JP2003212199A - Fixing/separating/capturing device for module - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fixing/separating/capturing device for a module which can (1) endure a high G at launch, (2) can be surely separated on an orbit, (3) can be re-inserted into a carrier by a robot arm, and (4) can be pulled into a predetermined position while capturing a replenish module and firmly re-fixed so that it endures the high G at reentry. <P>SOLUTION: This fixing/separating/capturing device is provided with a grasping member 4 mounted to one end face of an exposure pallet 1, a capturing/ fixing device 10 for pulling in the exposure pellet to the side of a space carrier by grasping the grasping member and fixing it at the predetermined position, and a plurality of separating/fixing devices 20 located at a plurality of points of the exposure pallet for fixing the exposure pallet and the space carrier in capable of separation and re-fixation. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for fixing / separating / capturing a space supply module to a space transportation machine.

[0002]

2. Description of the Related Art FIG. 7 is a conceptual diagram showing the operation of a supply module in space. As shown in this figure, the replenishment module consisting of the exposure pallet 1 and the exposure cargo 1a is
(1) Mounted on a rocket space transport aircraft 2 (carrier) and launched from the ground, (2) Space station 3 (IS
(3) Positioning (versing) in a state of approaching the space station 3 (3). Next, (4) the supply modules 1 and 1a are taken out from the carrier 2 and (5) attached to the JEM exposure section 3a of the space station 3. After that, (6) after exchanging the exposed cargo 1a attached to the exposure pallet 1, etc., (7) replenishment modules 1, 1
a is removed from the JEM exposed part 3a, and (8) carrier 2
(9) It is removed from the space station 3 (ISS), and (10) the supply modules 1 and 1a are collected or discarded on the ground. In this figure, 2a is a robot arm for handling the exposed pallet 1.

FIG. 8 shows the exposed cargo 1a and the exposed pallet 1
It is a whole perspective view of the supply module attached to. As shown in this figure, the exposed pallet 1 is a pedestal having a substantially rectangular shape as a whole, and a plurality of exposed cargos 1a are attached to the surface thereof by a cargo attachment mechanism. Each exposed cargo 1a and exposed pallet 1 has a robot arm 2 called FRGF.
The gripping member 4a is attached so that it can be moved by the robot arm 2a. Also, exposed cargo 1
In a, a male connecting member called PIU and an EF fitted with this
A female connecting member called U is provided, and the power line and the signal line can be connected by connecting the PIU and the EFU. The PIU of the exposure pallet 1 is connected to the EFU (not shown) in the space transport aircraft 2.

FIG. 9 is an overall perspective view of the space transportation aircraft 2 (carrier) in which the supply module is stored. As shown in this figure, an opening is provided on the side surface (right side in the figure) of the hollow cylindrical carrier 2, and the replenishment module passes through this opening and the axis line of the carrier 2 is indicated by a double arrow in the figure. It can be put in and taken out vertically. Further, the exposed pallet 1 is preferably fixed to the carrier 2 at the four corners shown by B in the figure so as to withstand the impact at the time of launching or at the time of collection / disposal. Also, the robot arm 2a
Since it becomes difficult to completely push the replenishment module into the carrier 2 by the movement by (1), a device for capturing the exposed pallet 1 and retracting it to the home position is required at a position indicated by A, for example.

[0005]

In order to attach / detach (fix and separate) at the point B and to capture and pull in at the point A shown in FIG. The actuation mechanism used was proposed. But,
In a pyrotechnic product that uses explosives, for example, a separation mechanism between a rocket and a satellite, an impact load is generated due to the explosion of explosives, which may change the attitude of the space transport aircraft 2 and damage the equipment.
In addition, pyrotechnics have a problem that they cannot be applied to slow operations such as trapping and re-fixing on an orbit because they are shocked. Further, an operating mechanism using a motor or the like can be applied to a slow operation such as capturing and coupling on an orbit, but it cannot be fixed to withstand a high G at launch. In addition, since a motor or the like is used, the structure and the like are complicated, and there is a problem that the size is increased and the cost is increased.

