JP2888544B2 - Variable shape truss structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a truss structure capable of freely changing its shape, and particularly to a truss structure provided with a docking mechanism, which can be used for docking objects in outer space. The present invention relates to a truss structure that can be used as a basic structure of a space base or a large antenna, a manipulator that moves materials in the space base, or the like by performing coupling / separation with respect to the truss.

(Prior Art) Large space structures generally have a folding structure that is lightweight and has high storage efficiency due to the limitations of the weight and volume of a rocket that launches the spacecraft. As this folding structure,
Various deployment structures have been proposed. In that, simply expand
2. Description of the Related Art A truss structure having a variable shape that can be applied not only to storage but also to a space crane or the like is known. For example, a variable space truss structure disclosed in Japanese Patent Application Laid-Open No. 60-123293 has a function of performing one-dimensional expansion and contraction and bending operations by changing the length of some constituent members. By changing the shape as it is, it can be applied to various uses.

(Problems to be Solved by the Invention) Meanwhile, in the conventional variable space truss structure, since each module truss has both shearing and bending deformation functions, when the length of one member is changed. It is difficult to understand how the entire shape is deformed. That is, there is a problem that the control algorithm for changing the shape is complicated, and the calculation capacity and the calculation time of the computer for controlling the shape are increased.

In addition, a typical variable truss structure can be used for manipulators that move goods within the space base, but lacks the docking function and lacks expandability, making it a basic structure for space bases and large antennas. Not applicable.

In addition, as a space structure with a coupling / separation mechanism,
Artificial satellites, space shuttles, and the like are known. For example, there is a problem that, even when the two slowly approach each other as in docking of a space shuttle and a space station, the moment of coupling is small, but they collide with each other. Therefore,
The collision may cause a problem that the coupling / separation mechanism is damaged or durability is reduced.

Furthermore, since the conventional docking device does not include a means for accurately detecting the relative position with respect to the docking target, a collision may occur at the time of docking.

Therefore, the present invention makes it possible to easily perform control for changing the shape, and to dock the docking target accurately and with almost zero acceleration. In addition to the manipulator, the present invention can be applied to a space station or a large antenna. It is an object of the present invention to provide a deformable truss structure that can be used as a basic structure of the present invention.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention combines a module truss comprising a plurality of truss components and a joint for interconnecting the truss components. In a truss structure which is configured and can change the shape of the whole truss by changing the length of some truss components, the truss structure is formed by changing the length of some truss members and causing shear deformation. And a bending deformation module truss that performs bending deformation by changing the length of some truss component members, and is configured to be symmetrically deformable with respect to the center of gravity. At the end of the structure, a docking mechanism for connecting the truss structure to a docking target on which the laser light reflector is installed, and a combination with the laser light reflector A sensor system comprising a relative tilt detecting the system of the system and the docking object for detecting the direction of the docking object is characterized in that it is equipped with Te.

Note that the sensor system receives reflected light from a corner cube reflector as the laser light reflector mounted on the docking object and a laser light emitting device that emits laser light toward the docking object. A first sensor system having a laser position detector for detecting the position of the docking object, and a second sensor system having a plurality of displacement sensors for detecting a relative inclination with respect to the docking object. It is preferable to be composed of

(Operation) Since the variable shape truss structure of the present invention is composed of the shear module truss that performs shear deformation and the bending module truss that performs bending deformation, the shear deformation module is used when performing shear deformation. The truss may be moved, and when performing bending deformation, the bending module truss may be moved. Therefore, the driving operation is simple, the control algorithm is simple, and the load on the control computer is small.

On the other hand, the sensor system mounted on the truss structure operates as follows. That is, as an initial operation of docking to the docking target, the bending truss module truss is moved, and the direction of the docking target is detected by scanning the laser beam. Thereafter, the deformable truss structure is deformed to be symmetrical about its center of gravity, and in this state, the docking mechanism is brought closer to the docking symmetrical object. By making the shape symmetrical about the center of gravity in this way, the acceleration generated at the time of docking can be made substantially zero.

