JP2020001688A - Coupling device and expansion structure incorporated with the couling device - Google Patents

Abstract

To provide a coupling device utilizing switching of a magnet and a magnetic field, and an expansion structure incorporated with the coupling device.SOLUTION: When electric currents are passed, in a direction in which a driving rod is energized in a coupling direction, to a solenoid coil of an active-side device, in a state where a tip part of the active-side device confronts an opening part of a passive-side device 10, the driving rod and a coupling rod 43 move in the coupling direction. Shutters 14 and 15 are in open states, a tip part of the coupling rod 43 reaches a circular recessed part through the opening part of the passive-side device 10, and a groove part at the tip part of the coupling rod 43 comes to a position between the shutter 14 and the shutter 15. In this state, when electric currents are passed, in a direction in which the tip part of the coupling rod 43 acts as a magnet attracting a permanent magnet, to a solenoid coil at a magnet switching side, the shutters 14 and 15 are attracted to the tip part of the coupling rod 43 to be brought into lock states.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a coupling device that couples a passive-side device and an active-side device by using switching of a magnet and a magnetic field, and a deployment structure incorporating the coupling device.

  The coupling device used when constructing a structure on the orbit of the earth is required to have necessary rigidity and strength, to be lightweight, to have a simple mechanism, and the like. To date, the International Space Station (ISS) has been a typical example of large structures built on orbit. In the ISS, bolts, nuts, and latches are used to connect each part of the structures. An apparatus is used (for example, see Patent Document 1).

  Further, in the male device and the female device facing each other, the coupling pin of the male device is drawn toward the female device by the magnetic field generated by the electromagnet of the female device, and the lock pin of the female device. The inventor of the present application has proposed a coupling device that locks with a coupling pin of a male device (Patent Document 2). According to this coupling device, the locked state and the engaged state of each part can be controlled by using the on / off of the electromagnet, so that the structure is simplified and precise positioning is not required. The work of connecting and disconnecting and the work of directly facing the male and female sides are facilitated, and the work load is greatly reduced.

JP 2007-245880 A JP 2017-109734 A

  The use of bolts and nuts and latches in orbital construction of large space structures ranging from hundreds of meters to several kilometers, such as the Space Solar Power System (SSPS), can lead to extra space activities by astronauts and robots. Since an arm operation or a high-performance assembling robot or assembling apparatus is required, the construction cost is increased, and the period required for the construction is also increased. In addition, when the scale of the structure is large, the number of structural members increases, and the probability of occurrence of a problem during construction increases. Therefore, it is also important that the structure in which the defect has occurred can be easily separated.

  Further, in Patent Document 2, it is necessary to install a strong electromagnet in the female device in order to draw the coupling pin of the male device, and there is a concern that miniaturization of the coupling device and reduction in power consumption are restricted. In addition to this, it is necessary to control the coupling pin of the male device and the lock pin of the female device with one electromagnet, and it is necessary to increase the control accuracy of the magnetic field generated by the electromagnet.

  In order to solve the above-described problems, the present invention provides a coupling device that can easily be reduced in size and power consumption and easily controls a magnetic field while utilizing switching between a magnet and a magnetic field. A deployment structure incorporating a coupling device is provided.

The present invention is a coupling device for coupling a first structure and a second structure,
A coupling member provided on the first structure and having a magnetized portion;
A magnetic pole switching unit that magnetizes the magnetic pole of the magnetized unit of the coupling member in a switchable manner,
A receiving portion provided on the second structure, for receiving the coupling member;
A locking portion that interacts with a magnetic pole of the magnetized portion to lock the coupling member received by the receiving portion.

  ADVANTAGE OF THE INVENTION According to this invention, in coupling of a 1st structure and a 2nd structure, while utilizing switching of a magnet and a magnetic field, size reduction and reduction of power consumption are easy, and magnetic field reduction. Control can be facilitated.

It is an outline sectional view of the coupling device concerning one embodiment of the present invention. It is a schematic perspective view of an active side apparatus. It is a schematic perspective view of a passive side apparatus. It is the front view which showed the passive side apparatus in the state which removed the plate. It is the perspective view which showed the front-end | tip part of the passive side apparatus and the active side apparatus when the passive side apparatus and the active side apparatus are integrated in an actual deployment structure. It is the perspective view which looked at the whole deployment part from diagonally downward. It is the perspective view seen from diagonally above which showed the mode that the deployment structure which consists of two rows of deployment parts unfolded was shown in time series. It is an outline sectional view of a coupling device concerning other embodiments. It is the front view which showed the shutter part of the passive side apparatus of other embodiment. It is the perspective view which showed the front-end | tip part of the passive side apparatus and the active side apparatus when the passive side apparatus and the active side apparatus of 2nd Embodiment are integrated in a deployment structure. It is the front view which showed a mode that the coupling nail | claw of a passive side apparatus is hooked on the front-end | tip part of an active side apparatus, when the passive side apparatus and active side apparatus of 2nd Embodiment are integrated in a deployment structure. FIG. 10 is a perspective view showing a stage immediately before a coupling claw of a passive-side device is hooked on a tip end portion of an active-side device when the passive-side device and the active-side device according to the second embodiment are incorporated in a deployment structure. FIG. 11 is a perspective view showing a stage when the coupling claw of the passive-side device starts to be caught on the tip portion of the active-side device when the passive-side device and the active-side device according to the second embodiment are incorporated in the deployment structure. is there. When the passive-side device and the active-side device according to the second embodiment are incorporated in the deployment structure, the coupling claw of the passive-side device is hooked on the distal end portion of the active-side device, and the coupling claw and the distal end portion are fitted. FIG. When the passive-side device and the active-side device according to the second embodiment are incorporated in the unfolded structure, the coupling claw of the passive-side device is hooked on the distal end portion of the active-side device, and the coupling claw and the distal end portion are fitted to each other, thereby joining. It is the perspective view which showed the stage where the claw was towed along the D2 direction.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The coupling device according to the present embodiment is manufactured with the intention of being applied to a deployed structure for space use, but the present invention is not limited to this, and is applicable to a structure for ground use. It is also possible.

