76 results about "Micro gravity" patented technology

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

The invention belongs to the technical field related to robot motion control, and provides a robot motion control method and system in a microgravity environment in order to solve the problems of stability and sand blowing of robot motion under existing microgravity. A robot swing stage is divided into three sub-stage motions, and a robot foot end expected track is generated for each sub-stage motion; the robot state information, the historical track and the environment information are input into a pre-constructed joint control model, and a joint control instruction of the robot in the microgravity environment is obtained through prediction; the joint control model is a strategy network model trained in a reinforcement learning mode; the trajectory tracking reward is determined by the actual position of the robot and the expected position of the foot end of the robot. Stable, low-disturbance and high-efficiency movement of the robot in the microgravity environment is achieved, and meanwhile the sand blowing phenomenon is effectively restrained.

The invention discloses a press-in hardness measuring device and method in a microgravity environment, and relates to the technical field of space science experimental equipment. The invention discloses a press-in hardness measuring device in a microgravity environment. The press-in hardness measuring device comprises an airtight module, an air filtering module and a hardness measuring module, the airtight module comprises an airtight cabin body and a negative pressure device; the air filtering module is directly mounted in the airtight cabin body or is communicated with the interior of the airtight cabin body through a pipeline, and is used for circularly filtering dust in air in the airtight cabin body; the hardness measuring module is used for being coupled with or separated from a to-be-tested sample, and the air tightness of the airtight cabin body is not damaged in the coupling and separating processes. The invention discloses a press-in hardness measurement method in a microgravity environment. The method comprises the following steps: 1, carrying out sealing operation; 2, negative pressure operation; 3, hardness measurement and dust filtration; and 4, taking out the sample. The device has the advantages that by actively establishing a negative pressure environment, the airflow direction is inward even if extremely small leakage exists in the sealed cabin, so that chippings are efficiently restrained in the sealed space, and the safety is high.

The invention discloses a force-position coupling control method and system for a magnetic-pneumatic suspension servo device, and relates to the technical field of ground microgravity experiments of space mechanisms. After the sling inclination angle detection device is used for detecting the angle of the sling deviating from the numerical direction, the position following controller drives the omni-directional wheel to conduct position correction based on deflection angle feedback, meanwhile, the constant force compensation controller drives the constant force compensation motor to conduct tension adjustment through the deflection angle feedback and tension feedback, and therefore higher-precision gravity unloading is achieved.

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

The invention belongs to the technical field of high-temperature heat pipe heat transfer performance testing, and particularly relates to a high-temperature heat pipe performance testing device and method under the microgravity condition. The device comprises a heat pipe performance test body, a test cabin, a protection recovery system and a high-altitude carrying platform, the heat pipe performance test body is arranged in the test cabin, and the high-altitude carrying platform comprises a lift-off mechanism and a release mechanism and is used for sending the test cabin to an airspace at a specified height and releasing the test cabin to realize free falling of the test cabin. The protection recovery system adopts two-stage deceleration buffering to protect the test cabin. The device has the advantages of being controllable in cost, long in microgravity time and capable of being repeatedly used, performance testing of the large-length-diameter-ratio heat pipe under the simulated space microgravity environment can be carried out, and the performance of the high-temperature heat pipe under the real working condition can be accurately and comprehensively evaluated; the device is especially suitable for testing the starting characteristic, transient and steady-state characteristics and temperature uniformity of the high-temperature heat pipe under the microgravity condition.

A space-based repeatable tolerance-tolerant docking ground simulation test device is disclosed. This invention addresses the limitations of existing ground simulation technologies in accurately simulating docking errors, faithfully reproducing microgravity environments, and simulating tunnel conditions. The invention includes a ball-joint servo-oscillating frame. A six-degree-of-freedom attitude adjustment component is located at the bottom of the ball-joint servo-oscillating frame. A standardized interface prototype is mounted on the six-degree-of-freedom attitude adjustment component, and a servo component is mounted on the standardized interface prototype. One end of a steel wire rope is connected to the servo component, and the other end of the steel wire rope passes through a pulley system fixed to the ball-joint servo-oscillating frame and is connected to a counterweight. This invention belongs to the field of aerospace engineering ground simulation test technology.

