JP2000027303A - Support structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a support structure supporting a developable structure on a base member, which can be developed and housed together with the developable structure and secure a high rigidity in the developed state and further, adjust a relative position of the base member and the developable structure. SOLUTION: An expansible and contractible support members 22, 23, 24 are provided, in which first and second joints are formed in different positions from each other and they are extended or contracted by a specified driving means to vary the distance between the first and second joints. The first and second foints are connected to each other through connection members 32, 33 which can practice at least one of rotation, transfer, and elastic deformation to the developable structure 10 and the base member 41 respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deployable structure, such as a large antenna mounted on an artificial satellite, which occupies a small volume in a stored state and forms a predetermined shape in a deployed state. The present invention relates to a support structure used for supporting the above.

[0002]

2. Description of the Related Art FIG. 5 shows a conventional example of a deployable structure and a supporting structure for supporting the same. In FIG. 5, (a),
(B) and (c) show a deployed state, an intermediate state, and a stored state, respectively. The deployed structure shown in FIG.
This structure forms a mirror surface of the antenna by stretching a metal mesh on a skeleton structure having a star shape in the deployed state of (a). The deployable structure is supported on an artificial satellite (not shown) via a supporting structure.

[0003] The deployed structure determines the shape of the antenna mirror surface in the deployed state. A portion of the deployable structure is supported on a base member via a support structure. The base member is fixed to an unshown artificial satellite via a boom.
When using this type of antenna mirror surface, it is necessary to direct the antenna in a predetermined direction, and the support structure of the expandable structure that determines the shape of the antenna mirror surface is also artificial. It requires a movable mechanism to orient it in a predetermined direction with respect to the satellite.

[0004] In addition, since the size of the deployable structure is greatly different between the deployed state and the housed state, a supporting structure for supporting the deployable structure must be housed and deployed together with the deployable structure. FIG. 6 shows a conventional example of a support structure having a movable mechanism. In FIG. 6, the antenna mirror surface is mounted on the antenna mounting surface by a support member and a biaxial gimbal.

By driving the two-axis gimbal, it is possible to rotate the antenna mirror surface with respect to each of the two axes and change the attitude of the antenna mirror surface with respect to the antenna mounting surface.

[0006]

When the movable mechanism as shown in FIG. 6 is applied to a larger deployable structure, the inertia of the deployable structure increases as the size increases. Therefore, the drive shaft must be enlarged in consideration of the influence of a large inertia torque and a disturbance applied to the shaft during driving.

In the conventional support structure, the positional accuracy of the deployable structure depends on the mounting position error of the deployable structure attached via the support structure and the deployment reproduction accuracy of the support structure. In addition, when the structure is large and has flexible structural characteristics, the positional accuracy of the deployable structure is degraded due to the deformation of the deployable structure. As a result, in the case of a mirror surface, the directivity of the antenna mirror surface is artificial. There was a problem of deviation from the satellite.

When the direction is controlled using a two-axis movable mechanism as shown in FIG. 6 in order to secure the directivity of the antenna mirror surface with respect to the displacement of the deployable structure, the antenna becomes large. Then, there is a problem that the shaft of the drive mechanism or the like becomes large in order to maintain rigidity. For example, in order to adjust the direction of the deployable structure and to support the deployable structure via a two-axis rotation drive mechanism as shown in FIG.
Since the deployable structure is stored small in the stored state, it is required that the support structure and the biaxial rotation drive mechanism be stored together with the deployable structure.

On the other hand, the support structure needs to be connected to a plurality of connection portions of the deployable structure to secure rigidity in the deployed state. Therefore, it is possible to adopt a configuration in which the support structure is deployed in the same manner as the deployment type structure that forms a mirror surface. However, as shown in FIG. 7, in the related art, a two-axis rotation drive mechanism that controls rotation around an axis is used. Since the storage efficiency is poor, there is a problem that the storage efficiency in the storage state of the entire antenna system is deteriorated as a result.

In a support structure for controlling the deployable structure in the deployed state, if the deployable structure is not over-constrained, there is a backlash in the joint that rotates or slides for the deployment operation. There is a problem that the shape is not stable within the range. The present invention provides a support structure that supports a deployable structure that forms a predetermined shape on a predetermined base member in a deployed state, and enables deployment and storage together with the deployable structure, and increases the rigidity in the deployed state. It is an object of the present invention to secure and further adjust the relative position between the base member and the deployable structure.

