JP2585382B2 - Modularization of space-based spacecraft robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Table of contents Overview ...... Page 4 Industrial application field ...... Page 5 Conventional technology ...... Page 6 Problems to be solved by the invention ...... Page 7 Means for solving the problems ...... 8 Page Action ...... Page 10 Example ...... Page 13 Effects of the Invention ...... Page 33 Outline Modularization of space-based spacecraft external space robot that divides space-based spacecraft robot into modules and connects them as necessary. The purpose of this study is to provide a modularization system for space-based extravehicular activity robots that can obtain the optimal combination according to the work contents in outer space. A plurality of manipulators, an environment recognition sensor, a self-position / posture measurement unit, a short-range movement propulsion unit, a posture control unit, and a manipulation module including a communication unit. A propulsion unit for long-distance movement, a measurement unit of its own position and posture, a propulsion unit for short-distance movement, a posture control unit, and a propulsion module including a communication unit, and the manipulation module and The propulsion module has a common coupling mechanism and a coupled mechanism before and after, respectively, and is configured so that the manipulation module and the propulsion module can be coupled and separated in a sandwich manner.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a modularization system for a spacecraft outboard activity robot that divides a spacecraft outboard activity robot into modules and connects the modules as necessary.

As humans advance into outer space, various types of work outside the spacecraft will become increasingly important in the future, but extravehicular activities by astronauts are extremely dangerous considering the special environment of space, Considering that the work time and work range in which humans can work outside the spacecraft are limited, there is a problem that work efficiency is poor. Therefore, there is a demand for a technology of an outer space activity robot that freely moves in outer space and performs various extra space activities.

The work items to be performed by the space-based spacecraft robot include assembling large structures such as antennas, factories, and platforms, checking and repairing space devices such as satellites, and equipment,
It covers a wide variety of fields such as replacement of orbital exchange units (ORU), collection of artificial satellites and dust, and refueling. Therefore,
There is a demand for a space-based extra-vehicle activity robot that can flexibly cope with each of these tasks.

2. Description of the Related Art Although there is no space-based EVA robot currently in practical use, the proposed conventional space-based EVA robot has the required manipulation functions, environment recognition functions, attitude control functions, navigation and navigation functions. It was an integrated, general-purpose robot with all of the guidance control function, communication function, and other functions mounted on the main body. Alternatively, only a concept has been proposed in which only a long-distance moving engine is made detachable and mounted on the main body as needed.

Problems to be Solved by the Invention Since such a conventional technique uses a general-purpose robot equipped with various functions covering various tasks, it cannot be said that the function configuration is necessarily optimal for each task. Not efficient in performing work. Further, since a wasteful function is mounted for a predetermined work, there is a problem that fuel energy and the like required for movement and the like are wasted. Also, when launching a space-based outboard activity robot from the ground to space, the conventional integrated type must be launched in a lump, and it is necessary to prepare a launch vehicle with a large launchable weight. In the case where the components are launched separately instead of collectively, there is a problem that the assembling method is not simple, and if they are not unified, it takes much time to assemble in space. Furthermore, since various functions are mounted on the main body at the same time, there are problems that inspection and maintenance are difficult, and it is difficult to maintain high reliability of the entire system.

The present invention has been made in view of such a point,
It is an object of the present invention to provide a modularization system for a space-based extra-vehicle activity robot capable of obtaining an optimum combination according to the content of work in space.

Means for Solving the Problems At least a plurality of manipulators for performing a task, an environment recognition sensor, a means for measuring own position and attitude, a propulsion means for short-distance movement, A manipulation module comprising: a posture control means; a communication means; a propulsion means for long-distance movement; a means for measuring own position and posture; a propulsion means for short-distance movement; a posture control means; And a propulsion module having means. Further, the manipulation module and the propulsion module have front and rear coupling mechanisms and coupled mechanisms, respectively, so that the manipulation module and the propulsion module can be coupled and separated in a sandwich manner.

Further, as a desirable mode, an optional module which provides a function specific to various operations assumed for the space-based spacecraft activity robot is prepared, the optional module has a coupling mechanism and a coupled mechanism before and after, a manipulation module, The propulsion module and the optional module are configured so as to be connected and separated in a sandwich shape.

Further, the coupling mechanism and coupled mechanism of each module are common, and a common coupling bus for communicating and exchanging information, energy, and the like through the coupling unit is provided. It is configured to be connectable in any order.

