JP3155767B2 - Detachable device for assembled antenna - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for communication and the like installed on a space vehicle such as a space station constructed in outer space, and is an assembly type comprising a plurality of divided mirror surfaces. The present invention relates to an antenna and, more particularly, to an attaching / detaching device used for assembling a plurality of divided mirror surfaces into a predetermined shape.

[0002]

2. Description of the Related Art Recently, in the field of space development, the development of large space vehicles such as space stations has been promoted. By the way, as an antenna mounted on such a spacecraft, it is divided in advance on the ground, produced, transported to space in the divided state, and assembled and installed in space using a working manipulator. The assembly type is advantageous in terms of transportation and the like. As such an assembling-type antenna, for example, a system in which a central fixed mirror surface is provided substantially at the center and a divided mirror surface obtained by dividing a parabolic shape into a plurality of parts around the central fixed mirror surface is assembled.

[0003] However, such an assembling type antenna is not simply divided so as to be assemblable, and the assembling work is performed by operating the working manipulator remotely in an extreme environment such as a space environment. Since it must be possible, it is possible to easily realize high-precision assembly with a desired mirror surface accuracy with a simple configuration that can satisfy the small size and weight reduction important in space development. Is required. As one of the issues for realizing this assembled antenna, there is a development of a detachable device that can easily and highly accurately assemble and separate the divided mirror surfaces using a working manipulator.

[0004]

As described above, in the field of space development, a detachable attachment / detachment device for detachably connecting a split mirror surface of an assembly type antenna constructed in space using a working manipulator. Development is required.

The present invention has been made in view of the above circumstances, and has as its object to provide an assembling-type antenna attaching / detaching apparatus that can easily and accurately realize antenna assembly and separation.

[0006]

Means for Solving the Problems In the present invention attachment apparatus for assembling antenna consisting <br/> set stand with working manipulator divided mirror surface of the reflector which is divided into a plurality, mounting side of the divided mirror surface A manipulator holding portion provided on the mirror surface and gripped by the working manipulator, and a ring-shaped first fitting portion provided on the mounting-side mirror surface and formed to be inclined in a direction in which the diameter decreases in the distal direction. A first position at which the first fitting portion is fitted, provided on the mounting-side mirror surface of the split mirror surface corresponding to the first fitting portion; in mated state, is inclined in a direction radial to the rotatably disposed a distally decreases between the second position to complete the attached only to the mounting side mirror of the attached side mirror Ring-shaped second fitting portion formed by Match magnetically binding the mutual in a state in which the working manipulator grips the lifting unit is fitted a first fitting portion of the attachment side mirror to the second fitting portion of the object to be mounted side mirror <br Magnetic coupling means, latch means for fixing the mounting-side mirror surface to the mounting-side mirror surface at a second position controlled by the second fitting portion, and operation controlled via the working manipulator, Release the fixing by the latch means , and
Latch releasing means for releasing the magnetic coupling by the magnetic coupling means to release the fitting of the first and second fitting portions by the working manipulator.

[0007]

According to the above construction, the mounting-side mirror surface has its manipulator holding portion gripped by the working manipulator, and the first fitting portion has the second fitting portion of the mounting-side mirror surface which controls the first position. It is fitted to the joint. Here, the mounting side mirror surface is
The first fitting portion is magnetically coupled to the second fitting portion via magnetic coupling means to perform temporary positioning therebetween, and thereafter, the second fitting portion is rotated to the second position. Until the work manipulator rotates, the latch means is actuated and fixed to the mounting-side mirror surface, where accurate mutual positioning is performed.

Further, when the operation manipulator is driven to control the operation of the latch release means, the attachment side mirror surface is released from the fixation by the latch means, and from this state, the first fitting part of the second fitting portion is controlled. By being inverted to the position, the first fitting portion is separated from the second fitting portion. Thus, assembly and disassembly of the divided mirror surfaces using the working manipulators do not cause interference between the mirror surfaces, and a safe assembly and disassembly operation can be performed.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a main part of an assembled antenna according to one embodiment of the present invention. The reflecting mirror surface is, for example, a substantially circular central mirror surface 10 as shown in FIG.
Is assembled in a parabolic shape by a total of 9 divisions of a plurality of substantially fan-shaped divided mirror surfaces 11 having substantially the same shape around, for example, divided into eight.

The central mirror 10 is fixedly supported by a not-shown structure via a support structure 12 made of, for example, a composite material. The support structure 12 has a latch mechanism as shown in FIG. Latch pin 13 serving as a latch unit
Are provided at predetermined intervals corresponding to the divided mirror surfaces 11. The support structure 12 is also provided with a pivoting portion 14 similarly called a hinge corresponding to the latch pin 13, and a pivoting lever 15 is rotatably supported by the pivoting portion 14. This rotary lever 15 has a ring-shaped fitting portion 1 formed to be inclined in a direction in which the diameter becomes smaller in the distal direction.
6 are provided corresponding to the latch pins 13. A biasing force is applied to the rotating member 15 in a clockwise direction in FIG. 3 by a spring member (not shown), and the first position which is rotated and biased by the biasing force of the spring member and the biasing force of the spring member are resisted. The latch pin 13 urged to rotate is controlled at a second position in which the latch pin 13 is accommodated in a substantially central portion.