In addition, when the docking mechanism approaches the docking target, the sensor system detects a relative tilt between the docking mechanism and the docking target, and operates the bending deformation module truss to correct the tilt.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 shows a variable shape truss structure according to one embodiment of the present invention. The variable shape truss structure 1
Four shear deformation module truss 2 that performs shear deformation
And two bending deformation module trusses 3 that perform bending deformation
And a docking part 4 which is fixed to both ends of the shape-variable truss structure 1 and to which sensors necessary for docking are attached, and a docking object 5 which is a counterpart of docking.

FIG. 2 shows the shear deformation module truss 2, FIG. 3 shows the bending deformation module truss 3, and FIG. 4 shows the configuration of the docking unit 4 and the sensor system.

 First, the shear deformation module truss will be described.

The shearing module truss 2 shown in FIG. 2 has two vertical members 6a and 6b and two horizontal members 7a and 7b as truss constituent members.
And four hinge blocks (joints) 8a, 8b, 8c, 8d
And an oblique member 12 to which an actuator 10 that rotationally drives the ball screw 9 and a nut 11 of the ball screw are attached. The vertical members 6a, 6b and the diagonal member 12 are rotatably attached to two of the hinge blocks 8a, 8b, 8c, 8d, respectively. On the other hand, the two cross members 7a and 7b are fixed to two of the hinge blocks 8a, 8b, 8c and 8d, respectively. In the shear deformation module truss 2, when the ball screw 9 is driven to rotate by an actuator 10 such as a servomotor, the length of the diagonal member 12 in the axial direction is changed. For example, if the length of the diagonal member 12 in the axial direction is increased, the distance between the hinge block 8b and the hinge block 8c increases,
At the same time, the distance between the hinge blocks 8a and 8d is reduced. Therefore, this shear deformation module truss 2
Becomes a parallelogram. Further, when the diagonal member 12 is extended, the diagonal member 12, the vertical members 6a and 6b, and the horizontal members 7a and 7b become substantially straight and folded.

 Next, the bending deformation module truss will be described.

The bending module truss 3 shown in FIG. 3 includes two cross members 13a, 13b, two vertical members 16, 20, and four hinge blocks 15a, 15b, 15c, 15d. The vertical member 16 has a built-in slide mechanism and is formed to be stretchable. Also,
An actuator 18 having a nut 19 and a hole screw 17 screwed to the nut 19 is connected to the other vertical member 20,
By rotating the actuator 18, one side of the module truss 3 can be expanded and contracted. Also,
The cross member 13a is fixed to the hinge blocks 15a and 15b,
b is fixed to the hinge blocks 15c and 15d. Longitudinal member 16
Are rotatably attached to the hinge blocks 15b and 15c, and one end of the vertical member 20 and the base end of the actuator 18 are
It is rotatably attached to the hinge blocks 15a, 15d. Further, the bending deformation module truss 3 includes four diagonal members 14a, 14b, 14c, 14d, the diagonal members 14a, 14b are fixed to hinge blocks 15a, 15b, and the diagonal members 14c, 14d are hinged blocks 15c. , 15d. Furthermore, the diagonal members 14a and 14b
The diagonal members 14c and 14d are fixed to the rotating hinge 21a,
Fixed to 21b. Rotating hinge 21a and rotating hinge 21b
Is rotatably fixed to the shaft. Therefore, the triangular portion composed of the horizontal member 13a, the diagonal member 14a, and the diagonal member 14b, and the triangular portion composed of the horizontal member 13b, the diagonal member 14c, and the diagonal member 14d rotate around the rotation center 22. can do.

In the bending deformation module truss 3, the ball screw 17
Is rotated by the actuator 18, the axial length of one side including the vertical member 20 can be changed. For example, when the length of one side including the vertical member 20 is extended, the triangular portion on the right side of the bending deformation module truss 3 rotates around the rotation center 22 in the direction of the arrow 23 in the drawing. As a result, the vertical member 16 containing the slide mechanism is reduced by this rotation. Although this vertical member 16 is not originally required for driving the bending deformation module truss 3, it is possible to increase rigidity when the bending deformation module truss is fixed by adding a stopper function to the vertical member 16. it can. If a vertical member having an actuator is installed instead of the vertical member 16, and the upper and lower vertical members are driven in opposite directions, the rotational driving force of the bending deformation module truss 3 can be increased.