The present invention thus separates the spacecraft outboard activity robot into a manipulation module, a propulsion module, and an optional module, and is configured so that these modules can be connected and separated in a sandwich form. A highly reliable module connection method can be realized. Furthermore, it has the feature that a plurality of modules can be combined in an arbitrary combination in an arbitrary order. Therefore, according to various tasks envisioned for a space-based extravehicular activity robot, (1) Use the manipulation module alone (2) One or more manipulation modules are combined with a propulsion module, (3) One or more option modules are combined with a manipulation module, and (4) One or more option modules are used. (5) One or more optional modules are inserted and used between one or more manipulation modules and the propulsion module. (6) For the manipulation module Connect multiple optional modules The propulsion module is used in combination with the combination. (7) The remote manipulator system is used in combination with the above (1) to (6). It has a feature that an optimal configuration can be obtained by using an option module.

With this feature, it is not necessary to prepare dedicated robots for various tasks individually, and it has an optimal configuration for various tasks compared to the method of preparing general-purpose robots equipped with various functions that cover various tasks. Since various operations can be efficiently performed and only the minimum necessary functions can be mounted on the extra-space activity robot, fuel energy and the like required for movement and the like can be minimized.

In addition, when launching a space-based extra-vehicle activity robot from the ground to space, it can be divided and launched individually and reconfigured in outer space. It is not necessary to prepare a launch vehicle with a large liftable weight. Furthermore, when the shape of each module is a polygonal pillar (including a cylinder), it can be easily transported by a rocket or a space shuttle, and when a coupling mechanism and a coupled mechanism are provided in the front and rear directions of the central axis, a plurality of modules are coupled. Even in the state, since the shape of the polygonal column (including the column) is still maintained, it is easy to carry and the volume efficiency of the luggage compartment is increased.

Furthermore, since the coupling mechanism and coupled mechanism of each module are unified, assembly in space after launch can be performed by a certain method, and automation is easy. In addition, by using the coupling mechanism and the coupled mechanism and stacking and storing, there is no need to prepare a storage mechanism for each module, and compact storage can be realized.
Flexible storage of new modules after launch. Further, since the module is divided according to various functions, the reliability of the entire system can be kept high, and the inspection and maintenance can be performed individually for each module, so that the inspection and maintenance are easy.

EXAMPLES Hereinafter, the present invention will be described in detail based on examples shown in the drawings.

FIG. 1 is a perspective view of an embodiment of the present invention in a module separated state. In the figure, reference numeral 10 denotes a manipulation module, in which an octagonal prism-shaped first main body 11 is also laminated with an octagonal prism-shaped second main body 12, and the first main body 11 and the second
The bodies 12 are rotatable relative to each other about a central axis. 2nd body
For example, two 7-DOF manipulators 13 with a total length of about 4 m
The main body 11 is attached to the main body 11, for example, about 4 m
The two four-degree-of-freedom manipulators 14 are attached. End effectors (hands) are provided at the ends of the 7-DOF manipulator 13 and the 4-DOF manipulator 14, respectively.
15,16 are attached. Further, a three-dimensional wrist camera 17 is mounted near the tip of the manipulator 13 having seven degrees of freedom.

Reference numeral 18 denotes a replacement end effector storage box.
Two are provided on both sides of the twelve. Reference numeral 19 denotes an illuminated stereo vision sensor, which is attached to the second main body 12 via a manipulator 20 having six degrees of freedom for the sensor. The first main body 11 is provided with two wireless communication antennas 21, and a GPS (global positioning system) antenna 22 is attached to the wireless communication antenna 21. twenty three
Is a position / posture sensor. Reference numeral 24 denotes a propulsion device for short-distance movement and attitude control, and a plurality of propulsion devices are provided around the first main body 11. These propulsion devices 24 have different angles of the injection ports, and by selectively operating some of the plurality of propulsion devices 24, the attitude of the manipulation module 10 can be achieved, or short-distance movement can be achieved. To do. 25 is the track exchange unit (ORU)
And include, for example, replacement parts for artificial satellites, fuel, members for assembling space structures, and the like.

In the center of the front of the manipulation module 10,
A coupling mechanism 26 for coupling the modules is provided so as to protrude in the central axis direction. At the center of the back of the manipulation module 10, a coupled mechanism that is coupled by a coupling mechanism of another module is provided.
Reference numeral 27 denotes a coupled mechanism for an RMS (remote manipulator system) to be described later.