  FIG. 1 is a schematic cross-sectional view of a coupling device according to an embodiment of the present invention. FIG. 1A shows a separated state, and FIG. 1B shows a coupled state. The coupling device according to the present embodiment is incorporated in an active-side device 20 incorporated in a developing unit 61 as a first structure and an active unit 20 in a developing unit 60 as a second structure, and is directed downward from the rail 60a. That is, the passive-side device 10 is slidably held in the direction indicated by the arrow Y. In the following description, arrows X, Y, and Z in the drawings indicate the same direction.

  The active device 20 includes a drive unit 30 located on the rear side with respect to the coupling portion with the passive device 10 and a magnetic pole switching unit 40 located on the front side with respect to the coupling portion with the passive device 10. . The driving rod 33 of the driving unit 30 and the coupling rod 43 of the magnetic pole switching unit 40 are connected by a joint 50 as connecting means. FIG. 2 is a schematic perspective view of the active device. The drive unit 30 includes a tube 31 made of, for example, an elongated cylindrical magnetic body (for example, iron), a driving solenoid coil 32 wound therearound, and a longitudinally movable member inside the tube 31. A driving rod 33 made of a non-magnetic material (for example, brass), a mounting part 34 provided along the pipe 31 for mounting the active-side device 20 to the developing part 61, and a pipe of the driving rod 33 A permanent magnet 35 provided at an end protruding from the rear end of the tube 31 and a permanent magnet 55 provided forward of a front end of the tube 31 of the drive rod 33 are included.

  As the permanent magnets 35 and 55, for example, a neodymium magnet having strong magnetic force can be used, but usable permanent magnets are not limited to this. Further, in the present embodiment, although two permanent magnets 35 and 55 are provided in drive unit 30, only one of them may be provided.

  A driving power supply 32c is connected to the driving solenoid coil 32 via a lead wire 32a and a connector 32b. The drive power supply unit 32c is a power supply capable of controlling the drive direction of the solenoid coil 32, and may be incorporated in the deploying unit 61, or may be separate from the deploying unit 61, and supply a current to the solenoid coil 32. When supplying, it may be used by being connected to the connector 32b. When the developing unit 61 includes a power generation device such as a solar cell panel, the power generation device and the storage battery may be used as the drive power supply unit 32c.

  The magnetic pole switching unit 40 includes a tube 41 made of an elongated cylindrical magnetic material (for example, iron), a magnetic pole switching solenoid coil 42 wound therearound, and a longitudinal moving member inside the tube 41. Attached to the deploying portion 61 in cooperation with the connecting rod 43 having at least the distal end portion 45 made of a magnetic material (for example, iron) and the mounting portion 34 of the active device 20 provided along the tube 41. And a mounting section 44.

  A groove 45a, which is smaller in diameter than the other parts of the connecting rod 43 and serves as an engaging portion, is formed in the distal end portion 45 of the connecting rod 43. A magnetic pole power supply unit 42c is connected to the magnetic pole switching solenoid coil 42 via a lead wire 42a and a connector 42b. When a current supplied from the magnetic pole power supply section 42c flows through the solenoid coil 42, the tip 45 of the coupling rod 43, which is a magnetic material, is magnetized to a specific magnetic pole, and the direction of the flowing current is changed. Forty-five magnetic poles can be reversed. That is, the tip portion 45 functions as a magnetized portion. The magnetic pole power supply section 42c is a power supply that can control the magnetic pole direction of the distal end 45 of the coupling rod 43, and may be incorporated in the developing section 61, or may be separate from the developing section 61, and may be a solenoid coil. When supplying current to the connector 42, the connector 42b may be used. When the developing unit 61 includes a power generation device such as a solar cell panel, the power generation device and the storage battery may be used as the driving power supply unit 42c. Note that it is preferable that the connector 32b and the connector 42b be an integrated type that can be connected and disconnected at a time from the viewpoint of working efficiency.

  The active-side device 20 uses the mounting portion 34 on the driving unit 30 side and the mounting unit 44 on the magnetic pole switching unit 40 side to attach the deployment direction (arrow) to the tip of the deployment direction of the deployment unit 61 constituting a part of the deployment structure. (In the Y direction shown) and vertically (on the X axis shown in the arrow). The drive rod 33 on the drive section 30 side and the coupling rod 43 on the magnetic pole switching section 40 side are connected by a joint section 50 made of a flexible member so that their central axes coincide with each other. By making the joint part 50 flexible, the joint part 50 can absorb even if the center axes of the drive rod 33 and the coupling rod 43 are slightly shifted or bent. Further, the joint section 50 can be formed of a spring, a damper, or the like.

