692results about "Tools" patented technology

The invention relates to an autonomously identifying and capturing method of a non-cooperative target of a space robot, comprising the main steps of (1) pose measurement based on stereoscopic vision, (2) autonomous path planning of the target capture of the space robot and (3) coordinative control of a space robot system, and the like. The pose measurement based on the stereoscopic vision is realized by processing images of a left camera and a right camera in real time, and computing the pose of a non-cooperative target star relative to a base and a tail end, wherein the processing comprises smoothing filtering, edge detection, linear extraction, and the like. The autonomous path planning of the target capture of the space robot comprises is realized by planning the motion tracks of joints in real time according to the pose measurement results. The coordinative control of the space robot system is realized by coordinately controlling mechanical arms and the base to realize the optimal control property of the whole system. In the autonomously identifying and capturing method, a self part of a spacecraft is directly used as an identifying and capturing object without installing a marker or a comer reflector on the target star or knowing the geometric dimension of the object, and the planned path can effectively avoid the singular point of dynamics and kinematics.

Apparatus for probing, sensing, testing penetrating and sampling a medium generally includes an actuator (12) for generating vibrations at ultrasonic frequencies and a horn (14) coupled to the actuator (12) for amplifying the actuator vibrations along with a non-rotating coring and drilling bit (16) for penetrating the medium. A bit (16) includes a drill stem (20) attached to the horn (14) and a bore (26) extends through the bit (16), horn (14) and actuator (12) for withdrawal of samples. A free mass (36) is disposed between the horn (14) and the drill stem (20) for oscillating therebetween in response to the actuator vibration for causing migration of medium debris around and through the actuator bore for effectively self-cleaning of the bit (16). The hammering action of the free mass (36) is used for penetration of the medium and for analysis of the medium though the use of spaced apart accelerometers (92 and 94).

The invention discloses a rope net type space debris capturing and cleaning system which comprises a transmission subsystem and a fly net subsystem. The transmission subsystem comprises a transmitter, a net cabin, a net cabin cover ejecting device, a buffer device, a tying rope tension control device and a tying rope cutter, and the fly net subsystem comprises a rope net and four mass blocks; a net cabin cover can be ejected out of an outlet of the net cabin, and the rope net can be driven by the net cabin cover to be drawn out of the net cabin; the transmitter works at the moment when the fly net and a tying rope are straightened, the sides of the rope net are driven by four mass blocks according to preset transmitting opening angles, so that the rope net can fly out and is opened simultaneously until the rope net is fully opened, an object is netted after the rope net reaches the objective position, a port of the rope net is tightened under the control of the mass bocks, and the object can be completely captured; after the tying rope draws the captured object aircraft away from an orbit, the tying rope cutter cuts off the tying rope, and the object aircraft can be separated from a satellite platform. The rope net type space debris capturing and cleaning system has the advantages that a secondary transmission mode is adopted, so that twining and knotting can be prevented in rope net spreading procedures; the mass blocks are pushed to be synchronously transmitted, so that a millisecond-level synchronous transmission effect can be realized, and the shape of the rope net can be controlled advantageously.

Capture devices are mounted on a space platform such as a spacecraft or utility satellite. Each capture device includes a folded capture net stored in a housing, guide weights connected to the net and received in spring-loaded ejection tubes oriented at an acute angle relative to the axis of the housing around the perimeter thereof, and a spring-loaded releasable cover that is connected to the net, covers the net in the housing, and holds the weights in the ejection tubes. When the cover is released, it is spring-ejected from the housing while pulling out and unfolding the net, and the weights are spring-ejected out of the ejection tubes while spreading out the net. After the net wraps around a free-flying target object in space, net closure mechanisms reel-in a net pursing line to close the net, which is connected to the space platform by a tether line on a winch.

