JP2020165524A - Holding device and holding system - Google Patents

Abstract

To provide a holding device which can adjust an orientation of an object member to a desired orientation and then hold the object member while suppressing backlash.SOLUTION: A holding device 1 includes: a guide member 20 having a first recessed surface 21 or a first protruding surface oriented to a first side X1 in a reference direction X; a support member 10 which supports the guide member in a manner that the guide member can move in the reference direction; a repulsive force generation part 25 which generates a repulsive force in the reference direction between the support member and the guide member; and a first suction part 35 which is provided at the support member and generates a suction force between itself and an object member 100 contacting with the first recessed surface or the first protruding surface of the guide member to suction the object member and the guide member to a second side X2 in the reference direction against the repulsive force. When viewed in the reference direction, the first suction part is located within an outer edge of the first recessed surface or the first protruding surface.SELECTED DRAWING: Figure 1

Description

The present invention relates to a holding device and a holding system.

Conventionally, the holding device of Patent Document 1 is known as a holding device for attracting and holding a target member at a distant position. In the holding device of Patent Document 1, the female side is engaged with the guide wire arranged between the male side and the wire support portion. The male side and the female side are relatively moved along the guide wire. When the male side and the female side face each other, the female side electromagnet attracts the male side coupling pin to the female side and locks the coupling pin to the female side latch pin. By the above steps, the female side is connected to the male side.

Further, in order to suppress the recoil when the holding device holds the target member, a method of utilizing the attractive force and the repulsive force by magnetism as in the holding device of Patent Document 2 is being studied.

JP-A-2017-109734 Special Table 2013-514532A

However, even if the recoil when holding the target member is suppressed by using the suction force and the repulsive force, the direction of the target member cannot be adjusted to a desired direction and then held.

The present invention has been made in view of such a problem, and is a holding device and a holding system capable of holding the target member by suppressing recoil after adjusting the direction of the target member to a desired direction. The purpose is to provide.

In order to solve the above problems, the present invention proposes the following means.
The holding device of the present invention includes a guide member having a first concave surface or a first convex surface facing the first side in the reference direction, a support member that movably supports the guide member in the reference direction, and the support member. A repulsive force generating portion that generates a repulsive force in the reference direction between the guide member and a target member provided on the support member and in contact with the first concave surface or the first convex surface of the guide member. It is provided with a first suction portion that generates a suction force between the two to attract the target member and the guide member to the second side in the reference direction against the repulsive force, and is viewed in the reference direction. At that time, the first suction portion is arranged in the outer edge of the first concave surface or the first convex surface.

According to the present invention, for example, a guide member has a first concave surface, and a target member has a second convex surface that engages with the first concave surface and a second suction portion that generates a suction force between the first suction portion. The case where the target member is arranged on the first side in the reference direction with respect to the guide member will be described. The holding device is preferably used in an environment such as outer space where the gravity is smaller than that on the ground.

By generating a suction force between the first suction part and the second suction part, the second suction part of the target member is sucked to the second side in the reference direction with respect to the holding device. At this time, the direction of the target member changes so that the second suction portion is arranged at the end on the second side in the reference direction in the target member.
When the second suction portion of the target member is sucked by the first suction portion, the first suction portion is arranged in the outer edge of the first concave surface when viewed in the reference direction, so that the second suction portion becomes the first. It is sucked toward the central portion of the concave surface, and the second convex surface of the target member engages with the first concave surface of the holding device. The guide member and the target member that engages with the first concave surface of the guide member and comes into contact with the first concave surface are second in the reference direction with respect to the support member by suction force against the repulsive force generated by the repulsive force generating portion. Is sucked to the side of. Even when the guide member and the target member are sucked to the second side in the reference direction with respect to the support member, a suction force is generated between the first suction portion and the second suction portion, so that the first concave surface is formed. And so that the second suction portion is arranged at the end on the second side in the reference direction in the target member in a state where the second convex surface is engaged with the first concave surface according to the shape of the second convex surface. , The orientation of the target member is further changed, and the orientation of the target member becomes a desired orientation.

While the guide member and the target member are integrally moving to the second side in the reference direction with respect to the support member, for example, the suction force acting between the first suction part and the second suction part of the holding device. The positions of the guide member and the target member in the reference direction with respect to the support member are held at the positions in the reference direction where the magnitude and the magnitude of the repulsive force acted by the repulsive force generating portion of the holding device are equal to each other. At this time, the repulsive force acting by the repulsive force generating portion suppresses the speed at which the guide member and the target member move to the second side in the reference direction with respect to the support member, and the recoil when the guide member and the target member are held by the holding device is suppressed. The target member can be held by holding it down.
On the other hand, even when the guide member includes the first convex surface, the target member has a second concave surface that engages with the first convex surface and a second suction portion that generates a suction force between the first suction portion. When the target member is provided, the target member can be held by adjusting the direction of the target member to a desired direction by the same action and effect as described above, and suppressing the recoil when holding the target member by the holding device.