  When a current is supplied to the solenoid coil 32 of the drive unit 30, the entire tube 31 around which the solenoid coil 32 is wound becomes an electromagnet, and interacts with the permanent magnet 35 and the permanent magnet 55. For example, the solenoid coil 32 is arranged such that the rear end side (right side in FIG. 1) of the drive unit 30 attracts the permanent magnet 35 and the front end side (left side in FIG. 1) of the drive unit 30 repels the permanent magnet 55. , The drive rod 33 and the coupling rod 43 connected by the joint 50 are urged as a whole in the left direction on the paper (hereinafter, also referred to as the “coupling direction”). On the other hand, when a current flows through the solenoid coil 32 so that the rear end of the drive unit 30 repels the permanent magnet 35 and the front end of the drive unit attracts the permanent magnet 55, the drive rod 33 connected by the joint unit 50 The connecting rod 43 is urged as a whole in the right direction on the paper (hereinafter, also referred to as a “release direction”).

  That is, when the active-side device 20 and the passive-side device 10 are in a non-coupled state, the coupling rod 43 is housed in the active-side device 20 as shown in FIG. When in the state, as shown in FIG. 1B, the connecting rod 43 is extended from the active-side device 20 and fitted into the passive-side device 10 incorporated in the deployment unit 60, which will be described later. The shutters 14 and 15 are engaged.

  A slot 16 is formed in the passive-side device 10, and a pair of shutters 14 and 15 functioning as locking portions are provided in the slot 16 so as to be slidable in the vertical direction on the paper of FIG. 1. I have. The leading end 14c of the shutter 14 and the leading end 15c of the shutter 15 are opposed to each other, and are separated from each other in the open state shown in FIG. In the locked state shown in FIG. 1B, they are close to or in contact with each other, and a notch described later engages with the groove 45 a of the coupling rod 43 of the active device 20.

  A recess 17 is formed in the wall of the slot 16 opposite to the opening 12. The concave portion 17 functions as a receiving portion into which the connecting rod 43 extended from the active device 20 is inserted. The diameter of the concave portion 17 is slightly larger than the tip of the connecting rod 43 so that the concave portion 17 can be inserted into the connecting rod 43 with some margin during the connecting operation and with a slight inclination of the connecting rod 43.

  A permanent magnet 14b for locking is embedded in the lower end of the shutter 14 on the paper surface, and a permanent magnet 15b for locking is also embedded in the upper end of the shutter 15 in the paper surface. The permanent magnets 14b and 15b are arranged such that the ends facing each other have the same polarity. For the permanent magnets 14b and 15b, for example, a neodymium magnet having a strong magnetic force can be used. The distal end 14c of the shutter 14 and the distal end 15c of the shutter 15 are made of a non-magnetic material (for example, aluminum alloy, titanium alloy) which is not affected by the magnetic force of the permanent magnet 14b, the permanent magnet 15b, and the distal end 45 of the connecting rod 43. , Polyimide resin, etc.).

  Details of the passive-side device 10 will be described with reference to FIGS. FIG. 3 is a schematic perspective view of the passive device 10. A rectangular plate 11 fixed by screws or the like is arranged at the lower part on the front side of the passive-side device 10, and a circular opening 12 having a size in which the distal end portion 45 of the connecting rod 43 can be inserted is provided at the center thereof. Is formed. In the upper part of the plate 11, an opening 13 is provided for the purpose of reducing the overall weight.

  FIG. 4 is a front view showing a state where the plate 11 of the passive-side device 10 is removed, and FIG. 4A shows a state where the shutters 14 and 15 are separated from each other left and right (opened state). (b) shows a state in which the shutters 14 and 15 are close to each other (locked state).

  As described above, the distal end portion 14c of the shutter 14 and the distal end portion 15c of the shutter 15 face each other, are separated from each other in the open state shown in FIG. 4A, and are separated from each other in the locked state shown in FIG. Approach or touch. A semicircular notch 14a is formed at the tip 14c of the shutter 14, and a similar notch 15a is formed at the tip 15c of the shutter 15. These two notches 14a and 15a form a substantially circular opening when locked, as shown in FIG. 4B. The diameter of the substantially circular opening is set to be larger than the diameter of the groove 45a formed in the distal end portion 45 of the coupling rod 43 of the active side device 20 and smaller than the diameter of the portion other than the groove 45a of the coupling rod 43. ing. The shape of the opening formed by the notch 14a of the shutter 14 and the notch 15a of the shutter 15 is not limited to a circular shape as long as the groove 45a of the connecting rod 43 inserted from the active device 20 can be locked. .

  That is, when the active-side device 20 and the passive-side device 10 are separated from each other, as shown in FIGS. 1A and 4A, the shutters 14 and 15 are at the positions for opening the recesses 17 respectively. When the shutters 14 and 15 are in the released state and in the connected state, as shown in FIGS. 1B and 4B, the shutters 14 and 15 are in the locked state close to each other and have the notch 14a. The notch 15a is engaged with the groove 45a of the connecting rod 43 fitted therein.

  The operation of the coupling device according to the present embodiment will be described with reference to FIG. FIG. 5 is a perspective view showing the distal end portions of the passive-side device 10 and the active-side device 20 when the passive-side device 10 and the active-side device 20 are incorporated in an actual developed structure. 5) shows a state in which the coupling between the passive side device 10 and the active side device 20 is released, and FIG. 5B shows a state in which the passive side device 10 and the active side device 20 are coupled. The passive-side device 10 is disposed in a rail 60a formed on the side of the deploying portion 60 of the deployable structure so that the plate 11 can move in the deploying direction so as to be parallel to the longitudinal direction of the rail 60a (Y direction indicated by an arrow). Have been. The active-side device 20 is attached to the distal end of the deployment unit 61 adjacent to the deployment unit 60 in the deployment direction, perpendicular to the deployment direction. That is, the axial direction of the connecting rod 43 of the active side device 20 (X direction indicated by an arrow) is perpendicular to the moving direction of the shutters 14 and 15 (Y direction indicated by an arrow).