[0011]

According to a first aspect of the present invention, in a support structure for connecting a deployable structure and a base member supporting the same, a first connection portion and a second connection portion are located at different positions from each other. At least one telescopic support member, which is formed and expands and contracts by driving of a predetermined driving means to change the distance between the first connecting portion and the second connecting portion, is provided.
Are connected to the deployable structure and the base member, respectively, via a connecting member capable of at least one of rotation, movement, and elastic deformation.

According to the present invention, the support structure has a deployed structure, and at least one of the support structures to be deployed is constituted.
One support member is constituted by a telescopic support member. Further, when the support structure is deployed, it is formed to have a statically-determined truss structure in which the position and posture of the deployable structure such as a mirror surface with respect to the base member are uniquely determined according to the length of the telescopic support member. .

At least one of rotation, movement and elastic deformation is possible between the first connecting portion of the telescopic support member and the deployable structure, and between the second connection portion of the telescopic support member and the base member. They are connected via a connecting member.

Therefore, the inclination between the telescopic support member and the deployable structure and the inclination between the telescopic support member and the base member change as required. That is, the posture of the deployable structure with respect to the base member can be changed with the expansion and contraction of the expansion and contraction support member. By shortening the length of the telescopic support member, the support structure can be compactly stored together with the deployable structure. Further, since the posture of the deployable structure is adjusted by the expansion and contraction of the extendable support member, the support structure and the deployable structure can be connected at a plurality of positions. Therefore, high rigidity can be obtained in the deployed state.

According to a second aspect of the present invention, in the support structure according to the first aspect, a spherical joint is used for at least one of the connecting members. Claim 3 is the support structure according to claim 1, wherein at least one of the connecting members is provided.
One feature is that a universal joint is used. Claim 4 is the support structure according to claim 1,
A slide mechanism is provided on at least one of the connecting members.

According to a fifth aspect of the present invention, in the supporting structure according to the fourth aspect, a rotating hinge is provided on the connecting member having the slide mechanism. Claim 6 is Claim 1
The support structure according to any one of the preceding claims, wherein at least one of the connecting members is provided with an elastic bearing. Claim 7
The support structure according to claim 1, wherein one of the first connection portion and the second connection portion of the plurality of telescopic support members is provided with a single common connection member at one place of the deployment type structure. And connecting the other of the first connection portion and the second connection portion of the plurality of telescopic support members to different positions of the base member through a plurality of independent connection members, A control means for making the expansion and contraction amounts of the plurality of expansion and contraction support members connected in common to one location of the mold structure common is provided.

According to a seventh aspect of the present invention, a plurality of telescoping support members are commonly connected to a single location of the deployable structure to realize an over-constrained statically indeterminate truss structure. In addition, synchronous control is performed so that the expansion and contraction amounts of a plurality of expansion and contraction support members commonly connected to one location of the deployable structure are the same so that distortion is not generated in the support structure. Claim 8 is Claim 1
3. The supporting structure according to claim 1, wherein one end near one end of the deployable structure and the base member is fixed, and at least one of rotation, movement, and elastic deformation is connected to the other of the deployable structure and the base member. A fixed support member connected near the other end via a member is provided.

In the eighth aspect, the position of the fixed support member does not change because the vicinity of one end thereof is fixed to the deployable structure or the base member. Therefore, the attitude of the deployable structure with respect to the base member changes based on the connection position with the fixed support member.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIG. 1 shows a supporting structure of this embodiment and its peripheral components. This embodiment corresponds to claims 1 to 3 and claim 8.

In this embodiment, the deployable structure and the base member according to claim 1 are the deployable structure 10 and the base member 4 respectively.
1, the telescopic support member corresponds to the telescopic support members 22 to 24, and the connecting member corresponds to the spherical joint 32 and the universal joint 33. The fixed support member of claim 8 corresponds to the fixed support member 21. Referring to FIG. 1, in the support structure of this embodiment, a base member 41 and a deployable structure 10 are connected by a long fixed support member 21 and three telescopic support members 22, 23, and 24. ing.