Next, the docking portion of the truss structure and the sensor system will be described.

The docking unit 4 shown in FIGS. 1 and 4 includes a docking mechanism 30, a capture and tracking sensor system 26 as a first sensor system, and a proximity sensor system 27 as a second sensor system. .

The docking mechanism 30 has a substantially truncated conical shape, and docking is achieved by fitting the docking mechanism 30 with a tapered docking port 31 formed in the docking target 5. The docking mechanism 30 is installed on a mechanism base 32. A sensor base 40 is attached to the lower side of the mechanism base 32 via a connecting member 41. As shown in FIG. 4, the capture and tracking sensor system 26 includes a semiconductor laser projector (laser beam emitting device) 43, and the semiconductor laser projector 43 is fixed to the sensor base 40 by a metal fitting 42. A beam splitter 45 is provided in front of the semiconductor laser projector 43 by a metal fitting 44, and an optical filter 46 and a condenser lens 48 are provided below the beam splitter 45 by a lens holder 47. Further, a laser position detector 51 mounted on a substrate 49 is provided below the condenser lens 48, and the substrate 49 is held by a foot metal fitting 50 via a lens holder 40 fixed to the sensor base 40. Have been. The laser position detector 51 is covered by a cover 52.

In the supplementary tracking sensor system 26 configured as described above, the laser light emitted from the semiconductor laser projector 43 passes through the beam splitter 45 and enters the corner cube reflector (laser light reflector) 53 attached to the docking target 5. I do. Since the corner cube reflector 53 has a property of returning the incident laser light in parallel, the reflected laser light returns to the beam splitter 45, is further reflected by the beam splitter 45, and enters the laser position detector 51. Therefore, if this laser light is detected, an object to be docked will be present in the emission direction of the laser light,
The direction of the docking target 5 is detected based on the variable shape truss structure 1 on which the capturing and tracking sensor system 26 is installed.

When docking the deformable truss structure 1 to the docking target 5, the bending deformation module truss 3 is moved and laser light is scanned to detect the direction of the docking target 5 as an initial docking operation. . After that, the deformable truss structure 1 is deformed, and the docking section 30 is moved closer to the docking target 5. At this time, if the deformable truss structure 1 is deformed symmetrically with respect to the center of gravity, docking without movement of the center of gravity becomes possible, and the acceleration generated during docking can be reduced to almost zero.

Here, the docking without the movement of the center of gravity will be described with reference to FIG. In this figure, the module truss of the deformable truss structure is indicated by a straight line T, and the joint is indicated by a circle symbol J.

9 (a) shows the basic posture of the deformable truss structure, FIG. 9 (b) shows a modification without the movement of the center of gravity described in the present invention, and FIG. 9 (c) shows a modification with the movement of the center of gravity. ing. Considering a coordinate system that moves with this object, the center of gravity in each of FIGS. 9A, 9B, and 9C does not move at all when viewed from this coordinate system. Because, in general, non-propulsive objects such as artificial satellites in outer space are stationary in space or are performing linear motion at a constant velocity, so considering the coordinate system that moves with this object, This is because the center of gravity does not move. However, in FIG. 9 (c), the center of gravity has moved in the coordinate system fixed to the variable shape truss structure.

In the deformable truss structure according to the present invention, the docking is performed in such a manner that the truss structure is deformed as shown in FIG. . Therefore, the shape-variable truss structure has almost zero acceleration due to the movement of the center of gravity, and can be softly docked.

