JP6051101B2 - Space debris removal device fixing device using extension spring, and space debris removal device including the same - Google Patents

Description

  The present invention relates to a device fixing device for fixing a space debris removal device to a space debris, and a space debris removal device including the device fixing device. In particular, when the space debris has a PAF (Payload Attach Fitting), a space debris removal device fixing device capable of easily fixing the space debris removal device to the PAF, and a space debris removal device including the same About.

  Space debris has been increasing year by year and is having a major impact on space utilization and space development. Therefore, various techniques have been proposed to actively remove existing space debris.

  For example, Patent Document 1 discloses a space debris orbit conversion tether device including a conductive tether (EDT) that obtains a force for changing the orbit of space debris by electromagnetic interaction with the earth's magnetic field. This tether device is provided on a working satellite that performs space debris removal work, and is coupled to a tether mechanism that holds the tether so that it can extend, a capture mechanism that can grip the structural portion of the space debris, and a robot arm that the working satellite has. A separable handle is provided.

  When the tether device is brought close to the space debris capture site by the robotic arm of the working satellite, the tether device grips the capture site by the capture mechanism and then extends the tether. Further thereafter, the tether device separates the handle from the robot arm. Thereby, since the tether device is separated from the working satellite, it is dumped from the target orbit together with the space debris.

Japanese Patent No. 3809524

  In the technique disclosed in Patent Document 1, since it is necessary to bring the tether device close to the space debris capturing site by the robot arm provided in the work satellite, the robot arm requires advanced position control and operation control. In addition, since the capture mechanism of the tether device is configured to include a finger that can be opened and closed and a finger drive unit in order to grasp the structural portion, the structure of the capture mechanism becomes very complicated. Therefore, in the technique disclosed in Patent Document 1, the configuration of both the tether device and the work satellite equipped with the tether device may be complicated, and the weight may increase. For this reason, the method disclosed in Patent Document 1 is a high-cost method and high technical difficulty even if space debris can be removed.

  In other words, it is possible to remove the space debris at a low cost if a simple and lightweight method can be adopted when fixing the space debris removal device such as a tether device to the space debris.

  The present invention has been made to solve such a problem, and has a device fixing device and a space including the device fixing device capable of fixing the space debris removing device to the space debris with a low-cost and simple configuration. An object is to provide a debris removal device.

  A space debris removal device fixing device according to the present invention is a device fixing device for fixing a space debris removal device to a space debris having PAF (Payload Attach Fitting) in order to solve the above-described problem, An extension part attached to the space debris removal device and extending in the forward direction, and attached to the front end of the extension part. When the extension part is not extended, the whole is smaller than the opening of the PAF, and the extension part And an engaging portion configured to extend beyond the opening and engage with the PAF after being extended and inserted into the opening of the PAF, the extending portion and the engaging portion Is an elastic spring that is an elastic body capable of shifting from a hollow, rod-like protruding state to a stowed state shorter than the protruding state, and the extending portion is at least The extension spring is also configured to have the engagement portion attached to the front end of the extension spring, and the engagement portion has a plurality of extension springs that are rod-shaped longer than the radius of the opening of the PAF in the protruding state. And an extension spring fixing member that fixes the extension spring to a front end of the extension spring that becomes the extension portion in a state where the extension springs are radially arranged, and further, the extension used for the extension portion and the engagement portion And a spring state switching unit that holds the spring in the housed state, and returns to the projecting state from the housed state by releasing the hold.

  According to the said structure, both the extension part and the engaging part are equipped with the extension spring, and these extension springs are hold | maintained in the accommodation state by the spring state switching part. Therefore, the extension spring can be shifted (returned) to the protruding state by simply releasing the holding state of the stored state by the spring state switching portion. Therefore, if the extension portion is the extension portion, the extension spring can be easily extended to within the opening of the PAF. The engaging part can be inserted into the PAF, and if it is an engaging part, the extension spring can be extended to engage the engaging part in the PAF. Thereby, the space debris removal device can be fixed to the space debris with a low cost and simple configuration.