The present invention was created to solve the above problems. That is, the object of the present invention is to
(1) At the time of launch, the space transport plane 2
It can be securely fixed to the (carrier) and can withstand high G at launch, and (2) the replenishment module can be reliably separated from the carrier 2 even if thermal deformation occurs on the orbit, and (3) ) The robot arm can attach / remove the replenishment module to / from the space station 3, and it can be re-inserted into the carrier 2 after use. (4) The inserted replenishment module can be captured and retracted to a fixed position, and the height at re-entry can be increased. An object of the present invention is to provide a module fixing / separating / capturing device that can be surely fixed again so as to endure G.

[0007]

According to the present invention, an opening is provided on the side surface of a hollow cylindrical space transportation vehicle (2), and a replenishment comprising an exposure pallet (1) and an exposure cargo (1a). The module for inserting the module perpendicularly to the axis of the spacecraft through the opening to fix the replenishment module to the spacecraft, separating it in space, and capturing and refixing it on reinsertion. In a device for fixing / separating / capturing to a space transportation machine, a gripping member (4) attached to one end surface of an exposure pallet (1) and the gripping member are drawn and the exposed pallet is drawn toward the space transportation machine and fixed. A capturing and fixing device (10) for fixing at a position, and a plurality of separating and fixing devices (20) located at a plurality of positions on the exposure pallet so that the exposure pallet and the space transportation device can be separated and fixed again.
A module fixing / separating / capturing device is provided.

According to the above configuration of the present invention, the gripping member (4) is gripped by the robot arm to expose the exposure pallet (1).
And the exposed cargo (1a) attached to this can be handled freely. In addition, the capturing and fixing device (1
According to 0), the gripping member can be gripped, the exposed pallet can be drawn into the space transportation side, and fixed at a fixed position. Further, a plurality (for example, four corners) of the separating and fixing devices (20) can fix the space transport aircraft with a plurality of exposed pallets, separate them in orbit, and re-fix them before re-entry.

According to a preferred embodiment of the present invention, the trapping and fixing device (10) comprises a cylindrical trunnion (10a) mounted on the exposure pallet (1) and a trunnion trapping and fixing mounted on a space transportation vehicle. The trunnion trapping and fixing device (10b) is composed of a device (10b), a trapping arm (12) for trapping the trunnion in front of a fixed position and moving the trunnion to the fixed position, and a trap arm from the position before the fixed position to the fixed position. Toggle drive that rotates and locks in place (1
4), an arm holding device (16) for holding the capture arm at the standby position, and a trunnion detection device (18) for detecting the trunnion at the capture position and the fixed position.

With this configuration, the toggle drive device (14)
With, the capturing arm (12) can be swung from a position before the fixed position to the fixed position, and the columnar trunnion (10a) can be captured by the capturing arm (12) before the fixed position and moved to the fixed position. In addition, the arm holding device (16) can hold the capturing arm at the standby position during launch. Further, the trunnion detection device (18) can detect the trunnion at the trapping position and the fixed position to detect the start time and end time of the toggle drive device (14).

The toggle driving device (14) comprises a toggle link mechanism (14a) and a linear actuator (14b) for moving the toggle link mechanism (14a) from a fixed position to a fixed position.
With this configuration, the toggle link mechanism (14a) can increase the operating force when turning from a position before the fixed position to the fixed position, and by setting the center to overcenter at the fixed position, the driving force becomes high G at the time of re-entry. Can withstand without.

Further, the capturing arm (12) has a built-in preload mechanism (13) for urging the arm holding device (16) to eliminate the backlash. With this configuration, a gap (play) between the arm holding device (16) and the capturing arm (12) can be eliminated, and a high G at launch can be endured.