Further, in the holding device, the repulsive force generating portion includes a first magnet attached to the support member and a second magnet attached to the guide member to generate the repulsive force with respect to the first magnet. And may have.
According to the present invention, the magnitude of the repulsive force generated between the first magnet and the second magnet is inversely proportional to the square of the distance between the first magnet and the second magnet. For example, as the distance between the first magnet and the second magnet becomes shorter than the magnitude of the repulsive force generated by the elastic body, the repulsive force is rapidly increased, and the recoil when holding by the holding device is effectively suppressed. be able to.

Further, in the above holding device, the first concave surface or the first convex surface may be a part of a spherical surface.
According to the present invention, since there is no geometrical constraint on the rotation direction between the first concave surface and the second convex surface, the second convex surface of the target member engaged with the first concave surface becomes the first concave surface. In the state of contact, the orientation can be easily changed with respect to the first concave surface.
Even when the guide member includes the first convex surface, the second concave surface of the target member engaged with the first convex surface is easily oriented with respect to the first convex surface in a state of being in contact with the first convex surface by the same action. Can be changed.

Further, the holding device may include a suction force adjusting unit for adjusting the magnitude of the suction force.
According to the present invention, the suction force is increased by reducing the magnitude of the suction force generated between the first suction unit and the target member by the suction force adjusting unit while the holding device holds the target member. The size becomes smaller than the magnitude of the repulsive force acted by the repulsive force generating portion, and the guide member and the target member move to the first side in the reference direction with respect to the support member. When the guide member stops moving to the first side in the reference direction with respect to the support member, the target member is moved from the holding device in the reference direction when the inertial force acting on the target member is larger than the magnitude of the suction force. Can be released to the first side of.

Further, in the holding device, the suction force adjusting unit may move the first suction unit in the reference direction with respect to the guide member.
According to the present invention, by adjusting the distance between the target member engaged with the guide member and the first suction portion in the reference direction, the magnitude of the suction force generated between the first suction portion and the target member can be adjusted. Can be adjusted.

Further, in the holding device, the first suction unit is an electromagnet, and the suction force adjusting unit may adjust the electric power supplied to the electromagnet.
According to the present invention, the magnitude of the attractive force generated between the first attractive portion and the target member can be adjusted by adjusting the electric power supplied to the electromagnet.

Further, the holding system of the present invention includes an auxiliary tool attached to the target member and a holding device for generating a suction force between the auxiliary tools, and the holding device has a first side in a reference direction. A repulsive force is applied in the reference direction between the guide member having the first concave surface or the first convex surface facing the guide member, the support member that movably supports the guide member in the reference direction, and the support member and the guide member. The suction force is generated between the repulsive force generating portion to be generated and the auxiliary tool provided on the support member and in contact with the first concave surface or the first convex surface of the guide member to generate the repulsive force. Against this, the auxiliary tool has a first suction portion that sucks the auxiliary tool and the guide member to the second side in the reference direction, and the auxiliary tool has a second convex surface or a second convex surface that engages with the first concave surface. It has a second concave surface that engages with the first convex surface and a second suction portion that generates the suction force between the first suction portion, and when viewed in the reference direction, the first suction portion. The first suction portion is arranged in the concave surface or the outer edge of the first convex surface, and the second suction portion is arranged inside the outer edge of the second convex surface or the second concave surface.

The present invention will be described, for example, in the case where the guide member has a first concave surface, the auxiliary tool has a second convex surface, and the auxiliary tool attached to the target member is arranged on the first side in the reference direction with respect to the guide member. To do.
By generating a suction force between the first suction part and the second suction part, the second suction part of the auxiliary tool is sucked to the second side in the reference direction with respect to the holding device. At this time, the directions of the auxiliary tool and the target member are changed so that the second suction portion is arranged on the second side in the reference direction in the auxiliary tool.
When the second suction portion of the auxiliary tool is sucked by the first suction portion, the first suction portion is arranged inside the outer edge of the first concave surface when viewed in the reference direction, so that the inside of the outer edge of the second convex surface The second suction portion arranged in the above is sucked toward the central portion of the first concave surface, and the second convex surface of the auxiliary tool engages with the first concave surface of the holding device. The guide member and the auxiliary tool that engages with the first concave surface of the guide member and comes into contact with the first concave surface are second in the reference direction with respect to the support member by suction force against the repulsive force generated by the repulsive force generating portion. Is sucked to the side of. Even when the guide member and the auxiliary tool are sucked to the second side in the reference direction with respect to the support member, a suction force is generated between the first suction portion and the second suction portion, so that the first concave surface is formed. And, according to the shape of the second convex surface, the auxiliary tool is arranged so that the second suction portion is arranged on the second side in the reference direction in the auxiliary tool in a state where the second convex surface is engaged with the first concave surface. And the orientation of the target member is further changed, and the orientation of the target member becomes a desired orientation.

While the guide member and the auxiliary tool are integrally moving to the second side in the reference direction with respect to the support member, for example, the suction force acting between the first suction part and the second suction part of the holding device. The positions of the guide member, the auxiliary tool, and the target member in the reference direction with respect to the support member are held at positions in the reference direction in which the magnitude and the magnitude of the repulsive force acted by the repulsive force generating portion of the holding device are equal to each other. At this time, the repulsive force acted by the repulsive force generating portion suppresses the speed at which the guide member, the auxiliary tool, and the target member move to the second side in the reference direction with respect to the support member, and the holding device holds the guide member, the auxiliary tool, and the target member. The target member can be held by suppressing the recoil.
On the other hand, when the guide member has the first convex surface and the auxiliary tool has the second concave surface, the orientation of the target member is adjusted to a desired direction by the same action and effect as described above, and then the holding device is used. The target member can be held by suppressing the recoil at the time of holding.