  In the space debris removal device fixing device having the above configuration, when the extension spring provided in the extension portion is a front extension spring, and the extension spring provided in the engagement portion is a radial extension spring, the spring state switching unit is: An extension portion that holds the front extension spring pressed from the front end side so as to change from the protruding state to the stored state, and returns the front extension spring from the stored state to the protruding state by releasing the pressing. The spring state switching part and the four radial extension springs are held from the protruding state to the proximal end side so as to be in the storage state, and the radial extension springs are released from the storage state by releasing the attraction. An engagement portion spring state switching portion that returns to the protruding state may be included.

  In the space debris removal device fixing device having the above configuration, the extension part spring state switching part is provided in front of the engagement part and a spring support part that supports the front extension spring at least on the rear end side. A lid member, and a lid member fixing portion that holds the front extension spring together with the engagement portion by releasably fixing the lid member to the spring support portion. It may be a configuration.

  Further, in the space debris removal device fixing device having the above-described configuration, the radiation extension spring includes an extension suppression member that suppresses extension of the radiation extension spring and holds the extension extension spring, and the extension suppression member has one end thereof. The radial extension spring has a columnar shape that is larger than the hollow inner diameter of the radial extension spring, the body has an outer diameter that can be inserted into the hollow of the radial extension spring, and is longer than the radial extension spring in the housed state. The joint spring state switching unit is fixed so that the other end of the extension restraining member inserted into the hollow of each of the radial extension springs is exposed from the base end of the radial extension springs so as to be released together. By doing so, the structure which hold | maintains each radiation extension spring in the accommodation state may be sufficient.

  In the space debris removal device fixing device having the above-described configuration, the space debris removal device includes an EDT (ElectroDynamic Tether) in a wound state, and the front extension spring is supported in front of the spring support portion. In addition, one end of the EDT is connected to the rear side of the EDT, and the extension part spring state switching part is wound after the front extension spring and the radial extension spring are both in a protruding state. In order to feed out the EDT, the structure may further include a spring support part separating part that separates the spring support part together with the extension part and the engagement part.

  Further, in the space debris removal device fixing device having the above-described configuration, the spring state switching unit can house a part of the extension portion spring state switching unit and the engagement unit spring state switching unit therein. A spring state switching main body part that is directly attached to the space debris removal device on the rear end side and is detachably attached to the spring support part on the front end side, The part separating part is provided in a spring support part female thread part provided in a part of the spring support part, a male thread part screwed into the spring support part female thread part, and the spring state switching main body part, A male screw part rotation driving part for rotating the male screw part, and the male screw part is disengaged from the female screw part by the rotation of the male screw part, whereby the spring support part is It may be configured to be disconnected from the conservation state switching 換本 body.

  Further, in the space debris removal device fixing device having the above-described configuration, the male screw portion of the spring support portion separating portion is disposed so as to penetrate the spring support portion in a state parallel to the front extension spring, and the lid On the rear surface of the member, there is provided a lid member female screw portion into which the front end of the male screw portion is screwed, and the lid member is fixed by the male screw portion, the male screw portion rotation driving portion, and the lid member female screw portion. And the front extension spring is held in a state of being pressed together with the engaging portion by the lid member in a state where the male screw portion is screwed into the lid member female screw portion, and the male screw When the male screw part is rotated by the part rotation driving part and the male screw part is detached from the lid member female screw part, the state where the front extension spring is pressed by the lid member is released. Also good.

  Further, in the space debris removal device fixing device having the above configuration, when the radiation extension spring includes the extension suppression member, the engagement portion spring state switching portion is connected to the other end of the extension suppression member. A restraining member fixing member to be fixed, and a size that fits into a hollow of the front extension spring, and is in an engaged or connected state to the restraining member fixing member at a position exposed from the front end of the front extension spring; The restraining member fixing member is switched from the fixing position to the releasing position by moving in the direction of being pulled into the hollow of the front extension spring, and is provided so as to pass through the inside of the hollow of the front extension spring. A linear member connected to the fixing release member, and connected to the other end of the linear member, and winding the linear member, the fixing release member is placed in the front extension spring. It is moved in a direction to retract within, and a linear member winding unit, the linear member winding unit may be configured provided on the spring state switching 換本 body portion.