Further, according to a preferred embodiment of the present invention, the separating and fixing device (20) includes an exposure pallet (1).
A separation unit (20a) attached to the vehicle, a fixed unit (20b) attached to a space transportation vehicle, and a coupling device (20c) for coupling the separation unit (20a) and the fixed unit (20b). (20a) is
It has a vertical separating surface (21) perpendicular to the insertion direction of the exposure pallet and a parallel fixing surface (22) parallel thereto, and the vertical separating surface and the parallel fixing surface have a frustoconical concave hole (21a, 22
a) is provided, and the fixing unit (20b) has a main body (23) having a frustoconical projection (23a) that fits into the concave hole (21a) of the vertical separation surface (21); A protruding member (24) having a frustoconical protrusion (24b) that fits into the concave hole (22a) of the parallel fixing surface (22).
And the protrusion (23a) is held in a state of being removed from the recess (22a), and then the protrusion (23a) is recessed (22).
and a fixing device (25) for fitting and fixing to a),
The coupling device (20c) is adapted to hold the recessed hole (21a) of the vertical separation surface (21) and the protrusion (23a) of the main body (23) in a fitted state, and then to separate them. .

With this configuration, at the time of launch, the concave hole (21) of the vertical separation surface (21) is provided by the connecting device (20c).
It is possible to withstand the high G at the time of launching by keeping the a) and the projection (23a) of the main body (23) in a fitted state.
Further, on the track after the launch, only by separating the connecting device (20c), the supply module can be reliably separated from the carrier even if there is thermal deformation. Further, the protrusion (23a) is formed into the concave hole (22) by the fixing device (25).
After the replenishment module is used, the protrusion (23a) is fitted into the concave hole (22a) on the side of the exposed pallet (1) that has been pulled in to a fixed position after the use of the replenishment module, and the height at the time of re-entry is increased. It can be securely re-fixed to withstand G.

The fixing device (25) includes a protruding member (2).
4) a compression spring (25a) for urging the holding member in the fitting direction, a holding pin (25b) for holding the protruding portion (23a) in a state of being disengaged from the concave hole (22a), and a linear actuator for pulling out the holding pin. (25c). With this configuration,
The holding pin (25b) is pulled out by the linear motion actuator (25c), and the projecting member (2) is pulled by the biasing force of the compression spring (25a).
4) can be moved in the fitting direction to fit the protrusion (23a) into the recessed hole (22a) on the exposed pallet (1) side at a fixed position.

The connecting device (20c) connects the recessed hole (21a) of the vertical separating surface (21) and the protrusion (23a) of the main body (23) in a fitted state.
And a bolt releasing actuator (27) for loosening and separating the bolt. With this configuration, by simply loosening and separating the bolt (26) by the bolt releasing actuator (27), the replenishment module can be reliably separated from the carrier even if thermal deformation occurs.

Further, a bolt separation detecting device (28) for detecting separation of the bolt (26), and the protrusion (23).
a) and a fitting detection device (29) for detecting fitting of the concave hole (22a). With this configuration, the bolt (26)
It is possible to detect the separation and the fitting of the protruding portion (23a) and the concave hole (22a).

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional view of a space transportation aircraft provided with the fixing / separating / capturing device of the present invention. In this figure, (A) shows that the replenishment module 1 is the space transport aircraft 2
The state where the replenishment module 1 is completely stored in the (carrier) is shown, and the state where the replenishment module 1 is located outside the storage position is shown in (B).

As shown in FIG. 9, an opening is provided on the side surface of the hollow cylindrical space transportation machine 2, and a replenishment module consisting of the exposed pallet 1 and the exposed cargo 1a is passed through this opening and the space transportation machine 2 is opened. Insert the replenishment module perpendicularly to the axis of (from top to bottom in this figure)
It is designed to be fixed to. A guide 2b is provided on the carrier 2 so that a roller (not shown) provided on the pallet 1 can be guided so that the pallet can be inserted / removed smoothly.