According to the holding device and holding system of the present invention, the target member can be held by suppressing the recoil after adjusting the orientation of the target member to a desired direction.

It is sectional drawing which shows typically the holding device of 1st Embodiment of this invention. It is sectional drawing which illustrates typically the process which the holding device holds a target member. It is sectional drawing which illustrates typically the process which the holding device holds a target member. It is sectional drawing which schematically explains the process of releasing the target member by the holding device. It is sectional drawing which schematically explains the process of releasing the target member by the holding device. It is sectional drawing which shows typically the artificial satellite which uses the holding device of 2nd Embodiment of this invention. It is sectional drawing which shows typically the artificial satellite which uses the holding device in the modification of 2nd Embodiment of this invention. It is sectional drawing which shows typically the holding system of 3rd Embodiment of this invention.

(First Embodiment)
Hereinafter, the first embodiment of the holding device according to the present invention will be described with reference to FIGS. 1 to 5. The holding device is preferably used in an environment such as outer space where the gravity is smaller than that on the ground.
The holding device 1 of the present embodiment shown in FIG. 1 is used to hold the target member 100 and release the held target member 100. In addition, in FIG. 1 or less, a part of the target member 100 is broken and shown.
The target member 100 includes a main body 101, a second suction unit 102 which is a permanent magnet, a second electrode (not shown), an imaging unit, and a rechargeable battery.

The main body 101 is a non-magnetic material such as an opaque resin, and is formed in a spherical shell shape. A part of the outer surface of the main body 101 is a second convex surface 101a. The second convex surface 101a is a part of a spherical surface and is a curved surface of a hemisphere or less. A recess 101b recessed inward in the radial direction from the outer surface of the main body 101 is formed in a portion of the main body 101 located at the center of the second convex surface 101a. The recess 101b is arranged inside the outer edge of the second convex surface 101a.
In the present embodiment, the window hole 101c is formed in a portion of the main body 101 different from the second convex surface 101a. The window hole 101c penetrates the wall portion of the main body 101 in the radial direction. A window portion 104 made of a non-magnetic material such as a transparent resin is fixed to the window hole 101c. The main body 101 and the window portion 104 are formed in a spherical shell shape as a whole.

The second suction unit 102 includes a first magnetic pole (for example, N pole) and a second magnetic pole (for example, S pole). The second suction portion 102 is arranged in the recess 101b of the main body 101 so that the first magnetic pole faces outward in the radial direction. The second suction portion 102 is arranged inside the outer edge of the second convex surface 101a. More specifically, when viewed from the center of the outer edge on the surface including the outer edge of the second convex surface 101a toward the center on the surface of the second convex surface 101a, the second suction portion 102 is the second convex surface 101a. It is located inside the outer edge of the.
A hole (not shown) is formed in the center of the second suction portion 102. That is, the second suction portion 102 is formed in a ring shape.

The second electrode is arranged in the hole of the second suction portion 102.
The image pickup unit and the rechargeable battery are arranged in the main body 101.
The image pickup unit includes a condenser lens unit, an image pickup device, a control board, a memory, and the like. The condenser lens unit is arranged in the main body 101 so as to face the window portion 104. The image pickup element is arranged so that the focal point of the condenser lens unit is located on the light receiving surface of the image pickup element. The image sensor converts the image formed by the light from the outside of the target member 100 on the light receiving surface through the window portion 104 and the condenser lens unit into a signal. The image sensor sends the converted signal to the control board. The control board appropriately processes the transmitted signal and sends it to the memory. The memory stores the transmitted signal.

The rechargeable battery is electrically connected to the second electrode, the image sensor of the image pickup unit, the control board, and the memory. Electric power is stored in the rechargeable battery. The rechargeable battery supplies electric power to the image sensor, the control board, and the memory. The rechargeable battery stores electric power supplied from the outside of the target member 100 via the second electrode.
The configuration of the target member 100 is not particularly limited, and the target member may include the second convex surface 101a of the main body 101 and the second suction portion 102. The second suction unit may be an electromagnet. However, it is preferable to use a permanent magnet as the second suction unit because the power consumed by the target member 100 is reduced.

The holding device 1 includes a support member 10, a guide member 20, a repulsive force generating unit 25, a first suction unit 35, and a suction force adjusting unit 40.
The support member 10 is formed in a box shape. The support member 10 is provided so as to face the bottom wall portion 11 at the bottom wall portion 11, the side wall portion 12 provided so as to rise from the outer edge portion of the bottom wall portion 11, and the tip portion where the side wall portion 12 rises. A top wall portion 13 and a guide member 14 are provided.
In this example, the thickness direction of the bottom wall portion 11 is the reference direction X. The side wall portion 12 rises from the bottom wall portion 11 on the first side X1 in the reference direction X (hereinafter, also simply referred to as the first side X1). The top wall portion 13 is formed with a through hole 13a that penetrates the top wall portion 13 in the reference direction X. The through hole 13a is formed in the central portion of the top wall portion 13.
For example, the guide member 14 is arranged so as to extend along the reference direction X. The guide member 14 is fixed to the side wall portion 12 and the like.

