315results about "Tools" patented technology

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 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 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.

A star infiltration device and method of measuring the gravitational acceleration and soil-bearing capacity of a star are provided. The infiltration device is multifunctional and has a variable ramming frequency intensity. It comprises an infiltrator in which a rammer is driven by solenoid coils to move up and down in a conducting pipe to cause the infiltrator to penetrate a layer of star soil. Planetary gravitational acceleration is measured while the infiltrator is in the penetration state, star soil softness is evaluated during the penetration process, and star soil thermal parameters and temperature fluctuations are measured after penetration.

The invention discloses a space false target system based on an inflatable structure and a deployment method thereof. Relates to the technical field of spacecraft protection, and the system comprises a load cabin and a storage cabin, the storage cabin is internally provided with a camouflage module, and the load cabin is internally provided with an inflation module used for inflating the camouflage module, a power supply module used for supplying power and a posture regulation and control module used for controlling the posture; the storage cabin is composed of a plurality of folding plates and can be automatically unfolded so as to release the camouflage modules in the storage cabin. According to the deployment method, satellite release is carried out along with the following steps of attitude adjustment, inflation and the like. Rapid unfolding is achieved through the folding type storage cabin and the torsional spring hinge, rapid deployment and stable control are achieved in combination with the inflation module and the posture regulation and control module, and the problems that a traditional system is complex in deployment, low in unfolding efficiency and insufficient in posture adjustment are solved; the system has the advantages of rapid deployment, compact structure, stable and reliable attitude and suitability for a dynamic space environment.

The invention discloses a universal protection device for lunar surface equipment based on in-situ resources, and relates to the technical field of lunar surface equipment protection. The device comprises a lunar soil layer, a base is mounted at the top of the lunar soil layer, and a protective cover assembly is mounted at the top of the lunar soil layer; an isolation layer is installed on the top of the base, a temperature control layer is connected to the top of the isolation layer, and a heat storage module is installed on the top of the temperature control layer and located in the protective cover assembly. Moon night heat preservation is achieved through the heat storage module, the protective cover assembly, solar energy utilization and efficient heat protection, space irradiation shielding and micro-meteorite impact protection are achieved through the flexible high-performance protective material, large-scale construction and long-period operation of the moon base are supported, the main protective material is obtained through lunar surface in-situ resource conversion, and the protection effect is good. Therefore, economical batch lunar surface equipment protection is realized, and dependence on a lunar surface energy system is reduced.

A payload release system for a vehicle includes a housing including a base plate and a cover plate selectively coupled to the base plate, wherein a receiving space is defined between the base plate and the cover plate; a crank rotatably coupled to the base plate within the receiving space; a trigger in operable communication with the crank, the trigger being configured to translate in response to a rotation of the crank; and an actuator operably coupled with the crank. The actuator includes a shape metal alloy (SMA) wire.

The application provides a variable configuration spacecraft system and method for non-cooperative target capture, and belongs to the field of deep space exploration. The method comprises the following steps: 1) a rigid combination flies to the vicinity of the target; 2) the combination is spun to be expanded into a ring belt; 3) the ring belt envelopes the target; and 4) the ring belt encloses the target. Large space debris and small celestial bodies both belong to non-cooperative targets, and cannot provide special interfaces for assisting capture. It is extremely difficult to develop general control mechanisms and methods to realize reliable capture and stable connection of various targets. In order to solve the problem, the application utilizes the inter-satellite connection to expand a plurality of controllable satellites into a ring-shaped multi-body tether satellite formation system, and carries out ring belt enveloping and then enclosing the tether to realize capture of a non-cooperative target with large scale, complex geometric shape, great uncertainty of motion state and inertia information according to a predetermined trajectory. The application has the advantages of high applicability, flexibility, high intelligence, reusability and small size.

The invention discloses a mechanical-electrical-sensing integrated quick-change interface and a quick-change method, and belongs to the technical field of mechanical engineering. The quick-change connector comprises a connector driving end, a connector driven end and a locking force increasing mechanism, and high locking force is achieved on the premise of miniaturization by adopting the principle that electromagnetic drive is combined with conical surface force increasing. The electrical connection and protocol conversion module integrates a tail end slave station, supports conversion of various communication protocols such as RS-485, CAN, EtherCAT and PWM, and realizes plug and play of a tail end tool; and the sensing module integrates a visual sensor and a six-dimensional force sensor and provides real-time environmental vision and force / torque feedback. Through deep integration of structure, electricity and sensing, the problems that an existing quick-change interface is complex in structure, poor in protocol compatibility and lack of autonomous sensing capacity are solved, and the flexibility, reliability and intelligent level of on-orbit fine operation of the space robot are remarkably improved.