The fixing / separating / capturing device of the present invention comprises a grip member 4 for a robot arm, a capturing / fixing device 10 and a separating / fixing device 20. The gripping member 4 is attached to one end surface (upper end surface in this figure) of the exposure pallet 1 and is gripped by a robot arm (not shown) to freely handle the exposure pallet 1 and the exposed cargo 1a fixed thereto in outer space. You can do it. Therefore, in the zero-gravity state, the replenishment modules 1, 1a are moved by the robot arm.
Spacecraft 3 JEM
Attached to the exposed part 3a, and further replenishment modules 1, 1a
Can be removed from the JEM exposure part 3 a and inserted into the carrier 2.

The trapping and fixing device 10 is located on the line of action (indicated by the one-dot chain line) when the gripping member 4 is reinserted, pulls the exposed pallet 1 toward the space transport aircraft 2 side, and refixes it at a fixed position. In this example, the capturing and fixing device 10 is the exposure pallet 1
However, the present invention is not limited to this and may be provided on the gripping member 4 side or on the opposite side as long as it is on the line of action when the gripping member 4 is reinserted.

A plurality of (four in this example) separating and fixing devices 2
0 is located at a plurality of positions (four corners in this example) of the exposure pallet 1 so that the exposure pallet 1 and the space transport aircraft 2 can be fixed and re-fixed in a separable manner.

FIG. 2 shows a trapping and fixing device 1 which constitutes the present invention.
It is a block diagram of 0. In this figure, (A) is before operation,
(B) shows after operation. As shown in FIGS. 1B and 2, the trapping and fixing device 10 includes a column-shaped trunnion 10 a mounted on the exposure pallet 1 and a trunnion capturing and fixing device 10 b mounted on the space transport aircraft 2.

In FIG. 2, the trunnion capturing and fixing device 1 is shown.
0b is a capturing arm 12 that captures the trunnion 10a before the fixed position and moves it to the fixed position; a toggle drive device 14 that rotates the capturing arm 12 from the fixed position to the fixed position and fixes it at the fixed position; An arm holding device 16 that holds the arm 12 at the standby position and a trunnion detection device 18 that detects the trunnion 10a at the trap position and the fixed position are provided.

The toggle drive unit 14 comprises a toggle link mechanism 14a and a linear actuator 14b for moving the toggle link mechanism 14a from a position before the fixed position to the fixed position. The direct acting actuator 14b is a paraffin actuator in this example, and heats and melts solid paraffin with a heater, and the thermal expansion thereof causes the toggle link mechanism 14a to operate. The present invention is not limited to such a paraffin actuator, and may be an electric or hydraulic direct-acting cylinder that moves the toggle link mechanism 14a from the standby position (A) to the fixed position (B). Further, in the toggle link mechanism 14a, in the fixed position (B), the two links are located on a straight line or overcentered from that, and can be held at a high G at the time of re-entry without a driving force. .

In this example, the arm holding device 16 is a paraffin actuator for pulling out the stopper pin 16a, and the protrusion of the stopper pin 16a causes the catch arm 12 before actuation to move to the actuation side due to vibration at the time of launching. Holds so that it does not move. Further, the capture arm 12 has a built-in preload mechanism 13 that urges the arm holding device 16 to eliminate the play. This preload mechanism 13
Incorporates a compression spring for urging the stopper pin 16a, and eliminates a gap (play) between the arm holding device 16 (stopper pin 16a) and the capturing arm 12 by the urging force.

The trunnion detector 18 is used for the trunnion 1
0a, the linear motion rod 19 that moves in the axial direction and the limit switch 1 that detects the moving position of the linear motion rod 19.
8a and 18b, the trunnion 10a detects the trap position and the home position located in front of the home position (on the left side in the figure).