The guide member 20 is formed in a plate shape curved so as to be convex toward a second side X2 (hereinafter, also simply referred to as a second side X2) opposite to the first side X1 in the reference direction X. ing. The guide member 20 is made of a non-magnetic material such as resin. A first concave surface 21 facing the first side X1 is formed on the outer surface of the first side X1 of the guide member 20. The first concave surface 21 is a part of a spherical surface. The radius of the spherical surface defining the first concave surface 21 is preferably equal to the radius of the spherical surface defining the second convex surface 101a of the target member 100 or larger than the radius of the spherical surface defining the second convex surface 101a. The first concave surface 21 is a curved surface having a hemisphere or less.
A through hole 22 that penetrates the guide member 20 in the reference direction X is formed in a portion of the guide member 20 located at the center of the first concave surface 21. The through hole 22 is formed in such a size that the first suction portion 35 and the first electrode described later can be inserted in the reference direction X.

The repulsive force generating unit 25 includes a first permanent magnet (first magnet) 26 and a second permanent magnet (second magnet) 27.
The first permanent magnet 26 is attached to the bottom wall portion 11 of the support member 10 via a connecting member 29. The first permanent magnet 26 includes a third magnetic pole (for example, N pole) and a fourth magnetic pole (for example, S pole). The first permanent magnet 26 is arranged so that the third magnetic pole is located on the first side X1.
The second permanent magnet 27 is attached to the guide member 20 via the connecting member 30. The second permanent magnet 27 is configured in the same manner as the first permanent magnet 26, and is arranged so that the third magnetic pole is located on the second side X2. The second permanent magnet 27 is arranged on the first side X1 of the first permanent magnet 26, and the first permanent magnet 26 and the second permanent magnet 27 are arranged side by side in the reference direction X.
In the repulsive force generating unit 25, the first permanent magnet 26 and the second permanent magnet 27 generate a repulsive force in the reference direction X, so that the repulsive force is generated in the reference direction X between the support member 10 and the guide member 20. To generate.
The repulsive force generating unit 25 is arranged in pairs so as to sandwich the first suction unit 35 and the suction force adjusting unit 40 in the orthogonal direction Y orthogonal to the reference direction X.

The connecting member 30 is in contact with the guide member 14 in the orthogonal direction Y. The connecting member 30 and the second permanent magnet 27 attached to the connecting member 30 cannot move in the orthogonal direction Y with respect to the guide member 14 of the support member 10, and can move in the reference direction X. That is, the support member 10 supports the guide member 20 so as to be movable in the reference direction X.

The first suction unit 35 is a permanent magnet configured in the same manner as the second suction unit 102 of the target member 100, and includes a first magnetic pole and a second magnetic pole. The first suction portion 35 is formed in a columnar shape about the reference direction X. The first suction unit 35 is supported by the suction force adjusting unit 40 so that the second magnetic pole is located on the first side X1. The first suction portion 35 is arranged side by side in the reference direction X with respect to the through hole 22 of the guide member 20. The first suction portion 35 can be inserted into the through hole 22 of the guide member 20 in the reference direction X.
The first suction unit 35 generates a suction force with the second suction unit 102 of the target member 100 in contact with the first concave surface 21 of the guide member 20. The first suction unit 35 sucks the target member 100 and the guide member 20 to the second side X2 against the repulsive force generated by the repulsive force generating unit 25.
When viewed in the reference direction X, the first suction portion 35 is arranged within the outer edge of the first concave surface 21.
A first electrode (not shown) is arranged on the outer surface of the first side X1 of the first suction unit 35.

The suction force adjusting unit 40 includes an adjusting unit main body 41 and a rod 42.
For example, although not shown, the adjusting unit main body 41 includes a motor, a worm wheel fixed to a rotation shaft of the motor, and a control unit.
The control unit is electrically connected to the first electrode and the motor. Electric power is supplied to the control unit from the outside of the holding device 1. The control unit supplies electric power to the first electrode and the motor. The control unit can rotate the rotation axis of the motor in a first direction around the axis of the rotation axis and a second direction opposite to the first direction. The adjusting portion main body 41 is fixed to the surface of the first side X1 of the bottom wall portion 11 of the support member 10.
The rod 42 is arranged so as to extend in the reference direction X. A worm that meshes with the worm wheel is formed on the rod 42. The first suction portion 35 is fixed to the end portion of the first side X1 of the rod 42. The first suction unit 35 is fixed to the support member 10 via the suction force adjusting unit 40.

When the rotation shaft of the motor rotates in a predetermined direction, the rod 42 moves to the first side X1 or the second side X2 with respect to the adjusting unit main body 41. The first suction portion 35 and the first electrode move in the reference direction X with respect to the guide member 20 integrally with the rod 42, and the second suction portion 102 and the first suction portion 102 of the target member 100 that engage with the guide member 20. By changing the distance from the suction unit 35, the suction force adjusting unit 40 adjusts the magnitude of the suction force generated between the first suction unit 35 and the second suction unit 102.