This invention belongs to the field of special robots and intelligent control, and discloses a method for autonomous robot operation in the space environment. This method addresses the challenge of high-precision and stable autonomous operation of robots in the complex lighting, communication-restricted, and microgravity environment of space. It achieves high-precision acquisition of the pose and motion state of non-cooperative targets by constructing a multi-sensor fusion stable perception mechanism adapted to the extreme space environment; it employs an edge computing-driven task autonomous planning strategy to achieve efficient autonomous decision-making and rapid response in space-based operations under communication-restricted conditions; and it proposes a force-position cooperative control method based on learning perturbation compensation to ensure high-precision and stable execution of space-based operations in a microgravity environment. The method proposed in this invention effectively improves the success rate of space robot operations and contributes to promoting the large-scale application of space manufacturing.

The application discloses a kind of spacecraft ground microgravity simulation platform dynamics modeling and mass balancing method, belong to the technical field of space technology.The application includes the following steps: according to the component assembly relationship of spacecraft ground microgravity semi-physical simulation platform, distinguish each component and component group;According to the condition of each component and component group and whole, respectively, each component and component group are established coordinate system;Dynamics derivation is carried out based on coordinate system, and dynamics model is obtained;The complete dynamics model of ground simulation platform is obtained by analyzing dynamics model by Lagrange method;The complete dynamics model of ground simulation platform is simplified by hypothesis, and simplified dynamics model is obtained;Mass balancing is carried out to simplified dynamics model, and the spacecraft ground microgravity semi-physical simulation platform of approximate quasi-zero stiffness is obtained.The introduction of pivot system makes the system reach approximate quasi-zero stiffness, and then reconstructs microgravity environment on the ground.

The invention discloses a drag-free control verification system using a high microgravity environment, and belongs to the technical field of space tests. Based on the high microgravity environment of the freight spaceship, the non-dragging control verification platform is constructed by using the cargo compartment channel space, the non-dragging motion relative to the freight spaceship body under the weak acceleration is observed for a long time, and the non-dragging control key technology is verified in orbit in a low-cost mode. And a technical foundation is laid for major projects such as space gravitational wave detection and satellite gravitational field measurement in China.

The invention belongs to the technical field of deep space exploration ground verification, and particularly relates to a space microgravity unstructured terrain simulation platform and a test method. The platform comprises a main body truss, a translation mechanism, a lifting mechanism, a foldable supporting plane, a controller and a plurality of sets of suspension buffer mechanisms, the lifting mechanism and the foldable supporting plane are arranged at the bottom of the main body truss, and the lifting mechanism is located at the bottom of one end of the foldable supporting plane; the lifting mechanism simulates different slope environments by adjusting the height position of one end of the foldable supporting plane; the translation mechanism is arranged at the top of the main body truss and has the degree of freedom of horizontal movement in the transverse direction and the longitudinal direction; the multiple sets of suspension buffer mechanisms are connected with the translation mechanism and are used for being connected with a test robot so as to balance the gravity of the test robot; and the controller is used for controlling the translation mechanism and the lifting mechanism to move. According to the invention, efficient and high-fidelity ground verification of motion planning, a control algorithm and mechanism performance of the space mobile robot is realized.

The application discloses a microgravity simulation device and method, and relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experiment duration in the prior art. The microgravity simulation device comprises a rotating driving mechanism, at least one floater and at least one container for containing a liquid medium. The rotating driving mechanism has at least one power output shaft, each floater is arranged on a corresponding power output shaft, the floater floats on the liquid medium, the center of mass of the floater is located above the liquid medium, and the distance between the geometric center of the floater and the center of mass of the floater is greater than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the application are used in microgravity simulation.

The invention belongs to the technical field of spacecraft ground test equipment, and particularly relates to a microgravity simulation device for spacecraft component ground test, which comprises a base, an air floatation support mechanism, an ultrasonic standing wave stabilization mechanism, a self-adaptive clamping mechanism, a servo drive error compensation mechanism, a control system and a test platform. The air floatation supporting mechanism provides vertical non-contact supporting force to offset gravity, the ultrasonic stabilizing mechanism maintains horizontal stability, the self-adaptive clamping mechanism is adaptive to parts of multiple sizes, and the servo compensation mechanism corrects deviation in real time. The composite suspension structure is combined with PID-fuzzy closed-loop control, the simulation error is controlled within 4.0%, the defects that existing equipment is low in precision, short in time, prone to pollution and poor in universality are overcome, long-time stable simulation can be achieved, and reliable support is provided for part ground verification.