  In the space debris removal device fixing device having the above-described configuration, the lid member fixing portion releases the lid member from the state of being fixed to the spring support portion, and the front extension spring starts to extend from the retracted state. In this case, the linear member take-up portion extends the linear member in the hollow according to the degree of extension of the front extension spring, and after the front extension spring shifts to the protruding state, the linear member The structure which starts winding-up of may be sufficient.

  The present invention also includes a space debris removal device including the space debris removal device fixing device having the above-described configuration.

  The space debris removal device having the above-described configuration may be attached to a space debris removal satellite.

  In the space debris removal device having the above configuration, the space debris removal device fixing device includes the extension portion spring state switching portion as the spring state switching portion, and the extension portion spring state switching portion is In the case of including a spring support portion, the spring state switching main body portion, and the spring support portion separation portion, the space debris removal device fixing device separates the spring support portion together with the extension portion and the engagement portion. And may be configured to separate from the debris removal satellite.

  The present invention can provide a device fixing apparatus and a space debris removal device provided with the device fixing apparatus capable of fixing the space debris removal device to the space debris with a low cost and simple structure by the above configuration. There is an effect.

It is a schematic diagram which shows an example of schematic structure of the space debris removal device fixing device which concerns on embodiment of this invention, and a space debris removal device provided with the same. It is a schematic diagram which shows an example of the typical structure of the extension part with which the space debris removal device fixing device shown in FIG. 1 is equipped, and an engaging part. It is a schematic diagram which shows an example of a structure when the extension spring shown in FIG. 2 and the extension spring with which an engaging part is provided transfers to the protrusion state from the accommodation state with the state which the space debris removal device engaged and fixed to the space debris. It is a schematic diagram which shows an example of the process in which the space debris removal satellite provided with the space debris removal device shown in FIG. 1 or FIG. 3 approaches the space debris. It is a schematic diagram which shows the other example of the process in which the space debris removal satellite provided with the space debris removal device shown in FIG. 1 or FIG. 3 approaches the space debris. It is a schematic diagram which shows the operation | movement until engagement of the engaging part to PAF by the space debris removal device fixing apparatus shown in FIG. 1 and FIG. It is a figure explaining the operation state of the space debris removal device fixing apparatus shown in FIG. 6 in detail, Comprising: It is a schematic diagram which shows the initial state. It is a figure explaining the operation state of the space debris removal device fixing apparatus shown in FIG. 6 in detail, Comprising: It is the schematic diagram which shows the state which isolate | separated the cover member. It is a figure explaining in detail the operation state of the space debris removal device fixing apparatus shown in FIG. 6, Comprising: It is a schematic diagram which shows the state which the extension part extended. It is a figure explaining in detail the operation state of the space debris removal device fixing apparatus shown in FIG. 6, Comprising: It is a schematic diagram which shows the state which cancels | releases the accommodation state of the extension spring with which an engaging part is provided. It is a figure explaining in detail the operation state of the space debris removal device fixing apparatus shown in FIG. 6, Comprising: It is a schematic diagram which shows the state which the extension spring with which an engaging part is provided transfers to the protrusion state. It is a schematic diagram which shows the operation | movement by which EDT is drawn out after a space debris removal device is fixed to space debris by the space debris removal device fixing apparatus shown in FIG. It is a figure explaining in detail the operation state of the space debris removal device fixing device shown in FIG. 12, and is a schematic diagram showing a feeding process of EDT. FIG. 14 is a diagram for explaining in detail the operation state of the space debris removal device fixing device shown in FIG. 12, and is a schematic diagram showing an EDT feeding process following FIG. 13. FIG. 15 is a diagram for explaining in detail the operation state of the space debris removal device fixing device shown in FIG. 12, and is a schematic diagram showing an EDT feeding process following FIG. 14. FIG. 16 is a diagram for explaining in detail the operation state of the space debris removal device fixing device shown in FIG. 12, and is a schematic diagram showing an EDT feeding process following FIG. 15.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

[Configuration example of space debris removal device fixing device]
First, a typical configuration example of the space debris removal device fixing device according to the present embodiment will be specifically described with reference to FIGS.