Reference numeral 30 denotes a propulsion module, which has an octagonal prism-shaped main body 30 ′ similar to the manipulation module 10.
31 is a wireless communication antenna, and 32 is a GPS antenna. 33 is an illuminated stereo vision sensor. 34 is the position
It is an attitude sensor. Numeral 35 denotes a propulsion device for short distance movement and attitude control, and a plurality of propulsion devices are provided on the side surface of the propulsion module 30. The injection ports of each propulsion device 35 are mounted at an offset angle from each other, and the attitude control of the propulsion module 30 is achieved by selectively operating some of the propulsion devices 35.

Reference numeral 36 denotes a solar cell paddle, which is foldably attached to the side of the propulsion module 30. Further, the propulsion module 30 has a radar device 37, and a coupling mechanism 38 for coupling the modules to each other is provided at the center of the front surface thereof so as to protrude in the central axis direction. Propulsion module 30
On the back of the vehicle, a coupled mechanism coupled by a coupling mechanism of another module is provided, and a propulsion engine for long-distance movement is provided. 39 is a coupling mechanism for RMS.

Reference numeral 40 denotes a module mounted with an ORU (track switching unit), which is a kind of an operation module, and has an octagonal prism-shaped main body 41 similar to the manipulation module 10 and the propulsion module 30 described above. A replacement ORU 42 is mounted on a side surface of the ORU mounting module 40. ORU
A coupling mechanism 43 for coupling other modules protrudes from the center of the front surface of the mounted module 40, and an RMS coupled mechanism 44 is provided on a side surface thereof. The coupling mechanisms 26, 38, 43 described above have exactly the same configuration, and the coupled mechanisms 27, 39, 44 for RMS have exactly the same configuration.

Reference numeral 45 denotes an RMS (remote manipulator system), the base end of which is attached to a structure such as a space station, and a coupling mechanism 46 having the same configuration as the coupling mechanism of each module described above is provided at the distal end thereof. Is provided. The coupling mechanism 46 of the RMS 45 is provided on the side of each module described above.
The RMS 45 can couple / separate the modules by being coupled to the coupled mechanisms 27, 39, 44 for RMS, or coupled to a coupled mechanism (not shown) provided on the back of each module.

The spacecraft outboard activity robot according to the present embodiment includes the manipulation module 10 and the propulsion module 30 as described above.
And an ORU mounting module 40, and these modules are assembled in a united manner by connecting them in a sandwich manner in the direction of the central axis.

Next, an example of the option module will be described with reference to FIGS. FIG. 2 is a perspective view of the ORU mounted module, which has the same configuration as the ORU mounted module 40 shown in FIG. FIG. 3 is a perspective view of the cargo module, and the cargo module 47 is configured by attaching a lid 49 to an elongated octagonal prism-shaped main body 48. At the center of the front surface, a coupling mechanism 50 is provided so as to protrude in the central axis direction. FIG. 4 is a perspective view of an astronaut boarding module 52, in which a cockpit 54 on which an astronaut is boarded is provided on a side surface of an octagonal column-shaped main body 53. Reference numeral 55 denotes a propulsion device for short-distance movement and attitude control, and a plurality of propulsion devices are provided around the side surface of the main body 53. At the front center of the astronaut boarding module 52, a coupling mechanism 56 for coupling other modules is provided so as to protrude in the central axis direction. When a space-based extravehicular activity robot operates by human operation, remote control from a space command station such as a space base or a command station on the ground is mainly performed, but in an emergency there are cases where humans want to go to the site. is there. 4th
The astronaut boarding module 52 shown in the figure enables this. The astronauts board the cockpit 54, head to the site, and allow the astronauts to directly operate the robot.

FIG. 5 is a perspective view of the embodiment of the present invention in a state where the manipulation module 10, the ORU module 40, and the propulsion module 30 are combined. The combination of the propulsion module 31 enables long-distance movement, and the ORU-mounted module 40 allows multiple ORUs 42 to be held at one time and goes to the site (in some cases, multiple sites) to be exchanged. improves.

FIG. 6 is a perspective view of an embodiment of the present invention in which the manipulation module 10, the cargo module 47 and the propulsion module 30 are combined. After heading to the site in this combined state, only the manipulation module 10 is separated and the cargo module is separated. The assembling work can be efficiently performed by taking out the assembling material from the 47.