The invention relates to a flying mesh catapulting device for acquiring a discarded spacecraft and particularly relates to a flying mesh catapulting device for on-track acquisition of a discarded spacecraft and track resetting, belonging to the field of space mechanism designs. The flying mesh catapulting device concretely comprises a flying mesh, a flying mesh catapulting device and a rope release and control mechanism. An initiating explosive device is catapulted in the acquisition device, and the flying mesh can automatically unfold and realize retention of configuration in the process of flying towards a target; and after the flying mesh finishes the envelopment for the target, a mass block for guiding the flying mesh to unfold can automatically tighten the opening of the mesh and lock the target by means of self residual kinetic energy, and meanwhile, a safety design and a reliability redundancy design are realized, so that the safety of the acquisition device is ensured. The flying mesh catapulting device has the advantages of light weight and small size so as to be convenient for realizing modular design; and the flying mesh catapulting device can be used as an on-track target acquisition executing mechanism of a space robot system and particularly suitable for an on-track acquisition and clearing tasks for the discarded spacecraft.

A system for transportation and storage of cargo in space includes one or more platforms. The platforms are operable to hold multiple removable propellant tanks and rendezvous with one or more other platforms in space. The platforms also include one or more thruster systems and positioners. Each positioner has an effector operable to grip a band disposed around each propellant tank. Each positioner is operable to facilitate the transfer of the multiple removable propellant tanks between platforms during the rendezvous.

A debris removal system that includes at least a control module that includes a debris contact module storage area, a maneuverable arm and camera storage area, a maneuverable arm, a camera, and a universal coupler socket; a guidance, control, and communications unit; a maneuvering module, wherein the maneuvering module includes fuel/propellant storage containers that provide fuel/propellant, via a control and fuel/propellant delivery conduit, to one or more control thrusters; a propulsion module, wherein the propulsion module includes fuel/propellant storage containers that provide fuel/propellant to at least one primary thrust device; and a debris contact module, wherein the debris contact module includes a debris contact member attached or coupled to a debris contact element, and wherein a universal coupler pin extends from the debris contact member so as to allow the debris contact module to be attached or coupled to the universal coupler socket of the control module.

A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.

The invention provides a large-allowance capturing mechanism for an end effector of a spatial large manipulator, relating to a large-allowance capturing mechanism. By the adoption of the large-allowance capturing mechanism for the end effector of the spatial large manipulator, the problems that an end effector mechanism and a control system of an existing spatial large manipulator are complicated and the reliability of space application is lowered are solved. A linear sliding bearing is installed on each linear sliding bearing guide rod in a penetration way; a finger installation platform is connected with the three linear sliding bearing guide rods in a sliding way through the three linear sliding bearings; a nut floating spring is sheathed on the outer wall of a ball screw nut; the center of the finger installation platform is elastically connected with the ball screw nut in a micro floating way through the nut floating spring; one end of each main connecting rod is rotationally connected with the finger installation platform; the other end of each main connecting rod is rotationally connected with a finger; one end of each auxiliary connecting is rotationally connected with the finger installation platform; and the other end of each auxiliary connecting rod is rotationally connected with the finger. The large-allowance capturing mechanism provided by the invention is used for the spatial in-orbit end effector.

Affordable commercial service platforms in space focusing on customer affordability, quality microgravity services, innovation and combining five emerging space technologies. The invention provides an integrated approach to microgravity services in orbit. First, the reusable launch vehicle (RLV) offers affordable transportation services, platform reboost, and eliminates platform subsystems of propulsion, RCS, liquid storage/resupply, and the like. Second, deployable structures are not heavy for the launch, but expand in orbit. Third, orbital phone networks offer customers control of unmanned experiments. Fourth, an enhanced robotic system transfers payloads. Fifth, manufactured thin film solar cells in orbit offer advantages including weight/cost reductions. The orbital service platform has a low initial cost, expands as the market demands, is repairable, offers quality unmanned microgravity, leads to production facilities using similar hardware and offers numerous affordable commercial services.

The invention discloses a rope net system for capturing space trashes. The rope net system comprises an outer framework with an emission opening at one end, a recovering device, a projection device, and a rope net device, wherein the recovering device and the projection device are fixed inside the outer framework; the rope net device is connected with the recovering device and the projection device; and the rope net device comprises a rope net and permanent magnets distributed at the edge of the rope net. According to the rope net system disclosed by the invention, a closing-up problem caused by capturing the space trashes by using the rope net can be solved by mutual attraction forces among the permanent magnets, so that the space trashes are possible to capture, namely the space trashes can be captured and recovered by using the permanent magnets mounted at the edge of a net opening of the rope net, the manual effects among the permanent magnets, and the rope net.