  As shown in FIG. 5 (a), with the tip 45 of the active device 20 facing the opening 12 of the passive device 10, the drive rod 33 is connected to the solenoid coil 32 of the active device 20 in the coupling direction. When an electric current is applied in the biased direction, the drive rod 33 and the connecting rod 43 connected by the joint 50 move in the connecting direction as indicated by the arrow A. At this time, the shutters 14 and 15 are in the open state as shown in FIGS. 1A and 4A, and the distal end 45 of the connecting rod 43 passes through the opening 12 of the passive-side device 10. Reaching the circular concave portion 17, the groove 45 a of the distal end portion 45 of the connecting rod 43 comes to a position between the shutter 14 and the shutter 15.

  In this state, when a current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 in a direction in which the tip of the coupling rod 43 becomes a magnetic pole that attracts the permanent magnets 14b and 15b, the shutters 14 and 15 move to the tip of the coupling rod 43. It is pulled, and becomes a locked state as shown in FIG. 1 (b) and FIG. 4 (b). At this time, the shutters 14 and 15 are fitted into the grooves 45a, and the passive device 10 and the active device 20 are connected. In this state, even if the current of the solenoid coil 32 of the drive unit 30 and the current of the solenoid 42 of the magnetic pole switching unit 40 are turned off, the magnetic force of the permanent magnet 14b of the shutter 14 and the permanent magnet 15b of the shutter 15 causes the coupling rod 43, which is a magnetic material, to be used. Since the suction force is generated between the front end portion 45 and the front end portion 45, the locked state is maintained, and the connected state between the developing portion 60 and the developing portion 61 is maintained. Since the connection between the shutters 14 and 15 and the connecting rod 43 is only based on the magnetic force of the permanent magnets 14b and 15b, if it is necessary to maintain a stronger connection, connecting members such as bolts and nuts may be added. desirable.

  When the coupling between the passive-side device 10 and the active-side device 20 is released, the current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 such that the tip 45 of the coupling rod 43 becomes a magnetic pole that repels the permanent magnets 14b and 15b. Flow. When a magnetic force is generated at the distal end 45 of the connecting rod 43 by the action of the solenoid coil 42, a repulsive force acts between the distal end 45 of the connecting rod 43 and the permanent magnets 14b and 15b, and the shutters 14 and 15 4 (a) is separated from the tip end portion. In this state, when a current is applied to the solenoid coil 32 of the active side device 20 in a direction in which the drive rod 33 is urged in the release direction, the drive rod 33 and the connection rod 43 connected by the joint 50 are indicated by an arrow B. As shown in the drawing, the passive-side device 10 and the active-side device 20 are disconnected from each other by moving in the release direction. At this time, since the distal end portion 14c of the shutter 14 and the distal end portion 15c of the shutter 15 are each made of a non-magnetic material, attraction with the distal end portion 45 of the connecting rod 43 does not occur, and a relatively small magnetic force is applied. Even if it occurs, the connection can be released.

  As described above, according to the present embodiment, the passive device and the active device are coupled or released by using the switching of the magnet and the magnetic field, so that the bolt / nut mechanism or the latch mechanism can be used. It becomes unnecessary. For this reason, when the present invention is applied to a structure constructed on an orbit around the earth, the burden of extraterrestrial activities and robot arm operations by astronauts is reduced, or high-performance assembling robots and assembling devices are not required. The construction cost can be kept low, and the period required for construction can be shortened. In addition, even if a problem occurs during construction, the structure can be easily separated, which also reduces the burden on extravehicular activities and robot arm operation, and shortens the time required for construction. Is achieved.

  The connecting rod 43, which is a connecting member, is provided with a tip portion 45, which is a magnetized portion, and the pair of shutters 14 and 15, which are locking portions for locking the connecting rod 43 inserted into the opening 12, is connected to the tip portion 45. By locking the coupling rod 43 by the action of the magnetic pole, the tip 45 can act on the magnetic pole in the state of being close to the shutters 14 and 15, so that the size and consumption can be reduced while using the switching of the magnet and the magnetic field. Power saving is easy and the control of the magnetic field is easy.

  Further, the magnetic pole switching unit 40 magnetizes the distal end portion 45 of the connecting rod 43 inserted into the passive-side device 10 to a magnetic pole opposite to that at the time of connection, and moves the shutters 14 and 15 to a position where the locking is released. Then, the driving unit 30 drives the connecting rod 43 inserted into the passive-side device 10 so as to be pulled out to release the connection between the passive-side device 10 and the active-side device 20 that have been connected. The drive unit 30 of the side device 20 can largely omit the gears and pulleys for transmitting the drive, and the miniaturization of the coupling device and stable operation for a long period of time are possible.

  The magnetic pole switching unit 40 of the active device 20 includes a cylindrical magnetic pole switching tube 41 into which a connecting rod 43 is inserted movably in the longitudinal direction, and a magnetic rod switching unit 40 wound around the magnetic pole switching tube 41. A switching solenoid coil that includes a magnetic pole switching solenoid coil for magnetizing a tip portion 45 made of a magnetic material of 43 and a power supply c for supplying a current to the magnetic pole switching solenoid coil so that the magnetic pole can be switched, and is switched by the power supply c. Since the tip portion 45 is magnetized in accordance with the direction of the current flowing through 42, the magnetic pole switching unit 40 of the active device 20 only needs to magnetize the tip portion 45. Over a stable operation.