FIG. 7 is a perspective view of the embodiment of the present invention in which the manipulation module 10, the astronaut boarding module 52, and the propulsion module 30 are combined. An astronaut boarding the astronaut boarding module 52, injecting the propulsion engine of the propulsion module 30 to a distant site, and the astronaut directly operating the manipulators 13 and 14 to perform work Can be.

FIG. 8 is a perspective view of an embodiment of the present invention in which the manipulation module 10, the cargo module 47, the astronaut boarding module 52, and the propulsion module 30 are combined. In this embodiment, a cargo module 47 is added to the combination shown in FIG. 7, and a large amount of materials for assembly can be loaded into the cargo module 47 to go to the site.

Further, since a plurality of manipulation modules 10 are configured to be connectable, a configuration as shown in the schematic diagram of FIG. 9 is also conceivable. This is exactly the image of a large truck with a plurality of husbands (four in FIG. 9) heading to the site. FIG. 10 is a perspective view of an embodiment of the present invention in which the manipulation module 10 and the propulsion module 30 are combined. In this way, it is also possible to carry out the work toward the site without connecting any optional modules.

FIG. 11 is a perspective view showing the working state of the embodiment, in which the manipulation module 10 has four manipulators 13,1.
FIG. 4 shows the structure 58 being assembled.
That is, while recognizing the on-site environment with the illuminated stereoscopic vision sensor 19, the manipulator 14 attaches to the structure 58, the manipulator 13 extracts the material 57 mounted on the ORU mounting module 40, and assembles the structure 58. FIG. 12 is a perspective view of another embodiment showing a working state. In this embodiment, the work of the space-based extra-vehicle activity robot is controlled by the RMS45.

FIG. 13 is a schematic diagram showing a storage method of the module,
The RMS 45 is attached to the space base structure 60. RMS45
By grasping the coupled mechanisms 27, 39, 44 etc. provided on the side surfaces of the manipulation module 10, the propulsion module 30, the ORU mounted module 40, the cargo module 47, etc., each module is transferred to the space base structure 60 in an arbitrary order. They are stacked and stored. The space station structure 60 is also provided with a similar coupling mechanism. 61 is a space shuttle such as a space shuttle. Since the modules are stored in a stacked state using the coupling mechanism in this manner, the storage can be flexibly handled when the types and the number of modules are increased. By adopting such a storage method, for example, material supply from the space shuttle 61 or the like to the cargo module 47 or the like can be efficiently performed. If necessary, each module can be controlled, for example, by opening the lid of the cargo module 47, through the signal line of the coupling section in the storage state of FIG. Further, in this storage location, necessary modules can be combined, an outboard space activity robot can be assembled, and dispatched to the site. Since these assembling and storing operations are performed by a simple and unified coupling method, automation is easy.

Next, with reference to FIGS. 14 and 15, a conventionally known capturing mechanism for connecting each module will be described. 14th
The figure shows a schematic diagram of the capturing mechanism. An inner ring 63 and an outer ring 64 are attached to the capturing cylinder 62, and the inner ring 63 is configured to be rotatable with respect to the outer ring 64. Then, a snare wire 65 is wound around the inner ring 63 and the outer ring 64. 66 is a capture shaft captured in the capture cylinder 62.

However, when the capture shaft 66 is captured in the capture cylinder 62, as shown in FIGS. 14 and 15A, the inner ring 63 rotates as shown in FIG. 65 approaches the capture shaft 66. When the rotation of the inner ring 63 is completed, the snare wire 65 tightens the capture shaft 66 as shown in FIG. 15 (C), and the capture shaft 66 is captured at the center position of the capture cylinder 62. Such a capturing mechanism is suitable for effectively capturing an object at a central position in space without gravity.

Next, a coupling mechanism of each module including the above-described capturing mechanism will be described with reference to FIGS. No. 16
The figure is a sectional view of the coupling mechanism, and FIG. 17 is a front view of the coupling mechanism. A recess 68a is formed in the rear end surface (back surface) of the module 68, and a capture shaft (coupled mechanism) 66 is provided in the recess 68a. Further, a power supply / signal connector 69 is provided in the recess 68a. Fig. 17 (A)
As best shown in FIG. 3, the back of the module 68 is provided with three fitting holes 70 having a conical inclination, and the fitting mechanism 70 is attached to the fitting holes 70. . Further, a capturing cylinder (coupling mechanism) 62 is attached to the front surface of the module 74, and FIG. 17 (B)
As best shown in FIG. 3, three conical positioning pins 75 are provided corresponding to the fitting holes 70 provided on the back surface of the module 68. 76 is a spacer for determining the coupling plane. In FIG. 17, reference numeral 72 denotes a docking mark and reference numeral 77 denotes a docking camera. While monitoring the docking mark 72 with the docking camera 77, both modules 6 are moved by the propulsion device for short-range movement and attitude control.
Achieve 8,74 coarse positioning.