  As shown in FIG. 1, the space debris removal device fixing device 10 according to the present invention includes an extension part 11, an engagement part 12, and spring state switching parts 15 and 16, and as shown in FIG. An extension spring 13 is used for 11 and the engaging portion 12. The space debris removal device fixing apparatus 10 is attached in front of the space debris removal device 20, and the space debris removal device 20 is attached to the space debris removal satellite 30 at the rear thereof. In the space debris removal device 20, an EDT (ElectroDynamic Tether) 21 is provided in a state of being wound around an EDT reel 22.

  This space debris removal device fixing device 10 is used to fix (or hold) the space debris removal device 20 to a space debris 100 having a PAF (Payload Attach Fitting) 101 as shown in FIG. The PAF 101 is a mechanical interface for fixing the artificial satellite to the rocket, and has a substantially conical shape having an opening 102 as shown in FIG. If the space debris 100 is a part of a rocket or the like, the structure 103 which is a main body is configured to include the PAF 101.

  In the following description, for convenience, the space debris removal device fixing device 10 is abbreviated as “device fixing device 10”, the space debris removal device 20 is abbreviated as “removal device 20”, and the space debris removal satellite 30 is “removed”. Abbreviated as “satellite 30”. Further, as shown in FIG. 1, the removal satellite 30, the removal device 20, and the device fixing device 10 are connected in this order, but in this embodiment, the removal satellite 30 side is the rear, and the device fixing device. The 10 side is the front.

  The extension spring 13 used for the extension part 11 and the engaging part 12 is basically the same configuration, and is an elastic body that can be shifted from a protruding state to a stored state by applying an external force. In the protruding state, for example, a rod shape as shown in FIG. 3, and in the stowed state, for example, as shown in FIG. 2, it is shorter than the rod-like protruding state. By pressing the front end of the extension spring 13 in the protruding state toward the rear end side by an external force, the extended portion is stored inside and is in a stored state.

  For convenience of explanation, the extension spring 13 included in the extension section 11 is referred to as “front extension spring 13 </ b> A” because it extends in front of the removal device 20. Further, the extension spring 13 included in the engagement portion 12 is referred to as a “radiation extension spring 13B” because it extends so as to spread radially in the four directions at the front end of the extension portion 11 (front extension spring 13A). Further, since the radial extension spring 13B extends radially at the front end of the device fixing device 10, for the sake of convenience of explanation, the end (one end) on the extension side of the radial extension spring 13B is referred to as an “extension end” and is not extended. The side end (other end) is referred to as a “base end”.

  Further, the specific configuration of the extension spring 13 is not particularly limited, and in the present embodiment, for example, a bamboo spring configuration in which a metal plate having elasticity is wound in a conical shape is employed. Further, the extension spring 13 is basically hollow regardless of whether it is the front extension spring 13A or the radiation extension spring 13B, but in this embodiment, the radiation extension spring 13B is shown in FIG. Thus, since the extension inhibiting member 131 inserted into the hollow is provided, it is not hollow in the housed state. However, in the protruding state, the position where the extension restraining member 131 is inserted is only in the vicinity of the extension end, and most of the position is hollow.

  As shown in FIG. 1, the extension unit 11 is attached to the front of the removal device 20 and extends in the front direction of the removal device 20. As shown in FIGS. 1 and 2, the extension portion 11 is constituted by at least one front extension spring 13 </ b> A in the present invention.