  The distal end 45 of the connecting rod 43 is magnetized to a predetermined magnetic pole, and the pair of shutters 14 and 15 having the permanent magnets 14b and 15b for locking are moved so that the leading end 45 of the connecting rod 43 is inserted into the groove 45a that is the engaging portion of the connecting rod 43. Since the front end 45 is brought into contact with the shutters 14 and 15 by using the magnetic pole, the miniaturization and power consumption can be easily reduced while utilizing the switching between the magnet and the magnetic field. Control is easy.

  Notches are formed in the tip portions 14c and 15c of the shutters 14 and 15, respectively, and the notches are engaged with the groove portions 45a of the connecting rod 43, so that even when an external force is applied to the developed structure, a stable connection is achieved. Can be maintained.

  A deployment structure to which the coupling device according to the present embodiment is applied will be described with reference to FIGS. Here, with respect to the deployment of the deployment structure, in Japanese Patent Application Laid-Open No. 2017-109734, after deploying a structure folded in a bellows shape, the deployment structures adjacent to each other are joined together. When the structure bends or moves from an intended position due to inertial force or the like, there has been a concern that the working time for joining may be prolonged. In the deployed structure to which the present embodiment is applied, the passive-side device is moved in a rail formed on the second structure after the second structure is deployed.

  FIG. 6 is a perspective view of the entirety of the unfolded portions 60 and 61 as viewed obliquely from below. FIG. 6A shows a state in which the unfolded portion 61 is being unfolded, and FIG. FIG. 6C illustrates a state where the passive-side device 10 and the active-side device 20 are enlarged, and FIG. 6C illustrates a state where the deployment of the deployment unit 61 is completed. One end of a wire 60b (shown by a broken line) is fixed to the side of the passive-side device 10, and this wire 60b is stretched along the rail 60a, and a winch mechanism 60c provided at the tip of the developing unit 60 is provided. Is connected to the other end. By winding up the wire 60b by this winch mechanism, the passive-side device 10 can be moved along the rail 60a of the developing unit 60 in the arrow C direction parallel to the arrow Y direction in FIG. That is, the wire 60b and the winch mechanism 60c cooperate to function as a moving unit. At this time, the active-side device 20 coupled to the passive-side device 10 also moves in the direction of arrow C, and the deployed portion 61 in the stowed state is arranged in parallel with the deployed portion 60 as shown in FIG. It is developed in a plane and becomes a developed state. A part of the antenna 70 is formed on each panel of the development part 61. The antenna 70 is also folded when each panel of the deploying section 61 is folded, but the antenna 70 is also deployed by deploying each panel of the deploying section 61.

  FIG. 7 is a perspective view showing a state in which a deployment structure including two rows of deployment parts is deployed, viewed in a time series and viewed from obliquely above. FIG. 7A shows the folded storage state before the two unfolding portions 60 and 61 are unfolded. From this state, first, each panel constituting the developing unit 60 is separated from each other by a separating mechanism. Next, as shown in FIG. 7B, each panel of the developing unit 60 is developed in a plane. As shown in the figure, a wire 80 is extended from the satellite main body 90 and returns to the satellite main body 90 through each panel as shown in FIG. By winding this wire by a winch mechanism (not shown) provided on the satellite main body 90, each panel is pulled in as shown in FIG. 7C, and each panel of the deploying section 60 has a booster mechanism. The panels are locked together by the panel lock mechanism, and the deployment of the deployment unit 60 ends. At this time, the rail 60a is also connected so that the passive-side device 10 can move in the Y direction in the figure.

  When the deployed deployment unit 60 is locked, the active device 20 attached to the deployment unit 61 and the passive device 10 attached to the rail 60a of the deployment unit 60 are connected as described with reference to FIG. Join. The panels constituting the deploying section 61 are connected to each other in the deploying direction and folded in a bellows shape. As described with reference to FIG. 6, the wire 60 b fixed to the passive-side device 10 is wound up by the winch mechanism 60 c provided at the distal end of the unfolding unit 60, and thus, FIGS. As shown in FIG. 7E, the deployed portion 61 in the housed state is gradually deployed to the deployed state, and finally the deployment is completed as shown in FIG. 7F.

  In the present embodiment, the number of rows of the development unit is two, but the number of columns of the development unit of the development structure is not limited to two, and may be an arbitrary number of two or more. That is, after the active-side device 20 provided in the developing section of the Nth column (N is an integer of 2 or more) and the passive-side device 10 provided in the developing section of the (N-1) th column are coupled to each other, By rolling up the wire 60b connected to the device 10 with the winch mechanism 60c provided at the tip of the deployment section in the (N-1) th row, the deployment section in the Nth row can be deployed.

  According to the present embodiment, a passive structure in which the passive device 10 is mounted on the deployment unit 60 and the active device 20 is mounted on the deployment unit 61 adjacent to the deployment unit 60, wherein the passive device 10 is By moving the passive-side device 10 on the rail 60a formed on the deployment unit 60 after the mounted deployment unit 60 is deployed, the deployment unit 61 to which the active-side device 20 combined with the passive-side device 10 is mounted. Therefore, it is possible to greatly reduce the work time for connecting the developing units.