FIG. 3 is a diagram for explaining the operation of the trapping and fixing device 10 of FIG. In this figure, (A) is the initial state,
(B) shows a capture position detection state, (C) shows a soft dock state, and (D) shows a fixed state. In the initial state (A), the stopper pin 16a of the arm holding device 16 is projected and holds the capture arm 12 so as not to move to the operating side due to vibration at the time of launching. Further, the biasing force of the compression spring of the preload mechanism 13 eliminates the gap (play) between the stopper pin 16a and the capturing arm 12. In this state, it is held as it is from the time of launch to the time of re-insertion of the supply module before re-entry into the carrier 2.

When the replenishment module is reinserted into the carrier 2, the replenishment modules 1 and 1a are inserted into the carrier 2 by the robot arm until the state shown in FIG. Then, when the trunnion 10a is further inserted, as shown in (B), the trunnion 10a moves to a position before the fixed position, and this position is detected by the limit switch 18a. By this detection, the paraffin actuator 16 operates to pull out the stopper pin 16a.

Then, as in the soft dock state (C), the paraffin actuator 14b operates to clamp the trunnion 10a at the trapping position by the trapping arm 12 to trap it, and further, the trapping arm 12 continues to the fixed position. It turns to a fixed state (D), and this position is detected by the limit switch 18b.

FIG. 4 shows a separating and fixing device 2 which constitutes the present invention.
It is a block diagram of 0. As shown in FIG. 1 (B) and FIG.
The separating and fixing device 20 includes a separating unit 20a attached to the exposure pallet 1, a fixing unit 20b attached to the space transport aircraft 2, a separating unit 20a and a fixing unit 2.
0b is connected to the connecting device 20c.

In FIG. 4, the separation unit 20a has a vertical separation surface 21 perpendicular to the insertion direction of the exposure pallet 1 (left and right direction in the figure) and a parallel fixing surface 22 parallel to this.
Further, the vertical separating surface 21 and the parallel fixing surface 22 are provided with frustoconical concave holes 21a and 22a, respectively.

The fixed unit 20b includes a main body 23,
The projecting member 24 and the fixing device 25 are provided. The main body 23 is
It has a frustoconical projection 23a that fits into the recess 21a of the vertical separation surface 21. Further, the projecting member 24 is a truncated cone-shaped projection 24 that fits into the concave hole 22 a of the parallel fixing surface 22.
b.

The fixing device 25 includes a compression spring 25a for biasing the projecting member 24 in the fitting direction and a recess 22 for the projecting portion 23a.
The holding pin 25b is held in a state of being separated from a, and the linear motion actuator 25c pulls out the holding pin 25b. The direct acting actuator 25c is a paraffin actuator in this example, but may be an electric or hydraulic direct acting cylinder. With this configuration, before the linear actuator 25c is actuated, the projecting portion 23a is held in a state of being disengaged from the recessed hole 22a, and then when necessary, the linear actuator 25c pulls out the holding pin 25b to project the projecting portion 23a into the concave hole 22a. It is designed to be fitted and fixed.

The connecting device 20c comprises a bolt 26 for connecting the concave hole 21a of the vertical separating surface 21 and the protruding portion 23a of the main body 23 in a fitted state, and a bolt releasing actuator 27 for loosening and separating the bolt 26. In this figure, the bolt 26 is shown in a loosened state. The bolt release actuator 27 is preferably a bolt retractor that drives the shape memory alloy to return to its original shape by heating the shape memory alloy so as to rotate the bolt 26 in a direction to loosen the bolt 26. With this configuration, the coupling device 20c can hold the concave hole 21a of the vertical separation surface 21 and the protrusion 23a of the main body 23 in a fitted state at the time of launch, and can withstand the high G at the time of launch and on the orbit. Thus, the replenishment module can be reliably separated from the carrier even if there is thermal deformation.