Next, the operation of the holding device 1 configured as described above will be described. In advance, the support member 10 of the holding device 1 is attached to, for example, the wall of an inboard laboratory of a space station. The target member 100 is arranged on the first side X1 with respect to the guide member 20.
When a suction force is generated between the first suction unit 35 and the second suction unit 102, the second suction unit 102 of the target member 100 sucks the holding device 1 on the second side X2 in the reference direction X. Will be done.
In FIG. 1 and below, the attractive force generated between the first attractive unit 35 and the second attractive unit 102 is indicated by a white arrow, and is generated between the first permanent magnet 26 and the second permanent magnet 27. The repulsive force to be applied is indicated by a filled arrow.
When the second suction portion 102 is sucked, as shown in FIG. 2, the target member 100 is arranged so that the second suction portion 102 is arranged at the end of the second side X2 in the target member 100. The direction changes.

When the second suction portion 102 of the target member 100 is sucked by the first suction portion 35, the first suction portion 35 is arranged in the outer edge of the first concave surface 21 when viewed in the reference direction X. The second suction portion 102 arranged inside the outer edge of the two convex surfaces 101a is sucked toward the central portion of the first concave surface 21, and the second convex surface 101a of the target member 100 engages with the first concave surface 21 of the holding device 1. To do. The guide member 20 and the target member 100 that engages with the first concave surface 21 of the guide member 20 and comes into contact with the first concave surface 21 are brought into the support member 10 by an attractive force against the repulsive force generated by the repulsive force generating portion 25. On the other hand, it is sucked to the second side X2. Even when the guide member 20 and the target member 100 are sucked by the second side X2 with respect to the support member 10, a suction force is generated between the first suction portion 35 and the second suction portion 102, whereby the suction force is generated. As shown in FIG. 3, with the second convex surface 101a engaged with the first concave surface 21, the second suction portion 102 is arranged at the end of the second side X2 in the target member 100. The orientation of the target member 100 is further changed, and the orientation of the target member 100 becomes a desired orientation in which the second suction portion 102 is arranged at the end of the second side X2 in the target member 100.

While the guide member 20 and the target member 100 are integrally moving to the second side X2 with respect to the support member 10, for example, they act between the first suction portion 35 and the second suction portion 102 of the holding device 1. The reference of the guide member 20 and the target member 100 with respect to the support member 10 at the position of the reference direction X where the magnitude of the suction force to be applied and the magnitude of the repulsive force acted by the pair of repulsive force generating portions 25 of the holding device 1 are equal. The position of direction X is held.
The position where the guide member 20 and the target member 100 are held with respect to the support member 10 is not limited to this, and as shown in FIG. 3, the position where the second suction portion 102 of the target member 100 comes into contact with the first suction portion 35 and the like. It may be.
According to the holding device 1 of the present embodiment, when the position of the target member 100 in the reference direction X is held, the repulsive force acting by the repulsive force generating unit 25 causes the guide member 20 and the target to be attached to the support member 10. The speed at which the member 100 moves to the second side X2 is suppressed. Therefore, after adjusting the orientation of the target member 100 to a desired orientation, the target member 100 can be held by suppressing the recoil when the target member 100 is held by the holding device 1.
By suppressing the recoil when the holding device 1 holds the target member 100, it is possible to suppress the rebound of the target member 100.

The repulsive force generating unit 25 includes a first permanent magnet 26 and a second permanent magnet 27. The magnitude of the repulsive force generated between the first permanent magnet 26 and the second permanent magnet 27 is inversely proportional to the square of the distance between the first permanent magnet 26 and the second permanent magnet 27. For example, as the distance between the first permanent magnet 26 and the second permanent magnet 27 becomes shorter than the magnitude of the repulsive force generated by the elastic body, the repulsive force is rapidly increased, and the recoil when the holding device 1 holds the magnet. Can be effectively suppressed.
The first concave surface 21 is a part of a spherical surface. Since there is no geometrical constraint on the rotation direction between the first concave surface 21 and the second convex surface 101a of the target member 100, the second convex surface 101a engaged with the first concave surface 21 becomes the first concave surface 21. The orientation can be easily changed with respect to the first concave surface 21 in the state of contact.

When the target member 100 is held by the holding device 1, the target member 100 is electrically connected to the first electrode of the holding device 1 and the second electrode is electrically connected, and the control unit of the holding device 1 sends the first electrode and the second electrode. Power is supplied to the rechargeable battery of the target member 100 via.

For example, after a certain period of time has passed since the rechargeable battery was supplied with electric power, the control unit of the suction force adjusting unit 40 rotates the rotation axis of the motor in a predetermined direction to rotate the rod 42 as shown in FIG. At the same time, the first suction unit 35 and the first electrode are moved to the second side X2. By reducing the magnitude of the suction force generated between the first suction portion 35 and the second suction portion 102 of the target member 100 while the holding device 1 holds the target member 100, the magnitude of the suction force can be increased. It becomes smaller than the magnitude of the repulsive force acted by the pair of repulsive force generating portions 25, and the guide member 20 and the target member 100 move to the first side X1 with respect to the support member 10. When the guide member 20 stops moving to the first side X1 with respect to the support member 10, when the inertial force acting on the target member 100 is larger than the magnitude of the suction force, the guide member 20 is held as shown in FIG. The target member 100 can be released from the device 1 to the first side X1.