  Further, the movement of the deployment structure within the rail 60a of the passive-side device 10 can be achieved by winding the wire 60b fixed to the passive-side device 10 by the winch mechanism 60c. It becomes possible to expand. The deployment structure according to the present embodiment can be applied to, for example, a case where a relatively lightweight framework or the like even under gravity is deployed by remote control alone, in addition to an antenna of a satellite or a solar cell panel.

  Another embodiment of the passive device 10 will be described with reference to FIGS. FIG. 8 is a schematic cross-sectional view of a coupling device according to another embodiment. FIG. 8A shows a separated state, and FIG. 8B shows a coupled state. FIG. 9A is a front view showing a shutter portion of a passive-side device 10 according to another embodiment, and FIG. 9B is a diagram illustrating a coupling rod of an active-side device inserted into a recess of the passive-side device. FIG. 9C is a diagram schematically showing a state, FIG. 9C is a diagram showing a state in which the shutter shown in FIG. 9B is locked, and FIG. FIG. 11 is a diagram illustrating a state in which the shutter and the connecting rod connected thereto are relatively moved in the arrow L direction in the slot of the passive device from the state shown in FIG. The same components as those in the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  As shown in FIG. 9 (a), the passive-side device 10 of the present embodiment also has left and right elongated slots 16 formed inside the plate 11, and a pair of the slots 16 are movable in the slots 16. Shutters 14 and 15 are provided. An elongated permanent magnet 14b is embedded in a left end of the shutter 14 on the paper surface, and an elongated permanent magnet 15b is embedded in a right end of the shutter 15 in the paper surface. The permanent magnets 14b and 15b are arranged such that the ends facing each other have the same polarity. The shutters 14 and 15 do not have the semicircular notches 14a and 15a as shown in FIG.

  On the wall of the passive-side apparatus main body behind the shutters 14 and 15, there is formed a composite concave portion 97 having a shape in which a circular first concave portion 97a having a large diameter and a circular second concave portion 97b on the left side having a small diameter are overlapped. ing. In the embodiment shown in FIG. 4, the diameter of the circular recess 17 formed in the wall of the slot 16 opposite to the opening 12 is slightly larger than the diameter of the tip 45 of the connecting rod 43. Regarding the composite concave portion 97 of the present embodiment, the diameter of the first concave portion 97a is further larger than the diameter of the concave portion 17 shown in FIG. The diameter is the same as that of the portion 45.

  As shown in FIG. 9B, the diameter of the first concave portion 97a is made larger than the diameter of the concave portion 17 shown in FIG. The margin for the inclination can be further increased.

  In this state, when a current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 in such a direction that the tip 45 of the coupling rod 43 becomes a magnetic pole that attracts the permanent magnets 14b and 15b, the shutters 14 and 15 move to the tip of the coupling rod 43. Then, the shutters 14 and 15 are fitted into the grooves 45a by being attracted to the groove 45, and the attraction force between the permanent magnets 14b and 15b and the distal end portion 45 of the connecting rod 43 acts to lock the shutter 14 and 15 as shown in FIG. It becomes. Thus, the passive device 10 and the active device 20 are connected. The distance between the inner ends of the shutter 14 and the shutter 15 at this time corresponds to the diameter of the groove 45a. Similarly to the above-described embodiment, even if the current of the solenoid coil 32 of the driving unit 30 and the current of the solenoid 42 of the magnetic pole switching unit 40 are turned off in this state, the magnetic force of the permanent magnet 14b of the shutter 14 and the permanent magnet 15b of the shutter 15 causes Since the attraction force is generated between the magnetic rod and the distal end portion 45 of the coupling rod 43, the locked state is maintained, and the coupled state between the developing section 60 and the developing section 61 is maintained.

  From this state, as described with reference to FIG. 6, when the wire 60b fixed to the passive-side device 10 is wound up by the winch mechanism 60c, the passive-side device 10 is turned on as indicated by an arrow R in FIG. Move in the direction (parallel to the Y direction indicated by the arrow). As a result, as shown in FIG. 9D, the shutters 14 and 15 and the connecting rod 43 connected thereto move relatively in the arrow L direction in the slot 16 of the passive device 10. Then, the distal end portion 45 of the connecting rod 43 moves toward the second concave portion 97b of the composite concave portion 97 and fits therein. This state is maintained not only during the movement of the unfolding units 60 and 61 but also after the movement is completed and the unfolding units 60 and 61 are unfolded. Thereby, the rattling of the connecting rod 43 can be eliminated not only in the horizontal direction on the paper but also in the vertical direction on the paper.

  According to the present embodiment, as the receiving portion, a shape in which the first concave portion 97a having a diameter larger than the distal end portion 45 of the connecting rod 43 and the second concave portion 97b corresponding to the diameter of the distal end portion 45 of the connecting rod 43 are overlapped. Is provided in the passive-side device 10, and the distal end portions 45 of the pair of shutters 14 and the distal end portions 15c of the pair of shutters 14 are connected to the coupling rod 43 with the distal end portion 45 of the connecting rod 43 inserted into the first concave portion 97a. The connecting rod 43 is engaged with the groove 45a, and the distal end 45 of the connecting rod 43 moves toward the second concave portion 97b and fits while maintaining the engaged state. It is possible to eliminate sticking.