On the other hand, each of the divided mirror surfaces 11 is supported by a support structure 17 formed of, for example, a composite material. At one end on the inner diameter side of the support structure 17, a ring-shaped fitting portion 18 formed so as to be inclined in a direction in which the diameter decreases in the distal direction is provided corresponding to the fitting portion 16 on the central mirror surface side. At the approximate center of the fitting portion 18, a rotatable latch claw 19 constituting a latch mechanism is provided corresponding to the latch pin 13 on the central mirror side. As shown in FIG. 4, the latch claw is urged to rotate counterclockwise in FIG.
The latch release lever 2 is provided at one end of the latch claw 19.
One ends of the spring members 1 are engaged, and the spring members 22 are engaged with each other. The base of the latch release lever 21 is connected to a bevel gear mechanism 23 constituting latch release means. The bevel gear mechanism 23 is provided with a manipulator driving unit 24 at the center of rotation of one of the gears. When the manipulator driving unit 24 is driven to rotate via a working manipulator, the rotating force is converted to a direction substantially orthogonal to the manipulator driving unit 24. Latch release lever 2
1 is urged in the clockwise direction in FIG. 4 to urge the latch pawl 19 against the urging force of the spring member 20.

A ring member 25 is provided around the fitting portion 18.
The ring member 25 is provided with a plurality of permanent magnets 26 for temporary positioning at predetermined intervals. The permanent magnet 26 is provided corresponding to a magnetic body 27 provided at a predetermined interval around the fitting portion 16 on the center mirror side, and cooperates with the magnetic body 27 to divide the permanent magnet 26. The fitting part 18 on the mirror side and the fitting part 16 on the center mirror side are magnetically coupled at the fitting position. The rotation of the ring member 25 is controlled in conjunction with the driving of the bevel gear mechanism 23, and guides the permanent magnet 26 to a position facing or not facing the magnetic body 27 on the central mirror side.

A manipulator holding section 28 is provided on the divided mirror surface 11 via a position correcting mechanism 29. As shown in FIG. 5, the manipulator holding section 26 has a manipulator holding section 30 attached thereto, and the manipulator holding section 30 realizes holding of the divided mirror surface 11.

In the above configuration, when assembling the divided mirror surface 11 into a parabolic shape around the central mirror surface 10, first, the work manipulator is operated, and the manipulator holding portion 29 is held by the manipulator gripping portion 30 to hold the divided mirror surface 11. And the fitting portion 18 is fitted to the fitting portion 16 of the rotating lever 15. Here, the position of the fitting portion 18 of the split mirror 11 is corrected via the position correcting mechanism 29, and the fitting portion 18 of the rotating lever 15 is securely fitted. at the same time,
When the permanent magnet 26 of the ring member 25 is opposed to the magnetic body 27 on the central mirror surface side and is magnetically coupled to each other, the fitting portion 18 of the split mirror 11
And is temporarily positioned with respect to the center mirror surface 10 (see FIG. 6). And the split mirror surface 1
When 1 is rotationally urged through the working manipulator,
The rotating lever 15 receives the latch pin 13 in a state where the fitting portion 18 of the split mirror 11 is fitted to the fitting portion 16 against the biasing force of the spring member (not shown). It is turned to the second position. Here, the split mirror surface 11 has its latch claw 19 locked to the latch pin 13 of the central mirror surface 10,
It is fixedly positioned at a predetermined position on the central mirror surface 10 (see FIG. 7).

Thereafter, by the same mounting procedure, other divided mirror surfaces 11 are sequentially mounted around the central mirror surface 10 and assembled in a parabolic shape.

To separate the assembled mirror 11 from the central mirror 10, the manipulator gripper 30 is first attached to the manipulator holder 28 of the mirror 11, and from this state, the manipulator gripper is removed. Using a driver tool or the like provided in the unit 30,
First, the manipulator driving section 24 of the bevel gear mechanism 23 is rotated (see FIGS. 4 and 5). Then, the bevel gear mechanism 23
Turns the latch release lever 21 clockwise in the figure to rotate the latch claw 19 in the same direction against the urging force of the spring member 20 to release the latch of the latch pin 13. At this time, the ring member 25 is rotated so that the permanent magnet 26 is separated from the magnetic body 27 on the center mirror surface side, and the fitting portion 18 of the split mirror surface 11 is magnetically coupled with the fitting portion 16 of the rotating lever 15. It is released. Then, as shown in FIG. 8, the divided mirror surface 11 is urged to rotate in the direction of the arrow by the working manipulator, and is rotated to the initial first position of the rotation lever 15,
Here, the split mirror surface 11 has its fitting portion 16 separated from the fitting portion 18 of the rotating lever 15 and separated. And
In a similar procedure, the other divided mirror surfaces 11 are sequentially separated from the central mirror surface 10, and the mirror surface separation operation is completed.