The exploded structure 10 is the same as the exploded structure shown in FIG. 5, and FIG.
Is shown only. As in FIG. 5, the deployable structure 10 has a peripheral portion around the base member 4 via a support structure.
1 is connected. The base member 41 is connected to an artificial satellite (not shown) via a boom 42.

The three telescopic support members 22, 23 and 24
Has a built-in drive mechanism 31, which is composed of, for example, an electric motor and a ball screw. When the drive mechanism 31 is driven, each of the telescopic support members 22, 23, and 24 expands and contracts, and their lengths in the longitudinal direction change. Each telescopic support member 22, 2
A spherical joint 32 is connected to one end of each of 3 and 24,
A universal joint 33 is connected to the other end. One ends of the elastic supporting members 22, 23 and 24 are connected to connection points 12, 13 and 14 of the deployable structure 10 via spherical joints 32, respectively.

The other ends of the telescopic support members 22, 23 and 24 are connected to different positions on the base member 41 via a universal joint 33. A spherical joint 34 is also connected to one end of the fixed support member 21. One end of the fixed support member 21 is
4 and connected to a connection point 11 of the deployable structure 10. The other end of the fixed support member 21 is fixed to the base member 41.

While the relative position between the spherical joint 34 connected to one end of the fixed support member 21 and the base member 41 is constant, the spherical joint 34 is connected to the base member 41 as the telescopic support members 22, 23 and 24 expand and contract. The relative positions of the connection points 12, 13, and 14 of the expanded structure 10 and the base member 41 change. That is, the deployable structure 10 is configured such that, with respect to the base member 41, the center of the spherical joint 34 is a pivot point.
You can change your posture.

In this example, the expandable structure 10 is supported by the three expandable support members 22, 23 and 24 extending in directions independent of each other via the spherical joint 32. The three-degree-of-freedom constraint is imposed on the posture change around the connection point by the spherical joint 34. Therefore, the relative position and posture of the deployable structure 10 with respect to the base member 41 are uniquely determined according to the lengths of the three elastic support members 22, 23 and 24. In addition, the length of each of the telescopic support members 22, 23 and 24 can be determined independently without applying an extra load to the support structure.

That is, in the unfolded state, the telescopic support members 22,
By controlling the lengths of the members 23 and 24, the attitude of the deployable structure 10 can be controlled. On the other hand, the telescopic support members 22, 23 and 24 follow the deployable structure 10,
Since it is a part of the member of the support structure that is stored or deployed, it is stored together with the deployable structure during storage. In this example, the spherical joint 32 and the universal joint 33 are used as connecting members, but other types of connecting members may be used. Further, a universal joint 33 may be used instead of the spherical joint 32, and the spherical joint 32 may be used instead of the universal joint 33.

(Second Embodiment) FIG. 2 shows a support structure of this embodiment and its peripheral components. This embodiment corresponds to claims 4 and 5. This form is similar to the first
This is a modification of the first embodiment, and is the same as the first embodiment except that a connecting member used to connect the fixed support member 21 and the elastic support members 22, 23, and 24 to the deployable structure 10 is changed. It is.

As shown in FIG. 2, in this embodiment, one end of the fixed support member 21 and one end of the telescopic support members 22, 23, 24
A connecting member composed of a rotating hinge 71 and a slide mechanism 72 is connected. Each slide mechanism 72 is slidable in the direction of the arrow shown in FIG. 2 along each member constituting the deployable structure 10. The slide mechanism 72 is connected to the fixed support member 21 and the telescopic support members 22, 23, 24 via the rotating hinge 71.

Therefore, the connection position between the deployable structure 10 and the fixed support member 21, the telescopic support members 22, 23, 24
The deployable structure 10 can be moved in accordance with the deployment / storage operation.

(Third Embodiment) Although not shown, this embodiment is a modification of the first embodiment, and includes the fixed support member 21, the telescopic support members 22, 23, and 24 and the deployable structure 10. The second embodiment is the same as the first embodiment except that a connecting member used for connection with the first embodiment is changed. This form is described in claim 6
Corresponding to

In the first embodiment, when there is play (play) at the joints such as the spherical joint 32 and the universal joint 33, the telescopic support members 22, 2 are provided.
The expansion / contraction accuracy is reduced by the amount of play due to the difference in the driving order of 3, 24 or the driving direction with respect to gravity. Therefore, in this embodiment, instead of the spherical joints 32, 34 and the universal joint 33, they are connected via elastic bearings at the connecting portions of the spherical joints 32, 34 and the universal joint 33 in FIG.