The invention discloses a child-mother satellite space debris clearing platform. The child-mother satellite space debris clearing platform includes a plurality of child satellites for clearing space debris; each child satellite is detachably connected the same mother satellite; the mother satellite is used for driving the child satellites to move among a multiple pieces of space debris; a space debris clearing device is arranged on each child satellite; and each space debris clearing device includes a child measurement device for measuring a pose of the space debris and a child satellite capturing device. A microsatellite is used as the mother satellite, and a plurality of micro-nano satellites are used as the child satellites; operations such as orbit transferring, closing and detailed survey, and capturing and de-orbiting can be completed coordinately; the child-mother satellite space debris clearing platform is low in cost, is fast in response speed, and is high in reliability; after the child satellites are released, the combined space debris observation network can acquire accurate debris pose information through coordinate observation; and the child satellites can independently complete de-orbiting operations, the mother satellite can directly go to next space debris to be cleared, time and energy can be saved, the benefits of space debris clearing can be increased, and the cost is reduced.

A spacecraft system and method includes a platform with a dock and an umbilical payout device. A robot is connected to an umbilical paid out by the umbilical payout device and is repeatedly deployable from the dock. The robot includes one or more imagers, an inertial measurement unit, and a plurality of thrusters. A command module receives image data from the one or more robot imagers and orientation data from the inertial measurement unit. An object recognition module is configured to recognize one or more objects from the received image data. The command module determines the robot's orientation with respect to an object and issues thruster control commands to control movement of the robot based on the robot's orientation. The combination of the space platform and robot on umbilical line can be used for towing another object to different orbital location, inspection including self-inspection of the robot carrying platform and for robotic servicing.

In some embodiments of the invention, methods and devices are provided that perturb a trajectory of a space-orbital object. For example, a spacecraft may be sent to a location near a space-orbital object orbiting the Earth. A net may be released from the spacecraft in a manner (e.g., with a given alignment, direction and velocity) that results in the net contacting and/or entangling with the object. This contact or entanglement may alter a velocity of the space-orbital object and thereby may alter its orbital path. In some instances, the net's velocity is sufficient to experience increase drag by the Earth's atmosphere, relative to the drag it would have otherwise experienced if the net did not contact the object.

The invention discloses a non-cooperative target satellite acquisition device and an acquisition method, and belongs to the technical field of aerospace. The non-cooperative target satellite acquisition device includes an outer shell, two four-link capturing pawl mechanisms, four horizontal locking mechanisms, a screw rod and a controller; the two four-link capturing pawl mechanisms are arranged in the outer shell face to face, and the lower parts thereof are fixedly connected with an installing bottom plate; the lower end of the screw rod crosses through the installing bottom plate, and the lower end thereof is connected with a driving mechanism; four horizontal locking mechanisms are respectively located at outside of the two four-link capturing pawl mechanisms, and every two horizontal locking mechanisms are installed on the upper part of the outer shell; both sides of the upper part of the four-link capturing pawl mechanisms are respectively equipped with pressure lever mechanisms; when the four-link capturing pawl mechanisms are descended, the pressure lever mechanisms compress the horizontal locking mechanism to horizontally glide towards inside; the top part of the outer shell is equipped with a photoelectric sensor, and the photoelectric sensor and the driving mechanism are electrically connected with the controller. The non-cooperative target satellite acquisition device is widely applied to the acquisition of various space crafts, and the non-cooperative target satellite acquisition device is wide in application range, big in tolerance, quick in response speed, high in reliability, and others.

The invention discloses a moon-exploration mechanical arm modularization joint based on absolute position measurement, relating to a moon-exploration mechanical arm modularization joint. The invention aims to solve the problems that a potentiometer is used as an absolute position sensor of the current mechanical arm modularization joint, thus global feedback of the joint position information can not be directly provided, signal fusion needs to be carried out, and the fusion algorithm is relatively troublesome. A DC brushless motor is installed in a casing, the small diameter end of a rotator magnet yoke of the DC brushless motor is connected with one end of an input interface; a harmonic reducer is fixedly connected with an internal seat of an angular contact bearing; an outer seat of the bearing, a flexible gear and an output ring flange are fixedly connected; an input shaft is fixedly installed in the outer seat of the bearing; the input shaft is fixedly installed in a supporting seat; the input shaft is fixedly installed in the input interface; a gland is fixedly connected with the supporting seat; a Hall sensor bracket is fixed on a second radial bearing supporting seat; and a back-to back twin angular contact bearing is installed between the inner seat of the angular contact bearing and the outer seat of the angular contact bearing. The invention is used for exploring ore and space environment on the surface of moon.

