cabin exits according to the structural characteristics of the on-orbit assembled telescope module, and reducing the number of astronauts' cabin exits by combining on-station pre-assembly with cabin exit splicing, improving the on-orbit assembly efficiency, and having the advantages of high uplink efficiency and high utilization rate of carrier rocket cargo packages.

Container for collecting space debris. Space debris ingress through container's openable access port. A barrier deployment mechanism has a rotatable roll of flexible material on a frame assembly. A barrier translation mechanism translates the frame assembly towards or away from the access port to adjust the size of the compartment. When unwound, the roll forms a compartment for containing the space debris within the interior of the container, thus forming an obstruction between the compartment and access port.

A system for collecting debris includes a collector configured to accumulate debris and retain an electrostatic charge; a deployment mechanism configured to move the collector into a path of the debris; an electrostatic charging array comprising one or more wires or plates operatively connected to the collector; and one or more processors operatively coupled to the collector, the deployment mechanism, and the electrostatic charging array. The one or more processors are configured to track debris in relation to the collector; control movement of the collector and the deployment mechanism; and regulate power to the electrostatic charging array.

The controllable floating electromagnetic capturing mechanism comprises an electromagnet, a separating device, a connecting rod floating device, a non-contact switch device, a lead screw, a lead screw nut, a guide rod, a linear bearing, a guide rod fixing block, a large gear, a small gear, a motor, an upper shell, a middle shell, a lower shell and a visual camera. The connecting rod floating device comprises a base, an outer connecting rod, an inner connecting rod, a ball rod, an adaptive block, an adaptive rod, a pre-tightening sliding block, a pre-tightening spring, a floating spring and a control sliding block; the separating device comprises a retaining spring, a separating sleeve, a separating shell, a separating plug, a separating rod and a separating spring; the separating device comprises a retaining spring, a separating sleeve, a separating shell, a separating plug, a separating rod and a separating spring; the motor drives the lead screw to rotate through the small gear and the large gear, the control sliding block of the connecting rod floating device is controlled to ascend and descend, and the floating and locking states of the electromagnet are changed.

A tiered spacecraft docking station is adapted to facilitate docking of spacecraft within outer space. A first tier includes a first frame enclosing a first area. A first net-like mesh is coupled to the first frame and fills the first area enclosed by the first frame. A second tier includes a second frame enclosing a second area. A second net-like mesh is coupled to the second frame and fills the second area enclosed by the second frame. A plurality of support beams attach the first frame to the second frame. A lander is used to slow and stop a spacecraft on a celestial body. The lander includes a first and a second webbed structure and a decelerator coupled to the first webbed structure and / or the second webbed structure. The decelerator maintains a tension in the first and / or second webbed structure below a predetermined threshold.

The gripper consists of a support structure (1) with two counter-directional carts (2, 3) moving on the support structure along linear guides (4). The carts (2, 3) are driven by a screw gear in the form of a drive shaft (5) which is counter-threaded on both sides, and of two nuts (6, 7) connected with the carts (2, 3). Each cart (2, 3) consists of two linear finger guides (8) situated at the same angle (α) relative to the axis (9) of the support structure guides (4). On the guides (8) are mounted are retractable fingers (10) which extend from the carts (2, 3) through the action of the springs (12). The flat central section of the support structure (1), parallel to the axis (9) of the guides (4) of the support structure (1), and the fingers (10) of the carts (2, 3) delineate the bottom (13) and two sides (14) of the grasping envelope (15) of the satellite, respectively. The entrance into the grasping envelope (15) is situated opposite to its bottom (13) and is equipped with optical sensors (19) detecting the presence of the adapter (11) of the satellite being gripped. Each finger (10) has a distal end (16) and a proximal end (17) relative to the entrance into the grasping envelope (15). The two sides (14) of the grasping envelope (15) are delineated by the gripping surfaces (14') of the fingers (10) which are substantialy perpendicular to the bottom (13) of the grasping envelope (15). The gripping surface (14') of each finger (10) in the vicinity of the proximal end (17) of the finger (10) has a protrusioin (18) directed towards the grasping envelope (15).

Provided is a system, method and device for electrodynamic dust shielding. The system includes an electrodynamic dust shield device external to an object having lunar dust. The electrodynamic dust shield device electrodynamically removes unwanted material from the object. The method includes positioning an electrodynamic dust shield device near an object to be cleaned from dust, and providing an electric field with the electrodynamic dust shield to remove dust from the object to be cleaned.