In this embodiment, the telescopic support members 22, 23,
By changing the length of the member 24, the joint receives the force to rotate. If the elastic bearing has much lower rigidity than the elastic supporting members 22, 23, 24, the elastic receiving member is deformed, so that a necessary rotational displacement occurs at the joint. When rotating due to the elastic deformation of the elastic receiving member, no backlash is generated.
23 and 24 are not affected by the driving history or driving direction.

(Fourth Embodiment) FIGS. 3 and 4 show a supporting structure of this embodiment and its peripheral components. This embodiment corresponds to claim 7. FIG. 3 is a perspective view showing the support structure of this embodiment and components around the support structure. FIG. 4 is a perspective view showing the support structure of this embodiment and elements of an electric system for controlling the support structure. The illustration of the deployable structure 10 is omitted in FIGS. 3 and 4.

In this embodiment, the common connecting member of claim 7 corresponds to the spherical joint 55, the plurality of connecting members correspond to the universal joints 53 and 54, and the control means corresponds to the control circuit 61. This embodiment is a modification of the first embodiment. The differences from the first embodiment will be described below.

In the support structure shown in FIG. 3, two telescopic support members 51 and 52 are provided instead of the telescopic support member 22 of FIG. The telescopic support members 51 and 52 are
It has the same configuration as the telescopic support member 22. However, the elastic support members 51 and 52 have one ends thereof commonly connected to a single spherical joint 55. Universal joints 54 and 53 are connected to the other ends of the telescopic support members 51 and 52, respectively.

Therefore, the two telescopic support members 51 and 52
Is a deployable structure 1 at one end via a spherical joint 55.
0. Telescopic support members 51 and 5
The other end of 2 is connected to different positions on the base member 41 via universal joints 54 and 53, respectively. In the support structure of this embodiment, the telescopic support member 5 that connects the base member 41 and the deployable structure 10 is used.
Since only the distance between both ends of the support structure 1 and 52 is restricted, only one of the three degrees of freedom of the support structure is over-restricted.

The support structure is provided with control elements as shown in FIG. 4 for controlling the position and posture of the deployable structure 10. Referring to FIG.
1, 52, 23 and 24 each have an encoder 6
3, 64, 65 and 62 are provided. The encoders 63, 64, 65 and 62 are respectively
The number of revolutions of the electric motor provided as a driving element in 1, 52, 23 and 24 is measured. Telescopic support members 51, 52,
23 and 24 are connected to the control circuit 6 via the control cable 66.
1 is connected.

The control circuit 61 inputs the output signals of the encoders 63, 64, 65 and 62 via the control cable 66. The electric motor that drives the telescopic support members 51, 52, 23, and 24 is supplied with drive power from a control circuit 61 via a control cable 66. Therefore, the control circuit 6
1 can drive the electric motor while measuring the amount of change in the length of each of the telescopic support members 51, 52, 23 and 24.

In this embodiment, the control circuit 61 controls the operations of the two telescopic support members 51 and 52 commonly connected to one spherical joint 55 so as to satisfy a certain relationship. Specifically, the control circuit 61 controls the telescopic support member 51.
And the telescopic support member 5 so that the drive amounts detected by the two encoders 63 and 64 installed in the
The electric motors 1 and 52 are driven.

Accordingly, the expansion and contraction amount of the expansion and contraction support members 51 and 52 is controlled to be always equal. Due to such control, the degrees of freedom of independently driving the support structures shown in FIGS. 3 and 4 are the same as those of the support structure of FIG. The drive conditions other than equalizing the amount of expansion and contraction of the two expandable support members 51 and 52 are the same as those in the first embodiment. Therefore, the posture of the deployable structure 10 with respect to the base member 41 can be controlled by adjusting the length of each of the telescopic support members 51, 23, and 24.

On the other hand, if the individual expansion and contraction support members 51 and 52 are to be driven independently, they are mutually restrained and the length cannot be changed independently. Therefore, even if the length of the member is changed due to some influence such as an external force, the length is not easily changed. Although FIGS. 3 and 4 show the case where the two elastic supporting members 51 and 52 are connected to one place of the deployable structure 10 via a common spherical joint 55, one connecting portion has three connecting members. More than two telescopic support members may be connected. Even in such a case, by maintaining a constant relationship between the amount of expansion and contraction of the plurality of commonly-supported telescopic support members, a configuration having a driving degree of freedom equivalent to one telescopic support member is obtained.