When the magnitude of the suction force is reduced, the guide member 20 moves to the first side X1 due to the repulsive force generated by the repulsive force generating portion 25. As the distance between the first suction portion 35 of the holding device 1 and the second suction portion 102 of the target member 100 increases, the suction force becomes further smaller. As a result, the thrust of the target member 100 required when the target member 100 is released can be reduced.
When the target member has a function of generating thrust by itself, it is possible to release the target member from the holding device 1 by using the thrust. In that case, in the above step, the guide member 20 moves to the first side X1 due to the repulsive force generated by the repulsive force generating portion 25, and the first suction portion 35 of the holding device 1 and the second suction portion 102 of the target member 100 As the distance between them increases, the suction force acting between them becomes smaller, so that the thrust required at the time of release can be reduced as compared with the case where the repulsive force generating portion 25 is not provided.
The target member 100 released from the holding device 1 operates by the electric power stored in the rechargeable battery. The target member 100 captures an image of the inboard laboratory by the imaging unit and stores it in the memory.

The suction force adjusting unit 40 moves the first suction unit 35 to the second side X2 with respect to the guide member 20. By adjusting the distance in the reference direction X between the target member 100 engaged with the guide member 20 and the first suction portion 35, it is generated between the first suction portion 35 and the second suction portion 102 of the target member 100. The magnitude of the suction force can be adjusted.

In the present embodiment, the first attraction unit is an electromagnet, and the attraction force adjusting unit may adjust the power supplied to the electromagnet. Even with this configuration, the magnitude of the attractive force generated between the first attractive portion and the second attractive portion 102 of the target member 100 can be adjusted by adjusting the power supplied to the electromagnet. ..

(Second Embodiment)
Next, the second embodiment of the present invention will be described with reference to FIGS. 6 and 7, but the same parts as those in the embodiment are designated by the same reference numerals, the description thereof will be omitted, and only the differences will be described. explain.
As shown in FIG. 6, the holding device 2 of the present embodiment is also suitably used for repairing the first artificial satellite 110 arranged in outer space. The holding device 2 is mounted on the second artificial satellite 3 on the side of repairing the first artificial satellite 110.
The first artificial satellite 110 includes an apparatus main body 111, a third suction unit 112, and a second suction force adjusting unit 113.

A third concave surface 111a is formed on the outer surface of the apparatus main body 111. The third concave surface 111a faces the second side X2. A recess 111b recessed from the outer surface of the device main body 111 to the first side X1 is formed in a portion of the device main body 111 located at the center of the third concave surface 111a.
The third suction unit 112 is a permanent magnet configured in the same manner as the second suction unit 102 of the target member 100. The third suction portion 112 is arranged in the recess 111b so that the first magnetic pole is located on the second side X2.
The second suction force adjusting unit 113 includes an adjusting unit main body 41 of the suction force adjusting unit 40, an adjusting unit main body 115 and a rod 116 which are configured in the same manner as the rod 42. The adjusting portion main body 115 is fixed to the bottom of the recess 111b. A third suction portion 112 is fixed to the end portion of the second side X2 of the rod 116.

In this embodiment, the control module (target member) 120 is attached to the auxiliary tool 121. The holding device 2 and the auxiliary tool 121 constitute the holding system 4.
The control module 120 controls, for example, the first artificial satellite 110. The target member is not limited to the control module 120.

The auxiliary tool 121 includes a main body 123 and a second suction unit 124. The main body 123 is made of a non-magnetic material such as resin and is formed in a plate shape. The main body 123 is arranged so that the thickness direction of the main body 123 is along the reference direction X.
A third convex surface 123a that engages with the third concave surface 111a of the first artificial satellite 110 is formed on the outer surface of the main body 123 that faces the first side X1. A second concave surface 123b is formed on the outer surface of the main body 123 facing the second side X2. A through hole (reference numeral omitted) that penetrates the main body 123 in the reference direction X is formed in a portion of the main body 123 located at the center of the second concave surface 123b. It should be noted that this through hole does not have to penetrate the main body 123 in the reference direction X.
The second suction unit 124 is a permanent magnet configured in the same manner as the second suction unit 102 of the target member 100. The second suction unit 124 is arranged in the through hole of the main body 123 so that the first magnetic pole is located on the second side X2.

In the auxiliary tool 121, the third convex surface 123a engages with the third concave surface 111a of the first artificial satellite 110 to generate a suction force between the second suction unit 124 and the third suction unit 112, whereby the first It is held by the artificial satellite 110.
The control module 120 attached to the auxiliary tool 121 controls the first artificial satellite 110.

The second artificial satellite 3 includes a device main body 50, and a first arm 51 and a second arm 52 attached to the device main body 50.
For example, the first arm 51 and the second arm 52 can be expanded and contracted in the reference direction X. The first arm 51 can hold the first artificial satellite 110 or cancel the holding.
A joint 53 capable of changing the angle formed with the second arm 52 is attached to the tip of the second arm 52. The joint 53 has a built-in brake mechanism that can switch between a holding state in which the angle formed by the second arm 52 and the joint 53 is held and a release state in which the holding is released.

