On-orbit low-impact docking system and method for spacecraft group
A spacecraft, low-impact technology, applied in the direction of the docking device of the spacecraft, can solve the problems of the undisclosed mechanical arm structure and grasping method, and achieve the effects of short action time, avoiding connection shock, and small magnetic field effect.
Pending Publication Date: 2022-04-29
SPACETY CO LTD (CHANGSHA)
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- Application Information
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Problems solved by technology
This patent document only proposes a technical solution to control the movement of the mechanical arm outside the cabin by analyzing the capture features on the first device body, but does not disclose the structure and grasping method of the mechanical arm that specifically realizes capture
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[0031] A detailed description will be given below in conjunction with the accompanying drawings.
[0032] The on-orbit low-impact docking system for the equipment body set proposed by this application at least includes a capture-type mechanical gripper arm 1 and / or a trigger-type mechanical gripper arm 2 . A capture-type mechanical claw arm 1 and a trigger-type mechanical claw arm 2 can be arranged simultaneously or separately on the bulkhead of the spacecraft. The capture type mechanical claw arm 1 and the trigger type mechanical claw arm 2 that are set simultaneously can be set on different positions on the cabin body.
[0033] The capture-type mechanical claw arm 1 can be arranged inside the first body adapter for docking with the spacecraft, and the trigger-type mechanical claw arm 2 can be arranged inside the second body adapter for docking with the first body adapter. The capture-type mechanical claw arm 1 and the trigger-type mechanical claw arm 2 can actively grasp or...
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The invention relates to the technical field of manipulators, in particular to a program-controlled manipulator, and in particular to an electrical program-controlled manipulator which is characterized by a component structure or by a manipulator element positioning device, and also to a general control or regulation system and in particular to a computer-controlled system, the invention also relates to a control system featuring the localized control device. The invention provides a docking system and method, the system at least comprises a multi-degree-of-freedom mechanical arm and a trigger type mechanical gripper arm, and the method at least comprises the following steps: when two central processing units communicate with each other, the two central processing units respectively use image acquisition equipment to shoot images of a cabin where the mechanical gripper arm is located on an opposite equipment body; after the two central processing units carry out data transmission and consensus an adjustment strategy, the two central processing units respectively send regulation and control instructions to the corresponding multi-degree-of-freedom mechanical arms; and the multi-degree-of-freedom mechanical arm regulates and controls the pose of the capturing type mechanical claw arm according to the regulation and control instruction.
Description
technical field [0001] The present invention relates to the technical field of manipulators, in particular to a program-controlled manipulator, and especially to an electric program-controlled manipulator characterized by a component structure or a positioning device for manipulator components, and also to a general control or regulation system and in particular to a computer The control system also relates to a control system featuring a positional control device, and more particularly to an on-orbit low-impact docking system and method for a spacecraft assembly. Background technique [0002] With the development of space robotics, robotic on-orbit servicing is expected to play an increasingly important role in repairing malfunctioning spacecraft / aircraft in the future. In an on-orbit maintenance task, it is usually required that the service spacecraft / aircraft use a robotic arm to capture and dock the first device body to form a stable assembly. For example, in the prior ...
Claims
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IPC IPC(8): B64G1/64
CPCB64G1/646
Inventor 贺乐和吴兴贵帅建军贺一雄张勇平
Owner SPACETY CO LTD (CHANGSHA)