However, after the two modules 68 and 74 are roughly positioned by a propulsion device for short-distance movement and attitude control, or by an RMS in a space base or the like, the two modules 68 and 74 are captured by the capturing mechanism described in FIGS. 14 and 15. , 74 are drawn into each other. At this time, the center axis, the rotation angle, the parallelism, and the like of both modules are accurately positioned by the pins 75 and the inclined surfaces of the fitting holes 70. After the drying, the two modules are completely fixed by the coupling / fixing throttle mechanism 71 as shown in FIG. 16 (B).

Next, a control system of each module will be described with reference to FIGS. FIG. 18 is a schematic diagram of the system configuration of each module. A plurality of subsystems 78 ₁ , 78 ₂ ,..., 78 _n are connected to a module central controller 77,
Each of these subsystems is controlled by a module central controller 77. The module central control unit 77 is connected to the central control units of other modules via the inter-module coupling bus 79 and the bus arbitration master selection subsystem 80.

FIG. 19 is a system configuration diagram of the manipulation module.The manipulation module central controller 80 includes a manipulator control subsystem 82, a visual processing subsystem 83, a propulsion / posture control subsystem 84, a docking control subsystem 85, and a power management subsystem. 86, a communication control subsystem 87 is connected, and these subsystems are controlled by a manipulation module central controller 81.

FIG. 20 is a diagram showing the system configuration of the propulsion module.
9. A propulsion / attitude control subsystem 90, a docking control subsystem 91, a power management subsystem 92, and a communication control subsystem 93 are connected, and these subsystems are controlled by a propulsion module central controller 88.

FIG. 21 is a configuration diagram of the manipulator control subsystem 8 of the manipulation module and the visual processing subsystem 83. The manipulator general control device 94 and the visual processing control device 101 are connected to the manipulation module central control device 81. The manipulator control unit 94 is connected to a seven-degree-of-freedom manipulator control unit 95 and a manipulator control unit 96 after four degrees of freedom. The seven-degree-of-freedom manipulator control device 95 controls the seven-degree-of-freedom manipulator 13 based on information from the six-axis list sensor 97, and the four-degree-of-freedom manipulator control device 96 operates based on information from the six-axis list sensor 99. Manipulator with degrees of freedom
Control 14 These 6-axis wrist sensors 97 and 99 are force sensors attached to the wrist position of the manipulator. The overall manipulator control device 94 further controls the end effectors 15 and 16, the end effector storage box 18, the three-dimensional wrist camera 17, and the end effector mounting sections 98 and 100.

The manipulator general control device 94 controls the sensor manipulator 20 via the sensor manipulator control device 103, and the visual processing control device 101 controls the illuminated stereo vision sensor 19 via the camera control device 102.

FIG. 22 shows a propulsion / posture control subsystem of the manipulation module. A propulsion / posture control device 104 is connected to the manipulation module central control device 81. The propulsion / posture control actuator (propulsion / posture control actuator) Device 24) and the position / posture sensor 23 '.

FIG. 23 shows a docking control subsystem of the manipulation module.A docking mechanism control device 105 is connected to the manipulation module central control device 81.The docking mechanism control device 105 includes a docking sensor 106, a docking front and rear of the module. It controls the mechanisms 107 and 108. Further, the modules are electrically connected via power supply / signal connectors 109 and 110 before and after the module, an inter-module coupling bus 79, and a power supply line 111.

FIG. 24 shows the power management subsystem of the manipulation module. The power management controller 112 is controlled by the manipulation module central controller 81. The power management controller 112 controls power supply to various parts of the manipulation module. For example, the power management controller 112 monitors the state of charge of the built-in battery 113, charges the battery, and switches to a power source via an inter-module connector.