In FIG. 4, the fixing unit 20b further includes a bolt separation detecting device 2 for detecting separation of the bolt 26.
8 and a fitting detection device 29 for detecting fitting of the protruding portion 23a and the concave hole 22a. The bolt separation detecting device 28 includes a moving plate 28b biased in the main body 23 by a compression spring 28a in a detaching direction (rightward in the figure), and a limit switch 28c for detecting movement of the moving plate 28b in the detaching direction. Become. The bolt releasing actuator 27 is attached to the moving plate 28b.
One of them is fixed, and the moving plate 28b moves in the detaching direction by the urging force of the compression spring 28a when the bolt 26 is loose, and this is detected by the limit switch 28c. The fitting detection device 29 is composed of a limit switch that directly detects the protrusion of the protrusion 23a.

FIG. 5 shows the separation and fixing device 20 of FIG.
It is operation | movement explanatory drawing at the time of pulling out. In this figure, (A) shows the time of launch, (B) shows the time of separation, and (C) shows the time of withdrawal. In each drawing, the upper drawing is a plan view and the lower drawing is a cross-sectional view of the coupling device 20c. Separation on orbit from launch
In the process up to the withdrawal, the fixing device 25 described above is held in a state where the protruding portion 23a is disengaged from the recessed hole 22a, does not operate at all, and only the connecting device 20c operates. At the time of launch (A), the separation unit 20a attached to the exposure pallet 1 and the fixed unit 2 attached to the space transport aircraft 2
0b is connected by a connecting device 20c, and the concave hole 21a of the vertical separation surface 21 and the projection 23a of the main body 23 are held in a fitted state to withstand the high G at launch.
On the track after the launch, at the time of separation (B), the bolt releasing actuator 27 loosens the bolt 26 to separate the separation unit 20a and the fixed unit 20b. In this state, the moving plate 28b is moved by the urging force of the compression spring 28a.
Moves in the detaching direction, and this is detected by the limit switch 28c. With this detection, the exposed pallet 1 can be further pulled out from the carrier 2 and completely taken out from the carrier 2 by the robot arm.

FIG. 6 shows how the separating and fixing device 20 of FIG.
It is an operation explanatory view at the time of fixation. In this figure, (A) shows the time of capture and withdrawal, (B) shows the time of completion of withdrawal, and (C) shows the time of fixation. In each drawing, the upper drawing is a plan view and the lower drawing is a cross-sectional view of the coupling device 20c. In the process from capturing / retracting on the track to re-entry after fixing, the coupling device 2
0c holds the separated state shown in FIGS. 5B and 5C, does not operate at all, and only the fixing device 25 operates. Until the time of capturing / retracting on the track (A), the protruding portion 23a is held in a state of being disengaged from the concave hole 22a by the protrusion of the holding pin 25b. Next, when the pulling-in is completed (B), the holding pin 25b is pulled out by the linear actuator 25c, and the protruding portion 23a is directly fitted into the concave hole 22a and fixed (C).

As described above, the module fixing / separating / capturing device of the present invention has the following features. (1) As a fixing mechanism at the time of launching, a separating and fixing device 20 in which a convex component having a taper and a concave component are combined is arranged at four corners of a supply module (pallet). (2) As the on-orbit capturing mechanism, the capturing and fixing device 10 including the toggle link mechanism 14a driven by the paraffin actuator 14b is arranged in the center of the carrier, and the replenishment module (pallet) positioned by the robot arm is positioned. The trunnion 10a was captured so that it could be retracted. In addition, the limit switch can detect the capture-capable state and capture-completed state. Further, the paraffin actuator 16 and the preload mechanism 13 can hold the link mechanism 14a at the time of launch. (3) A mechanism for driving the pin 24 into the hole by the spring 25a is adopted as the re-fixing mechanism on the track. The spring pin 24 is a paraffin actuator 25c (Pi
n Puller), the paraffin actuator is driven after the completion of capturing (2), and the holding is released, so that it is driven into the hole. (4) The fixing mechanism 27 at the time of launch and the fixing mechanism 25 on the track are integrated.