  As shown in FIG. 1, the engaging portion 12 is attached to the front end of a front extension spring 13 </ b> A that becomes the extension portion 11. In the present invention, as shown in FIG. 2, four radial extension springs 13 </ b> B, An extension spring fixing member 14 that fixes the radial extension springs 13B radially to the front end of the front extension spring 13A is provided. As will be described later, the engaging portion 12 is inserted into the PAF 101 through the opening 102 (see FIG. 3) of the PAF 101 by the extension of the extension portion 11.

  The engaging portion 12 is configured such that the entire extension portion 11 is smaller than the opening 102 of the PAF 101 when the extension portion 11 is not extended (when the front extension spring 13A is in the retracted state). Further, after the engaging portion 12 is inserted into the opening 102 of the PAF 101 by extending the extending portion 11 (by causing the front extending spring 13A to be in a protruding state), as shown in FIG. The spring 13B shifts from the stored state to the protruding state. As a result, the engaging portion 12 is wider than the opening 102 and engages in the PAF 101.

  Accordingly, the four radial extension springs 13B used for the engaging portion 12 are smaller than the diameter of the opening 102 of the opening 102 in the housed and radially arranged state, and are smaller than the radius of the opening 102 in the protruding state. It becomes a long bar shape.

  In the present embodiment, the four radial extension springs 13B are fixed to the front end of the front extension spring 13A by the extension spring fixing member 14 so as to form an angle of 90 ° with each other. However, the arrangement of the radiation extension springs 13B is not limited to this, and may be an arrangement in which the angles of the radiation extension springs 13B are not equal. In the example shown in FIG. 2, the extension spring fixing member 14 is a plate-like member that fixes the four radial extension springs 13 </ b> B on the front surface, but the configuration of the extension spring fixing member 14 is a plate-like member. There is no limitation, and any known support member or frame that can arrange the plurality of radial extension springs 13B radially may be used.

  The spring state switching unit is configured to hold the extension spring 13 used in the extension unit 11 and the engaging unit 12 in the stored state, and return to the projecting state from the stored state by releasing the holding. In the present embodiment, the spring state switching unit includes an extension part spring state switching unit 15 that returns the front extension spring 13A serving as the extension unit 11 from the retracted state to the protruding state, and a radiation extension spring 13B used for the engaging unit 12. And the engaging portion spring state switching portion 16 that returns the state from the retracted state to the protruding state.

  Further, a part of the extension portion spring state switching portion 15 and the engaging portion spring state switching portion 16 are accommodated in a housing-like spring state switching main body portion 17. Therefore, in the present embodiment, it can be considered that the “spring state switching unit” is configured by the extension portion spring state switching unit 15, the engagement unit spring state switching unit 16, and the spring state switching main body unit 17. . The spring state switching main body portion 17 is directly attached to the space debris removal device 20 on the rear end side, and a part of the extension portion spring state switching portion 15 (a spring support portion 151 and the like which will be described later) on the front end side. ) Is detachably attached.

[Example of configuration of extension part spring state switching part]
Next, a specific configuration of the extension portion spring state switching unit 15 will be specifically described with reference to FIGS.

  The extension part spring state switching part 15 holds and holds the front extension spring 13A that becomes the extension part 11 from the front end side so as to be in the retracted state from the protruding state, and by releasing the pressing. In this configuration, the extension spring 13A is returned (shifted) from the stored state to the protruding state. In the present embodiment, as shown in FIG. 1, the extension portion spring state switching portion 15 includes a spring support portion 151, a lid member 152, a spring support portion female screw portion 153, a lid member female screw portion 154, and a male screw portion 155. , A male screw portion rotation drive unit 156, and a separation guide member 157.

  The spring support portion 151 supports the front extension spring 13A at least at the rear end side in front of the spring support portion 151, and is configured in a casing shape in the present embodiment. Specifically, the front of the spring support 151 is an opening, the rear is a substantially flat bottom surface, and the periphery is a wall surface. The rear end of the front extension spring 13A is supported by the front surface of the bottom surface. Therefore, the rear end of the front extension spring 13 </ b> A is supported while being accommodated in the spring support portion 151. An engaging portion 12 is provided at the front end of the forward extension spring 13 </ b> A, and this engaging portion 12 is also accommodated in the opening of the spring support portion 151. Therefore, not only the extension part 11 but also the engaging part 12 is accommodated in the spring support part 151.

