452results 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 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.

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.

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.

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.

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.

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.

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.

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.

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 high-storage-ratio folding method for a large conical film structure, and belongs to the technical field of space debris removal and satellite light shields. The problems that an existing plane deorbit sail is poor in attitude stability and low in deorbit efficiency are solved. Comprising the following steps: S1, drawing equidistant circumferential folding lines on a conical film structure, wherein the circumferential folding lines comprise a circumferential ridge line and a circumferential valley line; s2, circumferential folding is carried out, axial compression is carried out along the axis of the cone, and then circumferential contraction is carried out; and S3, folding from a cone to a cylinder. The three-dimensional conical film sail can be folded into the three-dimensional conical film sail which is high in posture stability, relatively high in unfolding reliability and capable of correcting the posture, and the folding efficiency is high.

The utility model discloses space junk capturing equipment, and belongs to the technical field of spaceflight. Comprising a metal shell and a controller installed on the metal shell, the metal shell serves as a containing cavity of a mechanical arm, a data collecting unit connected with the controller is arranged on the metal shell, and a mechanical arm fixing frame is installed in the metal shell; the mechanical arm is connected with the controller through the driving module, the fixed end of the mechanical arm is connected with the mechanical arm fixing frame, and the free end of the mechanical arm is stored in the metal shell or extends out of the metal shell in a telescopic and foldable mode. And a manipulator is mounted at the head of the free end of the mechanical arm and is used for capturing space junk fragments. According to the space junk capturing device, a mechanical arm and existing intelligent control are combined, space junk can be accurately captured, efficiency is high, and the defects that traditional capturing equipment cannot be stored, is prone to being lost, is difficult to fold and unfold, and is low in accuracy are overcome.

The invention discloses an on-orbit filling-oriented electromagnetic docking Tube model prediction control method, which comprises the following steps: S1, establishing a spacecraft orbit-electromagnetic-liquid coupling dynamic model, and converting the model into a discrete state space form; s2, designing a constraint tightening method based on a self-adaptive robust invariant set for interference terms existing in the kinetic model, and ensuring recursion feasibility under a disturbance bounded condition; s3, constructing an energy consumption-precision multi-objective optimization function, and adopting a rolling time domain optimization framework to realize dynamic balance of energy consumption and docking precision; s4, constructing a control Lyapunov function, ensuring the stability of the algorithm under the constraint condition based on a robust invariant set, and further obtaining an optimal controller; and S5, substituting the Tube model predictive controller into a closed-loop system, so that the relative position of the spacecraft reaches a stable state, and coupling control is realized. Under the coexistence condition of system time varying and external and storage tank liquid disturbance, accurate control over electromagnetic docking can be achieved, control energy consumption is low, and the application range is wide.

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.

The present invention discloses an automatic unlocking lunar surface transfer and delivery mechanism and a transfer method, which relates to the field of aerospace technology and solves the problem that the container will be damaged to the lander and its accessories if it is allowed to flip freely during the lunar surface transfer and delivery. The present invention includes an automatic unlocking mechanism and a slow-release mechanism, the slow-release mechanism is installed on the automatic unlocking mechanism, the automatic unlocking mechanism includes a swing rod, a suspension rod, a swing locking mechanism and a throwing frame, the throwing frame is hinged to the swing rod, the top of the swing rod is hinged to the suspension rod and a swing locking mechanism is arranged at the hinged position, and the other end of the suspension rod is connected to the container; the slow-release mechanism includes a plurality of slow-release ropes and a plurality of fixed-length ropes, which control the deployment posture of the automatic unlocking mechanism and the release of the container. The present invention uses the slow-release mechanism to control the orderly deployment of the automatic unlocking mechanism, realizes the controllable transfer of the trajectory of the load container, and automatically unlocks the container when the automatic unlocking mechanism reaches the limit position, and then the slow-release mechanism smoothly continues to deliver the container to the lunar surface.

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.