FIG. 25 shows a communication control subsystem of the manipulation module.A communication control device 114 is connected to the manipulation module central control device 81. The communication control device 114 controls the antenna 21 via an antenna drive control device 115. Mounted antenna drive
After driving 116 and pointing the antenna 21 in a predetermined direction,
Control is performed such that wireless communication is performed by the antenna 21 via the communication processing device 117.

FIG. 26 shows a propulsion / posture control subsystem of the propulsion module. A propulsion / posture control device 119 is connected to the propulsion module central control device 118. The propulsion / posture control device 119 controls a propulsion / posture control actuator (propulsion device) 35 'and a position / posture sensor 34'. The navigation controller 120 includes a propulsion engine 121 for long-distance travel,
The posture control device 119 is controlled.

FIG. 27 shows a docking control subsystem of the propulsion module. A docking mechanism control unit 122 is connected to the propulsion module central control unit 118. The docking mechanism control unit 122 includes a docking sensor 123 and docking before and after the module. Mechanism 12
Controls 4,125. The modules are electrically connected to each other by power supply / signal connectors 126 and 127 before and after the module, an inter-module coupling bus 79 and a power supply line 111.

FIG. 28 shows the visual processing subsystem of the propulsion module. The visual processing control device 128 is connected to the propulsion module central control device 118.
28 is a stereoscopic vision sensor 3 with illumination via a pan head controller 129
After controlling the pan-tilt telescopic head 130 with the 0 attached thereto and pointing the stereoscopic vision sensor 30 in a predetermined direction, the camera controller 13
The information of the illuminated stereoscopic vision sensor 30 is taken in via 1.

FIG. 29 shows the power management subsystem of the propulsion module, in which a power management controller 132 is connected to the propulsion module central controller 118. Power management controller 132
Controls the supply of power to various parts of the propulsion module and the supply of power to other modules via connectors and power supply lines at the joints. The power management control device 132
For example, if necessary, control the direction and opening / closing of the solar battery paddle 36 via the paddle orientation / opening / closing control device 133,
It controls the switching of the power supply between the solar battery paddle 36 and the built-in battery 134 by filling the built-in battery 134.

FIG. 30 is a schematic diagram showing the connection state of each module, and each module has a connector 69 and a module connection bus.
79, connected via a bus arbitration master selection subsystem 80. As is clear from the above description and FIG. 30, the module comprises a central control unit and a plurality of subsystems for controlling and executing individual functions of each module and various management functions. The control software for these central control units and subsystems is based on
It is possible to communicate from the outside via 79, and therefore, it is also possible to remotely rewrite the software via a module having communication means. Also, the subsystem of one module can be directly controlled from the central controller of another module that has become the master module. Furthermore, sensors and actuators controlled by each Shiv system (manipulators, propulsion devices, cameras, etc.)
By placing the subsystem and module central controller in slave operation mode, for example, the antenna 13
It can be directly controlled by a control device 135 such as a space base via the 6,137 or a remote control device such as a command station on the ground (including remote control by an operator).

The relationship between the master and the slave of each module is preferably such that when a manipulation module is included, one of them is used as a mask, and in other cases, when a propulsion module is included, one of them is used as a master. In addition, the option module is not normally used alone, but is controlled by another module.

Effect of the Invention Since the present invention is configured as described in detail above, it is possible to take a configuration that can flexibly and effectively cope with various tasks assumed for a space-based extra-vehicle activity robot, and a robot for future space entry The effect that contributes to the efficiency of the work by the extra-space activities is very large.

[Brief description of the drawings]