The liquid storage device comprises a liquid storage tank, a rotating ring is installed in the liquid storage tank through a bearing, a dynamic temperature measuring mechanism is arranged in the rotating ring, an L-shaped pipe is installed in the liquid storage tank through a bearing, and the interior of the L-shaped pipe is in threaded connection with a one-way valve. According to the dynamic temperature measuring mechanism, the temperature measuring probe can freely slide on the guide rod along with the floating ball, so that the temperature measuring probe is always in contact with the liquid level of the working medium, the design ensures that the temperature of the working medium body can be directly measured no matter in a gravity environment or a microgravity environment, data is more real and reliable, key parameters are provided for intelligent control of a system, and the working medium is more stable and reliable. And meanwhile, the controller can identify system abnormalities such as loop blockage and thermal load abrupt change earlier by acquiring direct temperature data in the liquid storage device in real time, so that the crossing from passive voltage stabilization to active monitoring and early warning is realized, and the reliability of the whole thermal control system is greatly improved.

The invention discloses a cubic accelerometer measurement and control circuit ground test system and method, relates to the technical field of microgravity detection, and can be used for carrying out ground experimental verification on a cubic accelerometer and verifying the correctness of the cubic accelerometer, the effectiveness of a control algorithm and the like. Through mutual cooperation of the flat accelerometer measurement and control circuit, the high-voltage driving module and the cubic accelerometer measurement and control circuit, capture control of a horizontal axis of a flat sensor is realized, and ground verification is performed on a hardware circuit and a software control algorithm of the cubic accelerometer measurement and control circuit. Based on the inherent advantages of the flat accelerometer, the ground closed loop verification of the cubic accelerometer measurement and control circuit can be realized, the method is simple and easy to implement, the in-orbit application risk of the cubic accelerometer can be effectively reduced, the in-orbit working reliability of the cubic accelerometer can be improved, and the method can better adapt to the complex space environment.

This invention discloses an experimental apparatus and method for quantifying the uncertainty of the assembly process of a large flexible module. The apparatus includes a large flexible module, a free-boundary suspension system, a non-contact motion capture system, and a disassembly / removal robotic arm. The large flexible module is the test object. The free-boundary suspension system provides boundary conditions for the free movement of the large flexible module, featuring adjustable static position and attitude, and dynamic free boundaries. The non-contact motion capture system is used to measure the position and attitude responses during the assembly process. The disassembly / removal robotic arm is used for assembling and disassembling multiple large flexible modules. The apparatus of this invention provides a ground-based experimental scheme for studying the assembly and disassembly process of large flexible modules in an on-orbit microgravity environment, and can repeat the assembly and disassembly process multiple times. The method of this invention can identify the dynamic characteristics of the structure using the vibration response generated by the large flexible module during the assembly process, and then quantify the uncertainty of the structural dynamic parameters using data from multiple assembly and disassembly processes.

The invention provides a dynamic test system of a flexible telescoping mechanism, and relates to the technical field of spaceflight, the dynamic test system of the flexible telescoping mechanism comprises a space coiling telescoping mechanism, a microgravity support unit, a mechanism driving unit and a signal acquisition unit; the space coiling telescopic mechanism is used for being suspended on the basic platform through the microgravity supporting unit, and the axial direction of the space coiling telescopic mechanism is parallel to the horizontal direction; the mechanism driving unit is used for driving the space coiling telescopic mechanism to test; and the signal acquisition unit is used for acquiring test data of the space coiling telescopic mechanism. According to the invention, the accuracy of the space coiling telescoping mechanism test can be effectively improved.

This invention discloses a method and system for foot locking and unlocking of a space-embodying intelligent humanoid robot in a microgravity environment. The system acquires foot pose and velocity information in a unified coordinate system and obtains a preset set of attachable target points on the environmental structure. The pose of the target points can be provided by a preset point library or obtained or corrected by detecting marked points using a visual sensor. Based on foot markings, left-right matching is performed on the target point set to obtain a subset of target points on the corresponding sides. Candidate target points are selected from the subset, and a locking gating criterion is constructed by combining a distance threshold, a velocity threshold, and an unlocking cooling window. When the criterion is met and locking is enabled, an equivalent rigid constraint is established between the foot and the environmental structure to achieve foot locking. This method abstracts the foot attachment process into a combinatorial embodying skill, improving the stability of microgravity contact switching and system consistency. It can be used for climbing and moving inside and outside a space station and provides stable support for subsequent operations.