  A lid member 152 is provided in front of the spring support portion 151. Since the front of the spring support 151 is an opening, the lid member 152 closes the opening of the spring support 151. In the present embodiment, since the lid member 152 is attached to the front of the engaging portion 12, the engaging portion 12 and the lid member 152 are substantially integrated.

  When the extension portion 11 (the front extension spring 13A) is in the retracted state without extending, the lid member 152 is fixed to the spring support portion 151 so as to be releasable. At this time, the lid member 152 holds the front extension spring 13 </ b> A housed in the spring support portion 151 together with the engagement portion 12. Therefore, when the fixing of the lid member 152 is released, the front extension spring 13A returns from the stored state to the protruding state.

  The lid member 152 is provided with a lid member female screw portion 154, and the front end of the male screw portion 155 is screwed into the lid member female screw portion 154. The male screw portion 155 has a rod-like structure with a thread formed on the surface, and the lid member female screw portion 154 has a hole into which the male screw portion 155 can be inserted. In the example shown in FIG. 1, this hole is a hole having a bottom (a “hole with a bottom” that is not a through hole), and is provided on the rear surface (the surface facing the inside of the spring support portion 151, the inner surface). Located towards. On the inner periphery of the bottomed hole, a screw thread that is screwed into the male screw portion 155 is formed.

  The front end of the male thread portion 155 of the rod-like structure can be screwed to the lid member female thread portion 154 as described above, but the rear end thereof is connected to the male thread portion rotation drive portion 156. Since the male screw portion rotation driving portion 156 is provided in the spring state switching main body portion 17, the male screw portion 155 passes from the spring state switching main body portion 17 through the spring support portion 151 and reaches the lid member 152. Are arranged in the front-rear direction. Therefore, the external thread portion 155 is provided so as to penetrate the spring support portion 151 in a positional relationship parallel to the forward extension spring 13A. The male screw portion rotation driving unit 156 may be constituted by, for example, a known sequence control motor (a gear mechanism for shifting as required).

  On the bottom surface of the spring support 151, a spring support female screw 153 that is screwed into the male screw 155 is provided. The spring support portion female screw portion 153 has a through hole that allows the male screw portion 155 to pass therethrough, and a screw thread that engages with the screw portion 155 is formed therein. In the present embodiment, since the male screw portion 155 passes through the spring support portion 151 and reaches the lid member 152, the spring support portion female screw portion 153 and the lid member female screw portion 154 are arranged forward or rearward. So that the projected positions are the same. The thread formed on the spring support female thread 153 and the thread formed on the lid member female thread 154 have the same pitch.

  The separation guide member 157 is a rod-shaped member provided at a position parallel to the male screw portion 155. In the example shown in FIG. 1, the external thread portion 155 is located below the drawing portion 11 as viewed from the extension portion 11, but the separation guide member 157 is located above the drawing portion 11 as viewed from the extension portion 11. These are in a parallel positional relationship. One end of the separation guide member 157 is inserted into a guide member insertion hole 152 a provided on the rear surface of the lid member 152, and the other end of the separation guide member 157 is fixed to the bottom surface portion of the spring state switching main body portion 17. ing.

  The spring support portion 151 is provided with a guide member through hole 151a, and the separation guide member 157 penetrates the bottom surface portion of the spring support portion 151 through the guide member through hole 151a. Note that neither the guide member through-hole 151a provided in the spring support 151 or the guide member insertion hole 152a provided in the lid member 152 has a thread or the like formed therein, and a rod-shaped separation guide. The member 157 is a through hole or a bottomed hole having an inner diameter into which the member 157 can be inserted.