A gripping mechanism for replacing spatial on-orbit modules relates to a gripping mechanism for replacing spatial modules, and aims to solve problems that an existing gripping mechanism for replacing spatial on-orbit modules is complex in structure, single in function, large in volume, heavy in weight and low in positioning precision and is inflexible. A stepping motor is mounted in a driving rack, a transition plate is connected onto an upper end surface of the driving rack, a conical positioning piece is disposed on the upper end surface of the transition plate, a driven rack is covered on the outer portion of the conical positioning piece, two positioning columns arranged radially are symmetrically mounted on the lower portion of the conical positioning piece, the upper end of a screw is connected with the conical positioning piece in a threaded manner, a wedge-shaped slider is connected onto the screw, the lower end of the screw is connected with the stepping motor, second notches are arranged on the conical positioning piece, tubular columns are mounted on the tops of the second notches in a clamped manner, conveying pipes are communicated with counter bored holes of the tubular columns, inclined surfaces of the tubular columns are abutted to the wedge-shaped sliders, and a spring is arranged between each of catches and the conical positioning piece. The gripping mechanism is used for on-orbit module service for a spacecraft and on-orbit connecting tasks.

The invention provides a high-tolerance flexibility capture mechanism for space environment and relates to a capture mechanism; the capture mechanism solves the problems that the existing capture mechanism has low capture tolerance and can not meet high precision requirements of a capture mechanical arm; in the invention, the input end of a harmonic wave reducer is connected with the output end of a direct current brushless motor, the direct current brushless motor is fixedly arranged on an inner wall of a capture supporting barrel, a small gear is arranged on the output end of the harmonic wave reducer, the small gear is meshed with an inner gear, the inner gear is fixedly connected with a force moment sensor which is fixedly connected with a rotation ring, a fixing ring is fixedly connected with the inner side wall of the capture supporting barrel by a connecting ring, three steel wire nets are distributed in the inner cavity of the fixing cavity and the rotating ring, one end of each steel wire is fixedly connected with the inner wall of the fixing ring, the other end of each steel wire is connected with the rotating ring by a rotating shaft, and a capture cone on a capture interface device is connected with the three steel wires; the high-tolerance flexibility capture mechanism is used for capturing space load cabin under spatial high tolerance and microgravity environment.

The invention provides a capture spin elimination mechanism suitable for spin space fragments. The capture spin elimination mechanism comprises a rotating part and a fixed part. Multiple finger mechanisms with underactuation mechanism forms are arranged on a shell at the front end of the rotating part, each finger mechanism is provided with multiple rotating joints, each joint is provided with a torsion spring, each finger is dragged by one rope to form an underactuation mechanism, bending actions can be completed, and adaptive capacity is achieved for contact shapes. The torsion spring of each joint resists traction force of the corresponding rope, and unbending power is provided for the fingers. All the fingers are arranged pairwise in an intersecting mode, and objects of different sizes can be held when the fingers close up. The ropes of all the fingers are fixed to a sliding block, and linkage can be achieved. The sliding block is located in the rotating part, can do translational motion relative to the rotating part along the rotating axis, but cannot rotate relative to the rotating part. The sliding block is driven by a lead screw-nut mechanism, and the sliding block is connected with a nut through a rotating pair.

The invention provides a device and method for simulating a space mechanical arm to capture ground three-dimensional space microgravity of a target satellite, and relates to a device and method of the ground three-dimensional space microgravity. The problem that the movement of a floating satellite base in the three-dimensional space and operation process of the space mechanical arm is not considered is solved. The device comprises two industrial mechanical arms, the space mechanical arm, a hand eye camera, a capturing paw, a capturing connector, a service satellite body simulator, a target satellite body simulator and six-dimensional force and torque sensors; the method comprises the steps that target satellite movement is simulated; the position and attitude of the target satellite and movement information of joints of the space mechanical arm are determined; movement information of a service satellite body simulator base and the industrial mechanism arms is calculated; the capturing connector captures the target satellite body simulator in a capturing paw area; a movement state of the service satellite body simulator is achieved by simulating a real target satellite movement sate. The device and method for simulating the space mechanical arm to capture the ground three-dimensional space microgravity of the target satellite is applied to the field of space mechanical arm ground three-dimensional space microgravity simulation.