The system extracts water from lunar regolith and includes a regolith intake having a digging bucket that collects lunar regolith soil and a gravel separator that separates and discharges gravel and passes a mixture of ice-regolith powder having ice grains that are about 10-100 microns along the conveyor. A pneumatic separator receives the ice-regolith powder and pneumatically splits the ice-regolith powder into streams of different sized lithic fragments and ice particles per the ratio of inertial force and aerodynamic drag force of the lithic fragments and ice particles. Each split stream may include a magnetic separator that separates further the magnetic and paramagnetic lithic fragments from ice particles to discharge up to 80 percent of lithic fragments to slag.

Provided is a system and method for robotic interfacing. The system includes a first object having a grapple fixture and a plurality of outrigger support pillars. The system includes a second object having an end effector and a plurality of outrigger support arms. The plurality of outrigger support pillars couple to the plurality of outrigger arms to strengthen a previously designed interface between the end effector and the grapple fixture so that the interface is able to withstand increased loading for new applications.

The invention discloses a cosmic space on-orbit docking load device capable of being repeatedly positioned, and belongs to the technical field of aerospace. The structure comprises an active end structure and a passive end structure. The driving end structure comprises a driving end support, a transmission lead screw and a lead screw driving mechanism. The transmission lead screw is rotationally arranged on the driving end support. The driven end structure comprises a driven end support and a transmission nut. An alignment mechanism is arranged between the driving end bracket and the driven end bracket; when the driven end structure is in butt joint with the driving end structure, the transmission lead screw can be in threaded fit with the transmission nut under the action of the lead screw driving mechanism. The structure is simple, the size is small, the weight is light, unnecessary energy consumption and space can be saved, replacement or butt joint locking operation between the driving end structure and the driven end structure is convenient and fast, and the device has the advantages of being stable and capable of being repeatedly used; and the functional requirements of a cosmic space on-orbit satellite, a space station and a spaceflight platform for repeatedly replacing loads such as positioning, butting and locking vulnerable equipment or consuming storage boxes can be met.

The invention relates to the technical field of space on-orbit robots, in particular to a reconfigurable rigid-flexible coupling space on-orbit assembly robot which comprises a spacecraft cluster, a lifting type parallel robot, a flexible cable system, a flexible cable driving platform, a mechanical arm module and a bistable self-adaptive clamping jaw module. A spacecraft cluster is used as a base, and the modular reconfigurable characteristic is achieved; the lifting type parallel robot located at the bottom of the spacecraft cluster executes position and posture fine adjustment of the spacecrafts by dynamically adjusting the position and posture of a movable platform of the lifting type parallel robot, when an assembly task is executed, the spacecraft cluster reaches a designated position, the relative position and posture between the spacecrafts in the spacecraft cluster are adjusted according to the requirement of the assembly task, and reconstruction of the robot is achieved; the multi-stage and multi-task on-orbit operation adaptive capacity is achieved, on-orbit operation of a variable-size and unstructured space target can be effectively executed, and the operation stability and robustness in the unstable space environment are remarkably enhanced.

The invention relates to a dexterous lunar surface operation robot, which belongs to the technical field of aerospace / the field of lunar exploration, and comprises a specially designed mobile lifting system, a mechanical arm operation system, a navigation control system, a communication system, an energy system and a thermal control system, the mode that a foldable suspension supports local lifting of the additional platform is preferably adopted, meanwhile, the scheme that a large mechanical arm and a small mechanical arm are matched for cooperation and a tail end tool can be replaced is preferably adopted, the task operation space is expanded, the task operation height requirement is met, energy is saved, and the problem that in the prior art, the size and the weight cannot be considered at the same time is solved. And the method can adapt to different task scenes so as to solve the problem that in the prior art, the quality and the operation freedom degree cannot be considered at the same time, the operation freedom degree is met, meanwhile, the task reliability is considered, and most tasks can still be completed under the single-arm fault condition.

The present invention relates to an attachment foot of a space crawling robot, comprising a base plate, and also comprising: a flexible base arranged on the lower surface of the base plate, the lower surface of the flexible base being provided with a bionic adhesive material; a plurality of claw feet rotatably arranged on the base plate, each claw foot being provided with a transmission structure; the transmission structure comprising: a directional support rod fixedly arranged on the upper surface of the base plate; a slider sleeved on the directional support rod and movable along the directional support rod; the slider is connected to the claw foot through a connecting rod, and is configured as follows: the slider moves along the directional support rod to drive the claw foot to rotate. The present invention can achieve reliable attachment to spacecraft surfaces of different roughnesses in a space environment, a plurality of claw feet are designed in the attachment foot, each claw foot is designed with a set of independent transmission mechanisms, the space robot can be stably attached to the target spacecraft surface for a long time, and is suitable for scenes where the crawling robot foot is frequently attached and detached.