By connecting the plurality of telescopic support members 51 and 52 in common with one connection part, the deterioration of the posture accuracy due to the backlash of the connection member of each connection part and the deformation of the member caused by an external force is reduced. Is done. In this embodiment, 1
Although the case where the plurality of elastic supporting members 51 and 52 are commonly connected to the connecting portions at the locations has been described, similarly, the plurality of elastic supporting members 51 and 52 may be commonly connected to each of the connecting portions at the multiple locations. good.

[0043]

As described above, according to the present invention, the support structure can be deployed and stored, so that the storability is improved. In addition, the support posture can be controlled by controlling the length of the telescopic support member. In addition, when an elastic bearing is provided on the connecting member, the influence of the play of the connecting portion is reduced,
Highly accurate attitude control becomes possible.

Further, when the telescopic support member is over-constrained, the posture change is prevented even when an unexpected change in the length of the telescopic support member occurs due to backlash or the like.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating a support structure according to a first embodiment and components around the support structure.

FIG. 2 is a perspective view illustrating a support structure according to a second embodiment and components around the support structure.

FIG. 3 is a perspective view illustrating a support structure according to a fourth embodiment and components around the support structure.

FIG. 4 is a perspective view showing a support structure according to a fourth embodiment and electric components for controlling the support structure.

FIG. 5 is a perspective view showing a conventional example of a deployable structure and a support structure for supporting the same.

FIG. 6 is a perspective view showing a conventional example of a support structure having a movable mechanism.

FIG. 7 is a perspective view showing a conventional example of a support structure provided with a two-axis rotation drive mechanism.

[Explanation of symbols]

 REFERENCE SIGNS LIST 10 deployment type structure 11, 12, 13, 14 connection point 21 fixed support member 22, 23, 24 telescopic support member 31 drive mechanism 32, 34 spherical joint 33 universal joint 41 base member 42 boom 51, 52 telescopic support member 53, 54 Universal Joint 55 Spherical Joint 61 Control Circuit 62, 63, 64, 65 Encoder 66 Control Cable 71 Rotary Hinge 72 Slide Mechanism

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H01Q 15/14 H01Q 15/14 A (72) Inventor Jun Nakagawa 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsui Electric Co., Ltd. AA10 AB00 BG04 BG08 BG10

Claims (8)

[Claims] 1. A supporting structure for connecting a deployable structure and a base member supporting the same, wherein a first connecting portion and a second connecting portion are formed at different positions from each other, and a predetermined driving means is driven. Expand and contract by the first
At least one telescopic support member in which the distance between the connecting portion and the second connecting portion changes is provided, and a first connecting portion and a second connecting portion of the telescopic supporting member are provided.
A support structure, wherein the support structure is connected to the deployable structure and the base member via a connection member capable of at least one of rotation, movement, and elastic deformation. 2. The support structure according to claim 1, wherein a spherical joint is used for at least one of said connecting members. 3. The support structure according to claim 1, wherein a universal joint is used for at least one of the connecting members. 4. The support structure according to claim 1, wherein a slide mechanism is provided on at least one of said connecting members. 5. The support structure according to claim 4, wherein a rotation hinge is provided on the connecting member provided with the slide mechanism. 6. The support structure according to claim 1, wherein at least one of said connecting members is provided with an elastic bearing. 7. The support structure according to claim 1, wherein one of the first connection portion and the second connection portion of the plurality of telescopic support members is a single common member at one place of the deployable structure. A common connection is made via a connecting member, and the other of the first connecting portion and the second connecting portion of the plurality of telescopic supporting members is connected to different positions of the base member via a plurality of independent connecting members. A support structure provided with control means for making the expansion / contraction amounts of the plurality of expansion / contraction support members commonly connected to one position of the deployable structure common. 8. The support structure according to claim 1, wherein one end near one end of the deployable structure and the base member is fixed, and rotation, movement, and elasticity are performed on the other of the deployable structure and the base member. A support structure, comprising: a fixed support member connected near the other end via a connection member capable of at least one deformation.