The application discloses a spin-nutation collaborative inhibition method and system for a space tumbling target, and belongs to the technical field of aerospace. The method comprises the following steps: acquiring pose data of a space robot, and controlling the space robot to approach the space tumbling target according to the acquired pose data of the space robot; after the space robot approaches the space tumbling target, the space robot measures the space tumbling target, and acquires real-time state data of the space tumbling target by measuring the space tumbling target; a target stress position prediction model of spin-nutation collaborative inhibition is used to simulate and predict based on the acquired real-time state data of the space tumbling target, and a despinning condition required by a despinning tool in the space robot is determined; the space robot adjusts the pose according to the despinning condition, and controls the despinning tool to contact the space tumbling target, and implements contact despinning. The application can efficiently inhibit the nutation of the target in the initial stage of the despinning task, and effectively reduces the difficulty of the subsequent despinning task.

A positioning device includes at least one processor. The at least one processor detects a light source and a target object different from the light source in an image captured by an imager. A moving object has the imager and moves in a space. The at least one processor derives a position of the moving object in the space based on positions of the light source and the target object in the image and known positions of the light source and the target object in the space.

Systems and methods for assisting movement of a user and / or a base connected to one or more robotic limbs are described herein. Forces may be applied to one or more robotic limbs to control movement of the base. The base may be attached to a user, or other payload, and forces applied to the base due to externally applied forces, such as those applied by a user interacting with an environment, may result in reactionary forces being applied to the one or more robotic limbs. These forces may be detected and used to determine one or more commands for operation of the one or more robotic limbs. Optionally, the robotic limbs may include one or more end effectors which may removably couple or otherwise be held substantially stationary relative to an environment to form a closed loop kinematic chain.

The application discloses a small-sized separated penetrator for in-situ detection of celestial bodies, and relates to the technical field of penetrator equipment, comprising an aluminum honeycomb buffer module, which comprises an external protective shell and an aluminum honeycomb, and has the beneficial effects that the application is provided with in-situ detection of high-speed penetration of celestial bodies, and discloses a small-sized separated penetrator, which comprises a planet soil penetration module and a star table detection module, and realizes autonomous separation in the impact penetration process, the star table module can realize star table detection and communication with an orbiter, the penetration module is internally provided with an energy storage device and an impact hammer, and can continue to penetrate and dive relying on the energy storage device after impact; the star table module is connected with the penetration module through flexible wires, and can supply power and signal transmission to the latter, the technology enables the penetrator with the modular characteristic to have the in-situ detection capability of planet soil profile, aims to expand the application mode of the penetrator for celestial body detection, and provides a scientific basis for the research of star table structures.

The invention discloses an electromagnetic capture connecting mechanism with a spring flexible support, and relates to the technical field of electromagnetic capture. The device comprises a base, an inner cavity of the base is fixedly connected with a fixing assembly, the inner cavity of the base is fixedly connected with a flexible supporting assembly through the fixing assembly, the top of the flexible supporting assembly is fixedly connected with an electromagnetic coil, and the flexible supporting assembly comprises a mounting boss fixedly connected to the top of the base. According to the supporting structure, rigid supporting is changed into elastic deformable supporting, the stress of the end face of the electromagnetic coil and the supporting piece is effectively reduced, meanwhile, the damping spring and the electromagnetic coil are integrally designed, the buffering function is added while the electromagnetic performance is kept unchanged, the fatigue life of the supporting piece is prolonged, and the service life is prolonged. The magnetic core and the butt joint face are kept coaxial through the elastic buffering effect, force-displacement coupling energy absorption is achieved at the same time, mechanical impact at the electromagnetic capture moment is avoided, relative vibration attenuation in the butt joint process is accelerated, and capture precision is improved.

The invention relates to the technical field of space non-cooperative target capturing and racemization, in particular to a space non-cooperative target variable-stiffness racemization device based on a dielectric elastomer and application of the space non-cooperative target variable-stiffness racemization device, and the space non-cooperative target variable-stiffness racemization device is suitable for attitude control and racemization operation of space tumbling satellites, space debris and other non-cooperative targets. The supporting assembly comprises a middle shaft, a middle shaft servo motor and a fixing base, the middle shaft vertically penetrates through the fixing base, and the middle shaft servo motor is in transmission connection with the middle shaft and used for driving the middle shaft to rotate around the axis of the middle shaft or driving the middle shaft to pitch in the vertical direction so as to adjust the space posture of the arm rotation eliminating body. Compared with the prior art, the racemization device is high in racemization precision, good in operation flexibility, free of fuel consumption and suitable for long-term space tasks.