The application discloses a kind of fluid in bubble mass transfer simulation device and method based on microfluidic chip.Microfluidic chip is installed on microfluidic chip fixed module, the inlet and outlet of microfluidic chip are communicated with gas-liquid mixed injection module and waste liquid collection tank respectively, microscope is used to observe the bubble preparation process in fluid in microfluidic chip, and bubble mass transfer experiment process uses industrial camera to carry out real-time imaging observation;Method includes processing microfluidic chip;Gas and liquid are injected into microfluidic chip using gas-liquid mixed injection module;Microfluidic chip carrying bubble is fixed on microfluidic chip fixed module;The process that bubble in microfluidic chip is redistributed and evolved under the influence of gravity instability is observed, and the law that bubble matures mass transfer under microgravity or supergravity condition is obtained.The application can restore the residual capture state of carbon dioxide bubble in rock pore, and has important significance for evaluating the long-term safety and stability of carbon dioxide geological storage project.

The application discloses an active quasi-zero stiffness construction method based on nonlinear characteristic digital fitting, and steps include: a quasi-zero stiffness system completes automatic zero point calibration, a force actuator unit drives a load platform to make a low-speed quasi-static scanning within a preset stroke, displacement and static force signals are synchronously collected, and a full-stroke force-displacement data set of a support assembly is constructed; then, a numerical approximation algorithm is used for fitting the data set, a digital twin mechanical model containing a high-order nonlinear term is established, and parameters are stored in a control unit. When the system is running, a high-frequency displacement detection unit collects instantaneous displacement of the load platform in real time, the control unit calls the model to calculate a current positive stiffness restoring force, generates a negative stiffness compensation instruction, drives the actuator unit to apply a compensation force to offset the positive stiffness, and makes the system present a quasi-zero stiffness characteristic within a working stroke. The method realizes quasi-zero stiffness, has advantages of no friction, parameter self-adaptation, large dynamic range and the like, and can be widely used in scenes such as spacecraft ground microgravity simulation and high-precision constant force assembly.

Systems and methods for achieving pristine microgravity in low earth orbit (LEO) using electric propulsion. Long-duration, low thrust, electric thrusters provide a constant thrust force for a pristine microgravity environment within a given volume of a space vehicle experiencing drag forces in LEO. Large space vehicles in LEO configured to be pressurized for human habitation, for instance having a mass of at least 40,000 kg and an internal volume of at least 400 m3, can use the electric propulsion systems and methods to achieve a quasi-steady acceleration less than or equal to 1.0 μg for durations of 180 consecutive days or longer.

The invention provides a space delivery and recovery microgravity test system, and relates to the technical field of satellite testing, the space delivery and recovery microgravity test system comprises an air bearing platform, a marble platform and a lifting platform; an angle adjusting assembly is arranged above the air floating table, and the angle adjusting assembly is used for installing the child satellite main body and adjusting the deflection angle of the child satellite main body; an air floating assembly is arranged below the air floating platform and is used for enabling the air floating platform to float above the platform surface of the marble platform; the upper portion of the lifting platform is used for installing a delivery separation device, a mother satellite interface structure is arranged at the end, facing the child satellite body, of the delivery separation device, and a child satellite interface structure matched with the mother satellite interface structure is arranged at the end, facing the delivery separation device, of the child satellite body. Compared with the prior art, the space delivery and recovery microgravity test system effectively solves the problem that a child-mother satellite delivery and recovery device is difficult to simulate child satellite angle deviation and verify docking adaptability in ground verification.

A simulation device for microgravity deployment experiments on the ground is mainly composed of an adjustable leveling structure assembly, an adjustable anti-creep rope assembly, a magnetic levitation de-rotation structure assembly, an adjustable counterweight assembly, and a safety protection rope lock. This device significantly reduces resistance during operation and improves redundancy safety and reliability during microgravity deployment experiments. The invention features simple structure, low rotational resistance, high suspension compensation accuracy, strong versatility and design flexibility, high redundancy safety protection, and good scalability, making it suitable for deployment experiments of large-scale space deployable structures such as space deployable antennas and flexible deployable cabins.

The present invention relates to an effective gravity control device which is installed to have a falling space to be a vertical space in a building, and which implements a zero gravity, microgravity, low gravity, or pseudogravity state of an internal module mounted in a moving external module. An example effective gravity control device includes: a dual module including an external module and an internal module; an actuator installed at the upper side of a falling space in a space for controlling and monitoring a change in gravity applied to the dual module, and which moves the external module so that, according to a control signal, the external module has at least one physical quantity; and a sliding frame which is installed in a space at the lower side of the falling space and provides a path for taking the dual module into / out from the falling space.