  When the extension spring fixing member 14 is a plate-like member as shown in FIG. 2, a plate-like extension spring fixing member is provided between the spring support 151 and the lid member 152 as shown in FIG. 14 will be located. Therefore, although not shown in FIGS. 1 and 2, a through-hole through which the male screw portion 155 described later passes or a through-hole through which the separation guide member 157 passes is formed between the adjacent radial extension springs 13B. May be.

  As shown in FIG. 1, the spring state switching main body portion 17 is configured in a housing shape like the spring support portion 151, and the spring support portion 151 is detachably fixed in front of the spring state switching main body portion 17. Has been. Further, an EDT feeding hole 17 a is provided in the bottom surface portion of the spring state switching main body portion 17. The EDT feed hole 17 a is formed as a through hole that penetrates the spring state switching main body 17 and the removal device 20.

  Most of the EDT 21 in the removal device 20 is taken up by the EDT reel 22, but one end of the EDT 21 is fed out from the EDT reel 22 and is connected to the spring state switching main body 17 through the EDT feeding hole 17a. And is connected to the rear surface of the spring support 151 attached to the front opening of the spring state switching main body 17. Therefore, although the rear end of the front extension spring 13A is supported on the front surface of the bottom surface portion of the spring support portion 151, one end of the EDT 21 is connected to the rear surface of the bottom surface portion.

  Here, the cover member internal thread part 154, the external thread part 155, and the external thread part rotation drive part 156 engage the front extension spring 13A by releasably fixing the cover member 152 to the spring support part 151. A “lid member fixing portion” is configured to be held in a pressed state together with the portion 12. That is, in the state where the male screw portion 155 is screwed to the lid member female screw portion 154, the front extension spring 13A is held in a state of being pressed together with the engaging portion 12 by the lid member 152. When the male screw portion 155 is rotated by the rotation driving unit 156 and the male screw portion 155 is detached from the lid member female screw portion 154, the state where the front extension spring 13A is pressed by the lid member 152 is released.

  Accordingly, the front end of the front extension spring 13A extends forward and protrudes, so that the engaging portion 12 provided at the front end of the front extension spring 13A is connected to the device fixing device 10 (the spring support portion 151 and the spring). It moves forward as seen from the state switching body 17). Therefore, the removal satellite 30 moves the removal device 20 and the device fixing apparatus 10 to a position facing the PAF 101 of the space debris 100 to release the fixation of the lid member 152, thereby engaging in the opening 102 of the PAF 101. Part 12 can be inserted. This will be described later together with the operation of the device fixing apparatus 10.

  In addition, the spring support part female thread part 153, the male thread part 155, and the male thread part rotation drive part 156 constitute a "spring support part separating part" that separates the spring support part 151 together with the extension part 11 and the engaging part 12. Yes. As shown in FIG. 3, after both the front extension spring 13 </ b> A and the radiation extension spring 13 </ b> B are in the protruding state and engaged in the opening 102 of the PAF 101, as described later, the winding is performed from the removal device 20. It is necessary to pay out the EDT 21 in the state where it is set.

  Therefore, the male screw portion 155 is rotated by the male screw portion rotation drive unit 156, and the male screw portion 155 is detached from the spring support portion female screw portion 153, so that the spring support portion 151 becomes the extension portion 11 and the engaging portion. 12 together with the spring state switching main body 17. Since one end of the EDT 21 is connected to the spring support 151, the EDT 21 can be fed out from the removal device 20 when the spring support 151 is disconnected.

  The extension portion spring state switching portion 15 includes a spring support portion 151, a lid member 152, a spring support portion female screw portion 153, a lid member female screw portion 154, a male screw portion 155, a male screw portion rotation driving portion 156, and The specific structure of the separation guide part 157 is not specifically limited, A well-known various structure can be used suitably. The extension portion spring state switching portion 15 includes a spring support portion 151, a lid member 152, a spring support portion female screw portion 153, a lid member female screw portion 154, a male screw portion 155, a male screw portion rotation driving portion 156, and a separation. A configuration other than the guide portion 157 may be provided. Furthermore, the forward extension spring 13A may also have a known configuration other than the spring body.