With this configuration, the following effects can be obtained. (1) By combining convex and concave parts, the degree of freedom in each axial direction of the replenishment module (pallet) and transport machine (carrier) can be securely fixed, and even if there is thermal deformation on the track during separation. Can be separated into Moreover, the impact load at the time of separation is also reduced. (2) With the trapping mechanism composed of the paraffin actuator and the link mechanism, the trunnion on the replenishment module (pallet) side can be reliably trapped and pulled in even if there is a positioning error or resistance load of the robot arm. Moreover, the whole can be made compact. (3) Since the captureable state and the capture completed state can be detected, the coordinated operation with the robot arm enables reliable capture. (4) A large fixed holding force can be generated by adopting the toggle link mechanism. When the trapping is completed, the trapping arm is in the over-center state, so that the trapping arm is not reversely driven even if an external force is applied, and the trapping state can be reliably maintained. (5) The preload mechanism and the paraffin actuator can prevent the on-orbit capture mechanism from being damaged / deteriorated in a vibration environment at the time of launch. (6) As an on-orbit fixing mechanism, by driving a pin, it can be surely fixed with a simple mechanism. Moreover, a paraffin actuator (Pin Puller) is used to hold the pin.
By adopting, it is possible to make the whole compact. (7) By integrating the launch-time fixing mechanism and the on-orbit fixing mechanism, when the on-orbit fixing is performed, the convex component and the concave component can be re-engaged, and the lateral freedom can be restricted, and the overall size can be made compact. can do.

The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0042]

As described above, the module fixing / separating / capturing device according to the present invention (1) securely fixes the replenishment module to the space transport aircraft 2 (carrier) during launch without any play. Can withstand high G, (2)
The supply module can be reliably separated from the carrier 2 even if there is thermal deformation on the orbit, and (3) the supply module can be attached to / removed from the space station 3 by the robot arm, and it can be re-installed in the carrier 2 after use. It has an excellent effect that it can be inserted, and (4) the inserted replenishment module can be captured, pulled to a fixed position, and securely fixed to withstand the high G at the time of re-entry.

[Brief description of drawings]

FIG. 1 is a cross-sectional view of a space transport aircraft including a fixing / separating / capturing device according to the present invention.

FIG. 2 is a configuration diagram of a trapping and fixing device that constitutes the present invention.

FIG. 3 is an operation explanatory view of the capture and fixation device of FIG.

FIG. 4 is a configuration diagram of a separating and fixing device that constitutes the present invention.

5 is an operation explanatory view of the separation fixing device of FIG. 4 when separating / pulling out.

FIG. 6 is an operation explanatory view of the separating and fixing device of FIG. 4 when retracting / fixing.

FIG. 7 is a conceptual diagram showing the operation of a supply module in space.

FIG. 8 is an overall perspective view of a supply module.

FIG. 9 is an overall perspective view of a space transportation machine that stores a supply module.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Exposure pallet, 1a Exposed cargo, 2 Space transport (carrier), 2a Robot arm, 3 Space station (ISS), 4 Grasping member, 10 Capture fixing device, 10a trunnion, 10b Trunnion capture fixing device, 12 Capture arm, 13 Preload mechanism, 14 toggle drive device, 14a toggle link mechanism, 14b direct acting actuator, 16 arm holding device, 18 trunnion detecting device, 20 separating and fixing device, 20a separating unit, 20b fixing unit, 20c connecting device, 21
Vertical separation surface, 21a, 22a concave hole, 22 parallel fixing surface, 23a protrusion, 23 main body, 24 protruding member, 2
4b protrusion, 25 fixing device, 25a compression spring, 2
5b Holding pin, 25c Direct acting actuator, 26
Bolt, 27 bolt release actuator, 28 bolt separation detection device, 29 fitting detection device

Claims (8)