The invention relates to the technical field of space gas-liquid separation, in particular to a microgravity gas-liquid separation and liquid collection device which comprises a liquid guide tee joint, a liquid collection channel, a liquid collection base and a liquid collection pore plate, the liquid collection channel is arranged below the liquid guide tee joint, and the liquid collection channel and the liquid guide tee joint are welded and fixed in an argon arc welding mode; the liquid collecting base is arranged below the liquid collecting channel and is welded and fixed with the liquid collecting channel in an argon arc welding manner; the liquid collection pore plate is arranged below the liquid collection base and is welded and fixed with the liquid collection base in a vacuum electron beam manner; the liquid collection pore plate is of a double-layer structure, and a separation capillary net is arranged between the two layers of liquid collection pore plates. On the premise of meeting the technical indexes such as weight and boundary dimension, gas-liquid separation and liquid collection and transportation in the storage tank are achieved to the maximum extent, a combustion working medium without gas inclusion is provided for an engine, normal work of the engine is guaranteed, and attitude control and orbit transfer of a satellite are maintained.

This invention provides a method and system for perception and scene understanding of a flying robot in a microgravity environment, belonging to the field of robot intelligent perception and scene understanding. It addresses the problems of crowded facility layouts, complex spatial lighting, and floating object obstruction in microgravity indoor work scenarios, which lead to difficulties in image feature extraction and obstructed sensor lines of sight, affecting the accuracy of 3D environment modeling and target recognition. A lightweight convolutional neural network structure is adopted to reduce computational burden; in terms of multimodal data fusion, data from RGB images and laser rangefinders are combined, and a multimodal information fusion module is added to target detection and pose estimation, suitable for the identification and localization of target objects required for high-precision operations; in terms of task-adaptive semantic segmentation, the network is trained on a specific dataset for specific task scenarios in a microgravity environment; and transfer learning is used to enhance the model's adaptability.

The application discloses a kind of modular component self-pressure fusion splicing method and system, belong to space on-orbit manufacturing technical field.The method comprises: providing first module element and second module element with self-locking structure, at least one module element connection area has densification layer higher than matrix density;Assemble the first module element with second module element;Heating makes densification layer area melt, utilize the volume expansion in the process of melting is limited in the connection interface and generates self-pressure, and solidification forms connection under the self-pressure.By adjusting the densification degree, the self-pressure value can be preset, and different connection requirements can be flexibly adapted.The application realizes high-quality connection without external pressure and inert gas protection through the synergistic effect of self-locking structure and densification layer melting expansion, and the joint performance based on theoretical calculation can approach the level of base material.The optional anchoring structure further increases the solidification contact area and improves the connection strength.It is especially suitable for large-scale component on-orbit manufacturing in microgravity environment such as space station, lunar base and the like.

A microgravity verification test system of a cryogenic propellant management device is characterized in that a vacuum storage box (3) is spherical or cylindrical with an ellipsoid bottom, and an accumulator (1) and a screen channel (2) are fixed in the storage box (3); the accumulator (1) is fixed at the bottom of the vacuum storage tank and is provided with a filling port, the filling port penetrates through the vacuum storage tank (3), and an outlet of the filling port is connected with an engine propellant inlet pipeline; the storage device (1) and the screen mesh channel (2) are both formed by weaving metal screen meshes, and the screen mesh channel (2) is of a closed channel structure, is arranged close to the inner wall of the storage box and is used for capturing liquid in the microgravity environment low-temperature storage box in which gas and liquid are distributed disorderly and guiding the liquid to the storage device (1). The measurement and control subsystem is used for monitoring, storing and transmitting the temperature, the pressure and the flow field distribution condition in the storage tank in real time in the testing process of the testing system; during testing, the vacuum storage box (3) is filled with low-temperature liquid, and the liquid filling amount is larger than the volume of the accumulator (1) in the testing process, so that the accumulator (1) and the screen mesh channel (2) are filled with the liquid; variable overload verification is achieved by changing the relative angle of the vacuum storage box and the installation platform, so that the storage box overload force of the microgravity environment is created.

This application relates to the field of spacecraft on-orbit maintenance technology, specifically to a space protective coating damage repair system, method, and handheld spraying device. Employing a closed-loop intelligent control mode, it achieves sub-millimeter repair precision for millimeter-level damage, significantly reducing reliance on astronaut operational experience and improving repair consistency and reliability. Simultaneously, the entire system design fully considers space constraints; the device is lightweight and robust, and the process requires no high-temperature heat sources or large amounts of solvents. Relying on photocuring and local atmosphere control technology, it perfectly adapts to the extreme environment of space microgravity, high vacuum, and wide temperature variations. The system highly integrates detection, processing, spraying, curing, and monitoring functions into a single-handed device. The modular design makes the system structure clear, its functions well-defined, and facilitates on-orbit maintenance, replacement, and upgrades.