The proximity sensor system 27 includes two displacement sensors 54a and 54b, and these displacement sensors 54a and 54b
5, are individually fixed to both sides of the sensor base 40. The proximity sensor system 27 has a function of detecting the inclination of the docking symmetrical object 5 with respect to the truss structure 1 when the docking portion 30 of the truss structure 1 approaches the docking opening 31 of the docking symmetrical object 5. . Therefore, when the direction of the docking target 5 is detected by the capturing and tracking sensor system 26, the deformable truss structure 1 is deformed, and the docking unit 30 is brought close to the docking target 5, the proximity sensor system 27 obtains the information. By operating the bending deformation module truss 3 so as to correct the inclination based on the detection signal of the relative inclination between the docking unit 30 and the docking target 5, the docking unit 31 can be docked without colliding with the docking opening 31 of the docking target 5. Is achieved.

In the variable shape truss structure 1 having such a configuration, the direction and the inclination of the docking object 5 are detected by the capture and tracking sensor system 26 and the proximity sensor system 27, and the trousers deform themselves.
Since the docking unit 30 is guided to the docking position, there is no possibility that the docking unit 30 collides with the docking target 5. Therefore, it has high reliability and is particularly suitable as a docking mechanism used in a space environment.

FIG. 5 shows a variable shape truss structure 1 according to the present invention.
Is shown in a deformed state. In this figure, the truss components are represented by a single line. The shape-variable truss structure 1 is composed of four shear deformation module trusses 2 symmetrically.
And two bending deformation module trusses 3. Therefore, if the deformable truss structure 1 is deformed symmetrically with respect to the center of gravity 60, the deformable truss structure 1 can be deformed stably without generating rotation as a whole. It should be noted that the shape shown in FIG. 5 is an example of a modification, and of course the modification shown in FIGS. 6 and 7 is also possible.

6 and 7 show a modified example of the variable shape truss structure.

The variable shape truss structure 70 shown in FIG. 6 is composed of eight shear deformation module trusses 2. In the variable shape truss structure 70 according to this modified example, by changing the length of the diagonal member 71, it is possible to transform the entire structure into a linear shape having an inclination. The variable shape truss structure 80 shown in FIG. 7 is composed of eight shear deformation module trusses 2 in the same manner as that shown in FIG. The deformable truss structure 80 according to this modification can be deformed into a curved shape by further changing the length of the diagonal member, and can be used as a space structure such as a manipulator.

Next, a control system for a variable shape truss structure according to the present invention will be described.

FIG. 8 shows a system block diagram of the deformable truss structure 1. 8, the same members as those in FIG. 1 are denoted by the same reference numerals, and detailed description will be omitted.

The control system of the shape-variable truss structure has a control computer 90, which is connected to a signal line of an acquisition tracking sensor driver 91 for driving the acquisition tracking sensor system 26 and a proximity sensor system 27. Have been. Then, the capture and tracking sensor driver 91 emits laser light and drives the laser position detector 51. Further, an actuator driver 92 for driving the actuators 10, 18 is connected to the control computer 90 via a plurality of signal lines. Then, the control computer 90 uses the output signal of the laser position detector 51 and the output signal of the proximity sensor system 27 to drive the signals necessary for performing the capturing and tracking and to deform the shape-variable truss structure 1. And a function for generating the necessary drive signals, determining the timing of each drive signal, and outputting it to the actuator driver 92. In the control system configured as described above, since the drive signal is transmitted independently to the shear deformation module truss 2 and the bending deformation module truss 3, the system becomes extremely simple and efficient.

As described above, the variable shape truss structure 1 according to the present invention has created a new structural concept different from the conventional one. That is, by arranging the plurality of variable-shaped truss structures 1 in the outer space and engaging and disengaging them using the docking mechanism, it is possible to construct and reconstruct the space structure according to the purpose. A thruster such as a gas jet may be used for the spatial movement of the variable shape truss structure 1. The deformable truss structure 1 can be deformed symmetrically with respect to the center of gravity, and the center of gravity does not move due to the deformation. Therefore, the acceleration generated during docking becomes almost zero, and soft docking can be performed. Therefore, there is no wear of the docking portion, the durability is excellent, and the reliability is high.

In the embodiment of the present invention, the plane truss has been described. However, it is obvious that the present invention can be applied to a general three-dimensional truss.