The invention discloses a universal butt-joint high-rigidity butt-joint locking quick-change device for large-scale modular on-orbit assembly, and belongs to the technical field of space robots. An existing butt joint interface is poor in universality and difficult to adapt to diversified on-orbit assembly requirements. A first positioning surface is arranged at the top end of a driving end shell, and an opening is formed in the outer circumferential surface; a clamping jaw driving assembly is arranged in the shell; the clamping jaw comprises three capturing fingers and three groups of corresponding finger connecting assemblies, each group comprises a hinge seat, a finger connecting rod, a first pin shaft, a second pin shaft and a third pin shaft, the hinge seat can be driven by the clamping jaw driving assembly to move up and down, one end of each capturing finger is connected with one end of the corresponding finger connecting rod through the corresponding first pin shaft, and the other end of each capturing finger extends out of an opening of the shell; the other end of the finger connecting rod is connected with the hinge seat through a second pin shaft; the third pin shaft is mounted at the position, close to the opening, of the shell and rotationally connected with the capturing finger; the passive butt joint module is provided with a locking groove matched with the clamping jaw and a second positioning face matched with the first positioning face.

The invention discloses a shape memory alloy driving-based Krasserian origami bionic adhesion crawling robot which is mainly applied to space on-orbit target surface detection and maintenance. The robot comprises a body part and an advancing part, the body part comprises a head visual perception module, a body movement module, a main control module and an energy supply module, and the advancing part comprises a leg movement module and a dry adhesion module. The robot adopts a Krassin origami structure and a shape memory alloy wire driving system, and a shape memory alloy wire is driven by current to generate phase change, so that bionic motion is realized. The energy supply module provides power needed by the robot through the solar cell panel and the battery module, and long-term stable operation of the robot is supported. The robot is designed to be light and small, so that the robot has high flexibility and adaptability when being deployed on the surface of a target to perform tasks, and is particularly suitable for maintenance of space on-orbit targets.

This invention discloses a Tube model predictive control method for electromagnetic docking in on-orbit refueling, comprising: S1, establishing a spacecraft orbit-electromagnetic-liquid coupled dynamic model and converting it into a discrete state-space form; S2, designing a constraint tightening method based on adaptive robust invariant sets to address disturbance terms in the dynamic model, ensuring recursive feasibility under bounded disturbance conditions; S3, constructing an energy consumption-accuracy multi-objective optimization function, and using a rolling time-domain optimization framework to achieve a dynamic trade-off between energy consumption and docking accuracy; S4, constructing a control Lyapunov function, and using robust invariant sets to ensure the stability of the algorithm under constraints, thereby obtaining the optimal controller; S5, substituting the Tube model predictive controller into the closed-loop system to achieve a stable relative position of the spacecraft, realizing coupled control. This invention can achieve precise electromagnetic docking control under conditions of system time-varying dynamics and coexistence of external and tank liquid disturbances, with low control energy consumption and wide applicability.

The invention discloses a flexible wiping method and system of a flexible joint space robot based on dynamic adaptive impedance control, and the method comprises the steps: firstly, building a contact model between the flexible joint space robot and a wiped target; then, self-adaptive impedance control for dynamically updating impedance parameters is designed; and finally, performing comparison simulation on classical constant impedance, fixed update rate adaptive impedance control and dynamic update rate adaptive impedance control, and verifying the effectiveness of the method combining the dynamic update rate adaptive impedance control and singular perturbation control on friction force compliance control in the wiping process of the flexible joint space manipulator by a simulation result. The method is used for the field of on-orbit wiping of the flexible joint space robot, and accurate compliance force control can be conducted on the flexible joint space robot rapidly, efficiently and accurately; when the flexible joint space robot executes a task, necessary guarantee can be provided for the flexible joint space robot, and it is ensured that the space robot and a wiping target are not damaged, and meanwhile a good cleaning effect is obtained.

The invention discloses a satellite-borne mechanical arm, and relates to the field of mechanical arms, the satellite-borne mechanical arm comprises a front arm, a mechanical claw is mounted on the front arm, and the mechanical claw comprises a hydraulic cylinder and a plurality of main clamping claws; the net claws are mounted on one sides of the main clamping claws, and the net claws can be unfolded and folded around the hydraulic cylinder; the folding and unfolding driver is mounted at the bottom of the hydraulic cylinder, the folding and unfolding driver comprises a plurality of telescopic rods, and the telescopic rods are rotationally connected with the net claws; the telescopic rod drives the net claws to unfold around the hydraulic cylinder through the folding and unfolding driver, gaps among the multiple main clamping claws are protected by the unfolded net claws, and the hydraulic cylinder drives the main clamping claws and the unfolded net claws to grab small garbage; the net claw is driven by the telescopic rod to be folded on the side of the main clamping claw, the hydraulic cylinder drives the main clamping claw to grab large garbage, and the problem that small space garbage escapes from a gripper gap due to a traditional mechanical arm is solved.