Next, an operation of the coupling device according to still another embodiment (hereinafter, referred to as a second embodiment) of the present invention will be described with reference to FIGS.
In the second embodiment, the same components as those in the above embodiment are denoted by the same reference numerals, and the description thereof will be omitted. Only different points will be described. In the present embodiment, the direction parallel to the X direction in the above embodiment is referred to as D1 direction, the direction parallel to the Y direction is referred to as D2 direction, and the direction parallel to the Z direction is referred to as D3 direction.

FIG. 10 is a perspective view showing the distal end portions of the passive-side device 10 and the active-side device 20 when the passive-side device 10 and the active-side device 20 are incorporated in a developed structure. The slot 16 and the composite recess 97 are formed in the passive device 10. The slot 16 is closed by the plate 11. The opening 11 is formed in the plate 11. The slot 16 has a rectangular shape that is longer in the direction D2 than in the direction D3 when viewed in a plan view from the direction D1. The passive-side device 10 includes a coupling claw 110 that is movable in a D2 direction (a longitudinal direction of the slot 16) that intersects a D1 direction in which the composite recess 97 receives the coupling rod 43. The coupling claw 11 is housed in the slot 16.
In the second embodiment, the passive device 10 includes a coupling claw 110 instead of the shutters 14 and 15. The material of the coupling claw 110 is the same as that of the shutters 14 and 15. The same as the shutters 14 and 15 in that the coupling claw 110 is provided with the permanent magnet 113 and moves in the D2 direction in the slot 16. However, the difference is that the shutters 14 and 15 are provided in pairs in the slot 16, whereas only one coupling claw 110 is provided.
The coupling claw 110 has an opening 111 into which the coupling rod 43 is fitted, and a notch 112 opening from the opening 111 in the direction D2. The coupling claw 110 has a permanent magnet 113 at an end in the direction D2. In the coupling claw 110, the notch 112 is open toward the first side D2a in the D2 direction, and the permanent magnet 113 is provided at an end of the second side D2b in the D2 direction. The coupling claw 110 is stabbed. The coupling claw 110 is line-symmetric in the direction D3. The opening 111 has a circular shape having the same diameter as the groove 45a of the connecting rod 43. When viewed from the front in the direction D1, the notch 112 widens in the direction D3 as it goes in the direction D2. The notch 112 is provided between a pair of inclined surfaces 112a facing each other in the D3 direction.
When the coupling claw 110 approaches the first side D2a in the direction D2 with respect to the coupling rod 43 received in the composite concave portion 97, the coupling rod 43 passes through the notch 112 and is fitted into the opening 111. .

  The connecting rod 43 of the active device 20 is provided with a rotation preventing collar 100. The rotation preventing collar 100 is circular. The rotation preventing flange 100 is provided so as to wind around the connecting rod 43. The rotation preventing flange 100 is provided on the outer peripheral surface of the connecting rod 43 over the entire circumference. The rotation preventing collar 100 is locked to the plate 11 when the connecting rod 43 is received in the passive device 10 (composite concave portion 97).

  FIG. 11 shows a state in which the coupling claw 110 of the passive-side device 10 is hooked on the distal end portion 45 of the coupling rod 43 of the active-side device 20 when the passive-side device 10 and the active-side device 20 are incorporated in the developed structure. It is the front view shown. FIG. 11A shows a stage before the coupling claw 110 of the passive-side device 10 is caught on the distal end portion of the active-side device 20. FIG. 11B shows a stage in which the coupling claw 110 of the passive-side device 10 is hooked on the distal end portion of the active-side device 20 and the coupling claw 110 is fitted by towing. This will be described in detail below with reference to FIG.

  FIG. 12 is a perspective view showing a stage immediately before the coupling claw 110 of the passive-side device 10 is hooked on the distal end portion of the active-side device 20 when the passive-side device 10 and the active-side device 20 are incorporated in the developed structure. FIG. The connecting rod 43 is stationary toward the passive device 10. When an electric current is applied to the solenoid coil 32 of the active device 20 in a direction in which the driving rod 33 is urged in the coupling direction, the driving rod 33 and the coupling rod 43 connected by the joint portion 50 move in the direction of the passive device 10. Go to Before the connecting rod 43 is inserted into the first recess 97a of the passive-side device 10 in the D1 direction, the connecting claw 110 is positioned in the D2b direction with respect to the composite recess 97.

  FIG. 13 shows a stage when the coupling claw 110 of the passive-side device 10 starts to be caught on the distal end portion of the active-side device 20 when the passive-side device 10 and the active-side device 20 are incorporated in the deployment structure. FIG.

  FIG. 14 shows that when the passive-side device 10 and the active-side device 20 are incorporated into the unfolded structure, the coupling claw 110 of the passive-side device 10 is hooked on the distal end portion of the active-side device 20, and the coupling claw 110 and the distal end portion It is the perspective view which showed the stage which fitted. After the connecting rod 43 is inserted into the composite recess 97 of the passive-side device 10, a current flows through the solenoid coil 42 of the magnetic pole switching unit 40 in a direction in which the tip 45 of the connecting rod 43 becomes a magnetic pole that attracts the permanent magnet 113. Then, the coupling claw 110 is sucked by the distal end portion 45 of the coupling rod 43 and slides in the direction D2.