[Claims] 1. A hollow cylindrical space transportation machine (2) is provided with an opening on a side surface thereof, and a replenishment module consisting of an exposure pallet (1) and an exposed cargo (1a) is passed through the opening to create a space transportation machine. Fixing / separating / capturing a module to the space transport aircraft by inserting it vertically into the axis, fixing the supply module to the space transport aircraft, separating it in outer space, and capturing and re-fixing it when re-inserting In the apparatus, a gripping member (4) attached to one end surface of the exposure pallet (1), and a catching and fixing device (10) for gripping the gripping member and pulling the exposure pallet to the space transportation side and fixing it at a fixed position. And a plurality of separating / fixing devices (20) located at a plurality of locations on the exposure pallet and capable of fixing and re-separating the exposure pallet and the space transport aircraft in a separable manner. Capture device. 2. The trapping and fixing device (10) is a cylindrical trunnion (10a) attached to an exposure pallet (1).
And a trunnion trapping and fixing device (10b) attached to a space transportation vehicle. The trunnion trapping and fixing device (10b) traps a trunnion before a fixed position and moves it to the fixed position (12), Toggle drive device (14) for rotating the capturing arm from a position before the fixed position to the fixed position and fixing the fixed position at the fixed position.
The fixing according to claim 1, further comprising: an arm holding device (16) for holding the capturing arm in the standby position, and a trunnion detecting device (18) for detecting the trunnion in the capturing position and the home position.・ Separation / capture device. 3. The toggle drive device (14) comprises a toggle link mechanism (14a) and a linear actuator (14b) for moving the toggle link mechanism (14a) from a fixed position to a fixed position. The fixing / separating / capturing device described in. 4. The preload mechanism (1) for urging an arm holding device (16) to eliminate the rattling of the capture arm (12).
The fixing / separating / capturing device according to claim 3, wherein the fixing / separating / capturing device has a built-in 3). 5. The separation fixing device (20) includes a separation unit (20a) attached to an exposure pallet (1), a fixing unit (20b) attached to a space transportation vehicle, and a separation unit (20a). The separation unit (20a) comprises a vertical separation surface (21) perpendicular to the insertion direction of the exposure pallet and a parallel fixed surface (22) parallel to the connection device (20c). The vertical separating surface and the parallel fixing surface are provided with frustoconical concave holes (21a, 22a), and the fixing unit (20b) is a concave hole of the vertical separating surface (21). 21a) is fitted with a frustoconical projection (23
body (23) having a) and said parallel fixing surface (22)
Frustoconical projection (24) that fits into the concave hole (22a) of
b) having a protrusion member (24) and the protrusion (23)
and a fixing device (25) for holding the a) in a state of being disengaged from the concave hole (22a) and then fitting and fixing the protruding portion (23a) in the concave hole (22a), and a coupling device (20c). Holds the concave hole (21a) of the vertical separation surface (21) and the protrusion (23a) of the main body (23) in a fitted state, and then separates them. Fixing / separating according to claim 1.
Capture device. 6. The fixing device (25) comprises a protruding member (2).
4) a compression spring (25a) for urging the holding member in the fitting direction, a holding pin (25b) for holding the protruding portion (23a) in a state of being disengaged from the concave hole (22a), and a linear actuator for pulling out the holding pin. The fixing / separating / capturing device according to claim 5, wherein the fixing / separating / capturing device comprises (25c). 7. The coupling device (20c) comprises a recess (21a) in the vertical separating surface (21) and a protrusion (2) in the body (23).
7. The fixing / separating / capturing device according to claim 6, comprising a bolt (26) for connecting the 3a) in a fitted state and a bolt releasing actuator (27) for loosening and separating the bolt. . 8. A bolt separation detecting device (28) for detecting separation of the bolt (26), and a fitting detecting device (29) for detecting fitting of the protrusion (23a) and the concave hole (22a).
The fixing according to claim 7, characterized in that
Separation / capture device.