A recovery craft with a coupling arrangement captures, engages, and transports a defective or expended non-maneuverable spacecraft. The coupling arrangement includes a coupling mast (e.g. a telescoping pipe), a releasable rigid mount that secures one end of the coupling mast to the recovery craft, and spreader arms that are radially spreadable from the other end of the coupling mast. The spreader arms are initially radially inwardly retracted, and are inserted into an interface ring of the spacecraft. Then the spreader arms are radially outwardly extended to engage behind a protruding rim of the interface ring. A spring braces against the spacecraft. Next, the rigid mount is released and the coupling mast remains connected to the recovery craft only by a tension-transmitting cable. Thrusters of the recovery craft are activated to tow the spacecraft to a new target position, orbit, or trajectory.

The invention discloses a space debris rope system dragging despinning and removal method, relates to space debris despinning and removal methods and belongs to the technical field of spaceflight. By the adoption of the method, a trailer spacecraft is launched into an orbit, so that the rendezvous with debris is finished; a trailer is connected with the debris through multiple tying ropes; a dynamical model is established, a control law is designed to adjust the nominal rope length of each tying rope to change the tension of the tying ropes, despinning of the debris is achieved through the cooperation of the multiple tying ropes, the situation that the tying ropes are cut and broken through protruding components on the debris is avoided, and the stability and the redundancy of a rope system trailer system are improved; and a trailer engine is used for ignition, reverse dragging force is applied, the space debris is pulled into the atmosphere to be burnt, and therefore debris removal is achieved. By the adoption of the method, despinning of the space debris can be achieved, the situation that the tying ropes are cut and broken through the protruding components on the debris is avoided, and the stability of the system is improved; and in addition, the redundancy of the tying ropes is improved by increasing the number of the tying ropes. The method can be used for space debris despinning and removal and can also be used for despinning of and control over other non-cooperative targets.

The invention provides a space capturing and locking device. The space capturing and locking device comprises a driving structure and a driven structure. The driving structure comprises a shell assembly, a driving assembly, a transmission assembly, an upper plate auxiliary assembly and three sets of finger assemblies. The shell assembly is used for supporting and being connected with the driving assembly, the transmission assembly, the upper plate auxiliary assembly and the finger assemblies. The upper plate auxiliary assembly comprises rollers. The finger assemblies comprise four-bar mechanisms. The driving assembly drives the transmission assembly, the transmission assembly converts rotational motion into linear motion, the transmission assembly controls the finger assemblies to move upwards and downwards, the three sets of finger assemblies are closed due to compression of the rollers when moving downwards, and then the driven structure matched with the driving structure is clamped. The four-bar mechanism is in linkage when the finger assemblies move upwards, the finger assemblies are driven to be opened, and then the driven structure is released. The space capturing and locking device can be used for capturing and locking of a space mechanical arm on a small aircraft, and the advantages of being low in weight, small in size, large in tolerance and diverse in capture object are achieved.

A universal weak-impact capture mechanism applicable to high-orbit satellites comprises a guide damping device, a ratchet expansion device shell, an extensible satellite-bone device and three ratchet expansion devices arranged inside the guide damping device, the ratchet expansion device shell and the extensible satellite-bone device. A capture target is an apogee engine, and a capture locking position is a throat inside the engine. The extensible satellite-bone device play roles in bearing force, extending and retracting and connecting with an aircraft. The ratchet expansion devices function in capturing and locking and are mounted at the front end of the extensible satellite-bone device. The guide damping device functions in guiding and absorbing impact energy. The universal weak-impact capture mechanism realizes locking or expanding of a petal-type locking block by front-back movement of the guide damping device so as to capture and lock the target satellite. The universal weak-impact capture mechanism has the advantages of energy absorption, damping, simplicity and reliability in locking, high universality and easiness in attitude control and can be used as a standard docking capture device for the high-orbit satellites.