[Effect of the Invention] As described above, in the variable shape truss structure according to the present invention, the first sensor system and the second sensor system detect the direction and the relative inclination of the docking symmetric object, and It deforms itself and guides the docking section to the docking position, so that there is no collision between the docking section and the docking symmetrical object, which has been a problem in the past. Therefore, the variable shape truss structure according to the present invention has high reliability and is particularly suitable for use in a space environment.

Further, since the laser beam emitted from the first sensor system is scanned by using the bending deformation module truss constituting the variable shape truss structure, a mirror drive mechanism which is normally required can be omitted, and the system configuration is extremely low. Simplified.

Further, the deformable truss structure according to the present invention has created a new structural concept different from the conventional one. That is, a plurality of variable shape truss structures are arranged in space,
By combining and separating using the docking mechanism,
It is possible to build and reconstruct space structures according to the purpose. In other words, the basic structure of a space station or large antenna,
A space structure applicable to a manipulator or the like that moves materials in a space base can be provided.

The deformable truss structure can be deformed symmetrically with respect to the center of gravity, and the center of gravity does not move due to the deformation. Therefore, the acceleration generated during docking becomes almost zero, and soft docking can be performed. Therefore, there is no wear of the docking portion, the durability is excellent, and the reliability is high.

[Brief description of the drawings]

FIG. 1 is a plan view of a variable shape truss structure according to one embodiment of the present invention, FIG. 2 is a partially enlarged view showing a shear deformation module truss constituting the variable shape truss structure, FIG.
The figure is a partially enlarged view showing a bending deformation module truss constituting the variable shape truss structure, FIG. 4 is a longitudinal sectional view showing a docking unit and a sensor system, and FIG. 5 is a deformation process of the variable shape truss structure. Schematic diagram showing one embodiment of the sixth aspect
FIG. 7 and FIG. 7 are schematic diagrams showing another modified example of the deformable truss structure. FIG. 8 is a block diagram showing a control system for the deformable truss structure of the present invention.
(B), (c) is a schematic diagram for demonstrating the deformation which does not move a center of gravity. 1 ... variable shape truss structure, 2 ... shear deformation module truss, 3 ... bending deformation module truss, 5 ... docking object, 6a, 6b ... vertical member (truss component member), 7
a, 7b ... horizontal members (truss components), 8a, 8b, 8c, 8d ... hinge blocks (joints), 12 ... diagonal members (truss components), 13a, 13b ... horizontal members, 14a, 14b , 14c, 14d …… Diagonal,
15a, 15b, 15c, 15d …… Hinge block, 16,20 …… Vertical material,
30: Docking mechanism, 26: Capture and tracking sensor system (No. 1
Sensor system), 43 ... Semiconductor laser projector (laser beam emitting device), 51 ... Laser position detector, 53 ... Corner cube reflector (laser beam reflector), 54a, 54b
…… Displacement sensor.

Continuation of front page (56) References JP-A-61-24741 (JP, A) JP-A-61-200100 (JP, A)

Claims (2)

(57) [Claims] A truss component is constructed by combining a plurality of truss components and a module truss comprising joints for interconnecting the truss components, and the length of some truss components is changed to change the shape of the entire truss. In a truss structure that can be bent, the truss structure is bent by changing the length of some truss components and changing the length of some truss components to perform shear deformation. Combined with a bending deformation module truss that performs deformation, and is configured to be symmetrically deformable with respect to the center of gravity.At the end of the truss structure, the truss structure is provided with a laser light reflector. A docking mechanism for connecting to a docking target, a system for detecting the direction of the docking target in combination with the laser light reflector, and the docking target Variable shape truss structure, characterized in that the relative tilt consists system for detecting the sensor system and is mounted. 2. The sensor system according to claim 1, further comprising: a laser beam emitting device for emitting a laser beam toward the docking target; and a reflected light from a corner cube reflector as the laser beam reflector mounted on the docking target. And a second position sensor having a plurality of displacement sensors for detecting a relative inclination with respect to the docking object. The variable shape truss structure according to claim 1, comprising a sensor system of (1).