The holding device 2 includes a support member 55 and a guide member 60 in place of the support member 10 and the guide member 20 of the holding device 1 of the present embodiment.
The support member 55 includes a bottom wall portion 11. The bottom wall portion 11 is fixed to the joint 53 of the second artificial satellite 3.
The guide member 60 is formed in a plate shape curved so as to be convex toward the first side X1. A first convex surface 61 facing the first side X1 is formed on the outer surface of the first side X1 of the guide member 60. The first convex surface 61 is preferably a part of a spherical surface.
A through hole 62 that penetrates the guide member 60 in the reference direction X is formed in a portion of the guide member 60 located at the center of the first convex surface 61. The through hole 62 is formed in a size that allows the first suction portion 35 to pass through.
When viewed in the reference direction X, the first suction portion 35 is arranged within the outer edge of the first convex surface 61.

In the first artificial satellite 110 and the second artificial satellite 3 configured as described above, when the control module 120 is replaced with a new control module 120, the following steps are performed.
The device main body 111 of the first artificial satellite 110 is held by the first arm 51 of the second artificial satellite 3, so that the device main body 111 of the first artificial satellite 110 does not move with respect to the device main body 50 of the second artificial satellite 3. To do.
When the second arm 52 is extended with the brake mechanism in the joint 53 released, a second suction force is generated between the first suction portion 35 of the holding device 2 and the second suction portion 124 of the auxiliary tool 121. The angle formed by the arm 52 and the joint 53 changes, and the second concave surface 123b of the auxiliary tool 121 engages with the first convex surface 61 of the holding device 2. At this time, as described above, after adjusting the direction of the control module 120 with respect to the holding device 2 to a desired direction, the control module 120 is held by the holding device 2 while suppressing recoil. Put the brake mechanism in the holding state.

The second suction force adjusting unit 113 moves the third suction unit 112 to the first side X1 with respect to the device main body 111, and contracts the second arm 52. Then, the auxiliary tool 121 is released from the first artificial satellite 110.
In the second artificial satellite 3, the brake mechanism is appropriately released, the auxiliary tool 121 is released from the holding device 2, and the auxiliary tool 121 to which the new control module 120 is attached to the holding device 2 (hereinafter, also referred to as the auxiliary tool 121A). ) Is retained.
When the third suction unit 112 is moved to the second side X2 with respect to the device main body 111 by the second suction force adjusting unit 113 and the second arm 52 is extended, the auxiliary tool 121A is held by the first artificial satellite 110. ..
When the first suction unit 35 is moved to the second side X2 with respect to the support member 55 by the suction force adjusting unit 40 and the second arm 52 is contracted, the auxiliary tool 121A is released from the second artificial satellite 3 and the second arm is released. 1 A new control module 120 is attached to the artificial satellite 110.
The holding of the first artificial satellite 110 by the first arm 51 is released, and the replacement of the control module 120 of the first artificial satellite 110 is completed.

Note that FIG. 7 shows the first artificial satellite 110A and the second artificial satellite 3A, which are modifications of the present embodiment.
The first artificial satellite 110A does not have a second attractive force adjusting unit 113 with respect to the first artificial satellite 110.
The second suction portion 124A of the auxiliary tool 121B to which the control module 120 is attached is made of a magnetic material.
The first suction unit 35A of the holding device 2A is an electromagnet. The first suction unit 35A can switch the polarity and ON / OFF of the operation.

In the first artificial satellite 110A and the second artificial satellite 3A configured as described above, when the control module 120 is replaced with a new control module 120, the following steps are performed.
When the control module 120 is removed from the first artificial satellite 110A, the first suction unit 35A is excited in a direction in which a suction force is generated with the third suction unit 112. The third suction unit 112 and the second suction unit 124A are attracted to each other. If the polarity of the first suction part 35A is reversed and the suction force between the first suction part 35A and the second suction part 124A is larger than the suction force between the third suction part 112 and the second suction part 124A, the first 3 The suction unit 112 and the second suction unit 124A are separated from each other, and the removal of the control module 120 is completed.

On the other hand, when the new control module 120 is attached, the first suction unit 35A is excited in the direction in which the suction force is generated with the third suction unit 112. The first suction unit 35A and the second suction unit 124A are adsorbed, and the third suction unit 112 and the second suction unit 124A are adsorbed. If the operation of the first suction unit 35A is turned off and the repulsive force between the first permanent magnet 26 and the second permanent magnet 27 is larger than the attraction force between the first suction unit 35A and the second suction unit 124A, The first suction unit 35A and the second suction unit 124A are separated from each other, and the installation of the new control module 120 is completed.

(Third Embodiment)
Next, the third embodiment of the present invention will be described with reference to FIG. 8, but the same parts as those of the embodiment are designated by the same reference numerals, the description thereof will be omitted, and only the differences will be described.
As shown in FIG. 8, the holding system 5 of the present embodiment includes an auxiliary tool 65 attached to the target member 130 and a holding device 1 that generates a suction force between the auxiliary tool 65.