FIG. 1 is a perspective view of an embodiment in a module separated state, FIG. 2 is a perspective view of an ORU mounted module, FIG. 3 is a perspective view of a cargo module, FIG. 4 is a perspective view of an astronaut boarding module, and FIG. FIG. 6 is a perspective view of an embodiment in which a module, an ORU-mounted module, and a propulsion module are combined, FIG. 6 is a perspective view of an embodiment in which a manipulation module, a cargo module, and a propulsion module are combined, and FIG. FIG. 8 is a perspective view of an embodiment in which a propulsion module is combined, FIG. 8 is a perspective view of an embodiment in which a manipulation module, a cargo module, an astronaut boarding module, and a propulsion module are combined, and FIG. 9 is a schematic diagram of a state in which a plurality of manipulation modules are combined. Figure, Figure 10 is Manipure FIG. 11 is a perspective view of an embodiment showing a working state, FIG. 12 is a perspective view of another embodiment showing a working state, and FIG. 13 is a schematic diagram of a method of storing a module. Fig. 14, Fig. 14 is a schematic diagram of the capturing mechanism, Fig. 15 is an explanatory view of the capturing step, Fig. 16 is a sectional view of the coupling mechanism, (A) shows a state where the modules are separated, and (B) shows a state where the modules are coupled. Each state is shown. FIG. 17 is a front view of the coupling mechanism, in which (A) shows the back of the module and (B) shows the front of the module. FIG. 18 is a system configuration diagram of each module, FIG. 19 is a system configuration diagram of a manipulation module, FIG. 20 is a system configuration diagram of a propulsion module, and FIG. 21 is a manipulator control subsystem and a visual processing subsystem of the manipulation module. Configuration diagram, Fig. 22 is the configuration diagram of the propulsion and attitude control subsystem of the manipulation module, Fig. 23 is the configuration diagram of the docking control subsystem of the manipulation module, Fig. 24 is the configuration diagram of the power management subsystem of the manipulation module, Fig. 25 Is the configuration diagram of the communication control subsystem of the manipulation module, FIG. 26 is the configuration diagram of the propulsion / posture control subsystem of the propulsion module, FIG. 27 is the configuration diagram of the docking control subsystem of the propulsion module, and FIG. 28 is the visual processing of the propulsion module Subsystem Diagram, Figure 29 is the power management subsystem configuration diagram of a propulsion module, Figure 30 is a schematic diagram showing a bonding state of each module. 10… Manipulation module, 13… 7 degrees of freedom manipulator, 14… 4 degrees of freedom manipulator, 15,16 …… End effector, 17… Wrist stereo camera, 18 …… End effector storage box, 19 …… with certification Stereo vision sensor, 20… 6 degrees of freedom manipulator for sensor, 21,31… Communication antenna, 23,34… Position sensor, 24,35… Propulsion device, 26,38,43,46 …… Coupling mechanism 30 propulsion module 33 illuminated stereo vision sensor 36 solar cell paddle 37 radar 40 mounted ORU module 42 ORU 47 cargo module 52 space Module for boarding aviators.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Toshihiko Morita 1015 Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Fujitsu Co., Ltd. (56) References JP-A-1-295772 (JP, A)

Claims (7)

(57) [Claims] At least a plurality of manipulators for performing a task, an environment recognition sensor, self-position / posture measurement means, a short-distance movement propulsion means, and a posture. A control module, a manipulation module including a communication unit, a propulsion unit for long-distance movement, a measurement unit of own position / posture, a propulsion unit for short-distance movement, a posture control unit, a communication unit, The manipulation module and the propulsion module have a common coupling mechanism and a coupled mechanism before and after, respectively, and the manipulation module and the propulsion module are configured to be capable of being coupled / separated in a sandwich form. A modularization method for space-based spacecraft activity robots. 2. An option module for providing a function specific to various tasks assumed for a space-based outboard activity robot, the option module having a common coupling mechanism and a coupled mechanism according to claim 1 before and after the option module. 2. The modular system for an outboard space robot according to claim 1, wherein the manipulation module, the propulsion module, and the option module are configured to be connected and separated in a sandwich manner. 3. The spacecraft outboard space robot according to claim 1, wherein communication between the connected modules is enabled via a bus arbitration master selection subsystem and a module connection bus. Modular system. 4. An inter-module communication system via a bus arbitration master selection subsystem and an inter-module coupling bus to select an arbitrary combination of modules from among the various modules, and to select the various modules in an arbitrary order. 3. The apparatus according to claim 1, wherein
Modularization system of the spacecraft outboard activity robot described. 5. The modularized module according to claim 1, wherein the modules are stacked and stored in the space base structure by coupling the coupling mechanism of each module and the coupled mechanism. Storage method for space-based spacecraft robots. 6. A remote manipulator system having a coupling mechanism similar to the coupling mechanism provided in the space base structure, and one of the modules is coupled by the coupling mechanism of the remote manipulator system. A method for controlling a spacecraft external space robot, comprising controlling the modularized spacecraft outer space robot according to the above description using a remote manipulator system. 7. The module according to claim 1, wherein each of the modules has a polygonal column shape (including a cylindrical column), and the coupling mechanism and the coupled mechanism are provided before and after in the central axis direction.
Modularization system of the spacecraft outboard activity robot described.