FIG. 15 shows that when the passive-side device 10 and the active-side device 20 are incorporated in the deployment structure, the coupling claw 110 of the passive-side device 10 is It is a perspective view at the time of being caught. At this time, the distal end portion 45 passes through the notch 112 and is fitted into the first concave portion 97a. The coupling claw 110 is sucked by the distal end portion 45 of the coupling rod 43 and, after completing the fitting, further slides in the direction D2. Accordingly, the distal end portion 45 of the connecting rod 43 moves to the smaller hole of the composite concave portion 97, that is, the second concave portion 97b.
At this time, the coupling claw 110 can also move in the direction D2 with respect to the coupling rod 43 by adjusting the solenoid to reverse the magnetic pole.

Providing the coupling claw 110 in the passive-side device 10 further increases the area where the distal end portion 45 (the portion of the distal end portion 45 located on the distal end side from the groove 45a) is hooked to the coupling claw 110 in the D1 direction. Thus, when the coupling rod 43 using the solenoid, which is the active device 20, engages with the composite recess 97 provided in the passive device 10 via the coupling claw 110, the passive device 10 and the active device 20 are engaged. Becomes stronger.
By providing the rotation preventing collar 100, the connecting rod 43 does not rotate. That is, since the rotation preventing flange 100 is hooked on the plate 11 in the direction D1, the connecting rod 43 is prevented from rotating around the direction D2 or around the direction D3 starting from the distal end portion 45 of the connecting rod 43 as a starting point. When the coupling rod 43 using the solenoid 42 as the active device 20 engages with the composite recess 97 provided in the passive device 10 via the coupling claw 110, the coupling rod 43 rotates, and the torque is coupled. The coupling rod 43 rotates around the direction D2 and around the direction D3 with respect to the passive-side device 10 due to the effect on the claw 110, and the connection rod 43 becomes slanted. Therefore, the rotation preventing flange 100 is fitted to the connecting rod 43 in advance, and the connecting rod 43 is prevented from rotating.

  What has been described is merely an embodiment of the present invention, and the technical scope of the invention is not limited by the contents thereof.

Reference Signs List 10 Passive-side device 14, 15 Shutter 14b, 15b, 35, 55 Permanent magnet 17 Concave portion 97 Composite concave portion 20 Active-side device 30 Drive unit 32, 42 Solenoid coil 33 Drive rod 40 Magnetic pole switching unit 43 Coupling rod 50 Joint unit 60, 61 Deployment part 60a Rail 100 Rotation prevention collar 110 Coupling claw 111 Opening 112 Notch

Claims (10)

A coupling device for coupling a first structure and a second structure,
A coupling member provided on the first structure and having a magnetized portion;
A magnetic pole switching unit that magnetizes the magnetic pole of the magnetized unit of the coupling member in a switchable manner,
A receiving portion provided on the second structure, for receiving the coupling member;
A locking unit that interacts with a magnetic pole of the magnetized unit to lock the coupling member received by the receiving unit.   The coupling device according to claim 1, further comprising a drive unit that fits the coupling member into the receiving unit. At least a part of the locking portion is made of a permanent magnet,
When the magnetized portion is switched to the first magnetic pole by the magnetic pole switching means, the permanent magnet generates an attractive force between the permanent magnet and the magnetized portion, and the magnetized portion is switched to the second magnetic pole. 3. The coupling device according to claim 1, wherein a repulsion force is generated between the coupling unit and the magnetized unit. 4. The magnetic pole switching means,
A magnetic pole switching tube for housing the coupling member movably in the longitudinal direction,
A magnetic pole switching solenoid coil wound around the magnetic pole switching tube and magnetizing the magnetic part;
4. The coupling device according to claim 1, further comprising a power supply that supplies a current to the magnetic pole switching solenoid coil. 5. The driving unit includes:
A driving member made of a non-magnetic material for driving the coupling member,
A driving tube into which the driving member is inserted,
A driving solenoid coil wound around the driving tube and generating a magnetic field at both ends of the driving tube,
A power supply for supplying a current to the driving solenoid coil;
A driving permanent magnet provided on the driving member and interacting with a magnetic field generated in the driving tube;
The coupling device according to claim 2, comprising: The locking portion includes a pair of shutters each provided with a permanent magnet,
4. The coupling device according to claim 3, wherein when the magnetized portion is switched to the first magnetic pole by the magnetic pole switching unit, the pair of shutters are closed to engage with the coupling member. 5.   7. The pair of shutters according to claim 6, wherein a notch of a predetermined shape is formed at each of inner ends facing each other, and the coupling member engages with the notch of the pair of shutters in a closed state. 8. Coupling device. The locking portion includes a coupling claw that is movable in a first direction that intersects a direction in which the receiving portion receives the coupling member,
The coupling claw is formed with an opening into which the coupling member is fitted, and a notch that opens from the opening toward the first side in the first direction,
In a front view as viewed from the receiving direction of the locking portion, the notch widens toward the first side,
The coupling claw approaches the first side along the first direction with respect to the coupling member received by the receiving portion, so that the coupling member passes through the notch and opens the opening. The coupling device according to any one of claims 1 to 5, wherein the coupling device is fitted in the coupling device. The coupling member has a rod shape whose tip is the magnetized portion,
9. The coupling member according to claim 1, further comprising: a rotation preventing flange that locks to the second structure when the distal end of the coupling member is received by the receiving portion. 10. The coupling device according to claim 1. A coupling device according to any one of claims 1 to 9,
A rail that is provided on the second structure and that guideably holds the receiving portion and the locking portion;
A moving part that moves the receiving part that receives the coupling member and the locking part that locks the coupling member along the rail,
The first structure is a deployed structure that is changed from a stored state to a deployed state by movement of the receiving portion that receives the coupling member and the locking portion that retains the coupling member.

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