As described above, the detachable device for the assembling antenna has the manipulator holding portion 28 provided on the divided mirror surface 11 and the ring-shaped fitting portion 18 formed to be inclined in the direction of decreasing the diameter in the distal direction, and A fitting portion 1 rotatably disposed between a first position where the fitting portion 18 on the divided mirror surface side is fitted to the central mirror surface 10 and a second position where the mounting is completed.
6 and split mirror surface 1 through the work manipulator.
The first fitting portion 18 is moved to the first mirror portion at the first position.
Then, after being temporarily positioned, the divided mirror surface 11 is rotated to the second position from this temporarily positioned state, thereby being latched at a predetermined position of the central mirror surface 10 and assembled. To release the split mirror 11 from the state, the operating manipulator is operated to release the latch, and the split mirror 11 is moved to the second
From the position to the first position to be separated. According to this, it is possible to perform high-precision assembling and separating operations by reliably preventing interference between mirror surfaces by using a relatively inaccurate working manipulator, and it is easy to construct an assembling antenna in outer space. You.

In the above embodiment, a rotatable ring member 25 is used as a magnetic coupling means for magnetically coupling the fitting portions with each other.
It is provided above, and when the mirror surface is detached, the ring member 25 is rotated to shift the position of the permanent magnet 26 with respect to the magnetic body 27 so as to regulate the generation of magnetic force, thereby facilitating detachment of the fitting portions. However, the present invention is not limited to this, and the split mirror surface 11 may be configured to be separated directly against the magnetic force.

Further, in the above embodiment, the case where the reflecting mirror is constituted by 9 divisions so that the dividing mirror surface 11 is attached to the central mirror surface 10 has been described. However, the present invention is not limited to this. , Can be configured with various numbers of divisions. In this case, for example, it is possible to configure so that the divided mirror surfaces are attached to each other.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.

[0022]

As described in detail above, according to the present invention, it is possible to provide an assembling type antenna attaching / detaching apparatus which can easily and accurately realize antenna assembly and separation.

[Brief description of the drawings]

FIG. 1 is a diagram showing a part of an assembled antenna according to one embodiment of the present invention.

FIG. 2 is a diagram showing an appearance of FIG. 1;

FIG. 3 is a diagram showing a main part of FIG. 1 taken out;

FIG. 4 is a view showing a part of FIG.

FIG. 5 is a diagram showing details of a manipulator holding unit in FIG. 1;

FIG. 6 is a view shown for explaining the operation of FIG. 1;

FIG. 7 is a view shown for explaining the operation of FIG. 1;

FIG. 8 is a view shown for explaining the operation of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Central mirror surface, 11 ... Divided mirror surface, 12, 17 ... Support structure, 13 ... Latch pin, 14 ... Rotating part, 15 ... Rotating lever, 16, 18 ... Fitting part, 19 ... Latch pawl, 20, 22
... Spring member, 21 ... Latch release lever, 23 ... Bevel gear mechanism, 24 ... Manipulator drive unit, 25 ... Ring member,
26: permanent magnet, 27: magnetic body, 28: manipulator holding part, 29: position correcting mechanism, 30: manipulator gripping part.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kazuo Oshima 1, Komukai Toshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture Inside the Komukai Plant, Toshiba Corporation (56) References JP-A-2-20901 (JP, A) JP-A-3-80605 (JP, A) JP-A-3-170277 (JP, A) JP-A-3-245989 (JP, A) JP-A-4-250704 (JP, A) (58) Int.Cl. ⁷ , DB name) B64G 1/24 B64G 1/64-1/66 B25J 15/04 H01Q 15/14-15/16

Claims (1)

(57) [Claims] In unloading device assembly type antenna comprising a set stand with working manipulator splitting mirror of claim 1 a plurality to split the reflector, provided on the mounting side mirror of the divided mirror surface, the working manipulator grip A manipulator holding portion, a ring-shaped first fitting portion provided on the mounting-side mirror surface, and formed to be inclined in a direction in which the diameter decreases in the distal direction, and a first fitting portion corresponding to the ring-shaped first fitting portion. The first mirror surface is provided on the mounting-side mirror surface of the split mirror surface, and the first position at which the first fitting portion is fitted, and the mounting-side mirror surface in a state where the first fitting portion is fitted. rotatably disposed a distal direction fitting diameter second ring shape formed by inclined in a direction decreases between the second position to complete the attached only to the mounting side mirror of and engaging portion, the working gripping the manipulator holding portion Magnetic coupling means that adjust the magnetic <br/> binding between each other in a state where manipulator is fitted a first fitting portion of the attachment side mirror to the second fitting portion of the object to be mounted side mirror, Latch means for fixing the mounting-side mirror surface to the mounting-side mirror surface at a second position controlled by the second fitting portion; and operation controlled via the work manipulator, to release the fixing by the latch means. Together with the magnetic coupling
Latch releasing means for releasing the magnetic coupling by the means to release the first and second fitting portions by the working manipulator.