The invention discloses a flexible constraint multi-agent hunting control method under configuration representation, and belongs to the field of space tethered robots. The method comprises the following steps: establishing overall configuration characterization of the space flying net robot; defining configuration parameters for describing a surrounding state; reversely solving an expected terminal surrounding configuration state based on the size, position and attitude information of the target; by taking the configuration parameters as an optimization target and combining the dynamic constraint and the control constraint of the satellites, respectively planning the overall path of the virtual center of the space flying net robot and the expected trajectory of each satellite meeting the flexible net constraint by adopting a sequence convex optimization method; constructing a cooperative game framework by taking each satellite as a game participant and taking a pose cooperative consistency error of the satellite as a game state; and solving an equilibrium strategy of the game online by adopting a self-adaptive dynamic programming method, generating a control instruction of each satellite, and driving the system to converge to an expected hunting configuration. According to the method, the optimal hunting configuration is achieved through cooperative control among satellites.

This provides a coupling mechanism that can reliably protect the internal mechanism from adverse effects of the external environment. [Solution] The coupling portion 3A of one robot module 2A comprises an annular base portion 4 having an opening in the center, a planar flexible sealing member 4 covering the opening of the base portion 4, an engaging portion 7 disposed outside the sealing member 4, and a drive unit 9 built inside the base portion 4 separated by the sealing member 4. The coupling portion 3B of the other robot module 2B comprises an engaged portion 7' ​​that engages with the engaging portion 7. The drive unit 9 engages the engaging portion 7 via the sealing member 4, and the sealing member 4 deforms in sync with the movement of the engaging portion 7.

Disclosed are a toroidal tank (1) for a vehicle, comprising two ring shaped internal fluid compartments (10,12), wherein a cylindrical wall (6) separating these fluid compartments (10,12) are adapted to be a part of the primary structure of the vehicle and thus to be integrated in a load path of the vehicle, and a vehicle.

The present invention is embodied in systems and devices for transporting assets (small satellites, goods, or other payloads) in outer space. A preferred system comprises a scaffold of relay stations strategically orbiting one or more celestial bodies. Since the orbits are complementary to each other, the relay stations can transport mass objects from one station to another. In this way, the system can support various logistics networks connecting space between orbits such as low Earth orbit (LEO), geostationary orbit (GEO), and low lunar orbit (LLO), as well as space between Earth and Mars.

The application provides a pressurized rotating mechanism suitable for a weightless environment, which comprises a rotating transmission rod, a releasing component, a pressurizing component and a tool head component; the rotating transmission rod is used for transmitting rotating power to the tool head component; the releasing component is used for locking the pressurizing component when non-processing, and releasing the pressurizing component when processing; the pressurizing component exerts a downward pressure on the upper end of the tool head component, so as to ensure that the tool head is stably contacted with a cutting object during rotation.

The present application belongs to the technical field of space docking, and particularly relates to a petal-shaped docking interface driving device for space on-orbit assembly. The docking 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 constitute an active docking module. When two modules are docked, the isomorphic petal-shaped active and passive docking interfaces are engaged with each other, and the locking push rod in the locking module is driven by a motor to push the locking sleeve and the locking pin to reach and leave the locking groove to realize active locking and unlocking. The docking interface driving device has the advantages of simple and compact structure, motor power-off self-locking, small overall size, light weight, high reliability, and is suitable for quick docking and separation between space modular robots and mechanical arms.

The invention relates to a large-aperture fixed surface radio telescope system and an on-orbit construction method, and the system comprises a radio telescope which is a large-aperture radio telescope; the mechanical arm is configured to perform in-orbit installation on the plurality of second antenna panel split plates so as to form the second antenna panel; and a satellite platform configured to carry the radio telescope and the robotic arm. The radio telescope includes: a first antenna panel; the second antenna panel comprises a plurality of second antenna panel sub-plates; and the butt joint device is configured to be in butt joint with the first antenna panel and the second antenna panel. The docking device can be conveniently docked with the second antenna panel on the outer side of the first antenna panel, and locking is completed through motor retraction after docking locking, so that the telescope system has two states of assembling and working, the requirement for the control precision of a mechanical arm is reduced, and the collision risk is reduced.