The auxiliary tool 65 includes a main body 66 and a second suction portion 67.
The main body 66 is made of a non-magnetic material such as resin and is hemispherically formed. The curved outer surface formed on the main body 66 is the second convex surface 66a. The second convex surface 66a engages with the first concave surface 21 of the holding device 1.
A recess 66b recessed inward in the radial direction from the outer surface of the main body 66 is formed in a portion of the main body 66 located at the center of the second convex surface 66a. The recess 66b is arranged inside the outer edge of the second convex surface 66a.
The second suction unit 67 is a permanent magnet configured in the same manner as the second suction unit 102 of the target member 100. The second suction portion 67 is arranged in the recess 66b so that the first magnetic pole is located on the second side X2. The second suction portion 67 is arranged inside the outer edge of the second convex surface 66a.
The second suction unit 67 generates a suction force with the first suction unit 35 of the holding device 1.

The shape and material of the target member 130 are not particularly limited, and in the present embodiment, the target member 130 is formed in a rectangular parallelepiped shape. The main body 66 of the auxiliary tool 65 is attached to the side surface of the target member 130.
According to the holding system 5 of the present embodiment configured as described above, the first suction portion 35 is arranged in the outer edge of the first concave surface 21 when viewed in the reference direction X, and the outer edge of the second convex surface 66a Since the second suction portion 67 is arranged inside, when the second suction portion 67 of the auxiliary tool 65 is sucked by the first suction portion 35, the second suction portion 67 of the auxiliary tool 65 is placed on the first concave surface 21 of the holding device 1. The convex surface 66a engages. Then, after adjusting the direction of the target member 130 to a desired direction, it is possible to suppress the recoil and hold the target member 130.
A second concave surface may be formed on the auxiliary tool, and a first convex surface that engages with the second concave surface may be formed on the guide member of the holding device. In this case, the second suction portion 67 is arranged inside the outer edge of the second concave surface.

Although the first to third embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and the configuration does not deviate from the gist of the present invention. Changes, combinations, deletions, etc. of are also included. Further, it goes without saying that each of the configurations shown in each embodiment can be used in combination as appropriate.
For example, in the first to third embodiments, the first concave surface and the first convex surface are not a part of a spherical surface, but may be a side surface of a cone, a rotating paraboloid, or the like.
The repulsive force generating portion 25 may be formed of an elastic body such as a spring.

In the holding system, the aid may not include a second convex surface and a second concave surface.
The holding device does not have to include the connecting members 29, 30, the first electrode, the second electrode, and the suction force adjusting unit 40.
In the present embodiment, the holding device is used in outer space or the like, but the holding device may be used in water or the like.

1,2,2A Holding device 4,5 Holding system 10,55 Support member 20,60 Guide member 21 First concave surface 25 Repulsive force generator 26 First permanent magnet (first magnet)
27 Second permanent magnet (second magnet)
35,35A 1st suction part 40 Suction force adjustment part 61 1st convex surface 65,121,121B Auxiliary tool 100,130 Target member 120 Control module (target member)
X Reference direction X1 1st side X2 2nd side

Claims (7)

A guide member having a first concave surface or a first convex surface facing the first side in the reference direction,
A support member that movably supports the guide member in the reference direction,
A repulsive force generating portion that generates a repulsive force in the reference direction between the support member and the guide member,
A suction force is generated between the first concave surface of the guide member or the target member in contact with the first convex surface of the support member, and the target member and the guide are opposed to the repulsive force. A first suction part that sucks the member to the second side in the reference direction,
With
A holding device in which the first suction portion is arranged within the outer edge of the first concave surface or the first convex surface when viewed in the reference direction. The repulsive force generating part is
The first magnet attached to the support member and
A second magnet attached to the guide member and generating the repulsive force with respect to the first magnet,
The holding device according to claim 1. The holding device according to claim 1 or 2, wherein the first concave surface or the first convex surface is a part of a spherical surface. The holding device according to any one of claims 1 to 3, further comprising a suction force adjusting unit for adjusting the magnitude of the suction force. The holding device according to claim 4, wherein the suction force adjusting unit moves the first suction unit with respect to the guide member in the reference direction. The first suction unit is an electromagnet and
The holding device according to claim 4, wherein the attractive force adjusting unit adjusts the electric power supplied to the electromagnet. Auxiliary tools attached to the target member and
A holding device that generates a suction force with the auxiliary tool,
With
The holding device is
A guide member having a first concave surface or a first convex surface facing the first side in the reference direction,
A support member that movably supports the guide member in the reference direction,
A repulsive force generating portion that generates a repulsive force in the reference direction between the support member and the guide member,
The auxiliary tool and the auxiliary tool provided on the support member generate the suction force between the first concave surface of the guide member or the auxiliary tool in contact with the first convex surface, and resist the repulsive force. A first suction portion that sucks the guide member to the second side in the reference direction, and
Have,
The auxiliary tool
A second convex surface that engages with the first concave surface or a second concave surface that engages with the first convex surface.
A second suction unit that generates the suction force with the first suction unit,
Have,
When viewed in the reference direction, the first suction portion is arranged within the outer edge of the first concave surface or the first convex surface.
A holding system in which the second suction portion is arranged inside the outer edge of the second convex surface or the second concave surface.

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