[Configuration Example of Engagement Spring State Switching Unit]
Next, a specific configuration of the engaging portion spring state switching portion 16 will be specifically described with reference to FIGS.

  The engaging portion spring state switching portion 16 holds the four radial extension springs 13B from the protruding state to the proximal end side so as to be in the retracted state, and releases the attraction, thereby releasing these radial extension springs. In this configuration, 13B is returned from the retracted state to the protruding state. In the present embodiment, as shown in FIGS. 1 and 2, the engaging portion spring state switching portion 16 includes a restraining member fixing member 161, a fixing release member 162, a linear member 163, and a linear member winding portion 164. The radiation extension spring 13B includes an extension restraining member 131.

  As shown in FIG. 2, the extension restraining member 131 has a head 131a, which is one end thereof, larger than the hollow inner diameter of the radial extension spring 13B, and an outer diameter at which the main body 131b can be inserted into the hollow of the radial extension spring 13B. And has a columnar shape longer than the radiation extending spring 13B in the housed state. In other words, the extension restraining member 131 is a pin-like member, and its head portion 131a is a larger head portion than the main body 131b, and the main body 131b has a columnar shape that can be inserted into the radial extension spring 13B.

  If the radial extension spring 13B is in the stored state, the fixed end 131c, which is the other end of the extension suppressing member 131, is exposed from the base end of the radial extension spring 13B. The fixed end 131c is provided with, for example, a step portion 131d. When the suppression member fixing member 161 is engaged with the step portion 131d, the extension of the radiation extension spring 13B is suppressed (obstructed) and held in the stored state. Is done. In other words, the radial extension spring 13B can be extended forward, but the extension end of the extension spring 13B is based on the fixed end 131c of the extension suppression member 131 being fixed by the suppression member fixing member 161. It is held in a state attracted to the end side.

  Accordingly, the radiation extension spring 13B is quickly returned to the protruding state when it is held in the housed state and the fixing end 131c is released from the restraining member fixing member 161. Since the restraining member fixing member 161 is a latch member in the present embodiment, the fixing end 131c is releasably fixed by engaging with the step portion 131d of the fixing end 131c. The extension restraining member 131 may be integrated as a part of the radiation extension spring 13B by being fixed to the extension end of the radiation extension spring 13B. Body).

  Further, the fixed state of the fixed end 131 c by the restraining member fixing member 161 is released by the fixing release member 162. In FIG. 1 and FIG. 2 and the like, the fixing release member 162 is shown in black for convenience. In the present embodiment, each of the four latch members (suppression member fixing members 161) engages with the fixed end 131c of the extension suppression member 131 included in each of the four radial extension springs 13B, whereby the radiation extension is performed. The spring 13B is held in the stored state. These four deterring member fixing members 161 are in the fixed position when engaged with the fixed end 131c, but in the present embodiment, four deterring members 162 are used to form four deterring members 162. By switching the member fixing member 161 from the fixed position to the release position, the fixed state of the fixed end 131c can be released all at once.

  In the present embodiment, the fixing release member 162 has a size that enters the hollow of the front extension spring 13A, and is engaged with the restraining member fixing member 161 at a position exposed from the front end of the front extension spring 13A. It is in a connected state. In addition, one end of a linear member 163 made of a wire or the like is connected to the fixing release member 162. The linear member 163 is provided so as to penetrate the hollow of the front extension spring 13 </ b> A, and the other end is connected to the linear member winding portion 164.

The linear member winding unit 164 is a mechanism that is provided in the spring state switching main body unit 17 and that winds and unwinds the linear member 163. For example, the linear member winding unit 164 is rotated by a known motor that is sequence-controlled and the motor. It is made up of reels.
In the present embodiment, the linear member take-up portion 164 is released from the state in which the lid member 152 is fixed to the spring support portion 151, and the front extension spring 13A starts to extend from the stored state. The linear member 163 in the hollow is fed out according to the degree of extension of 13A. Further, after the forward extension spring 13 </ b> A shifts to the protruding state, the linear member winding unit 164 starts winding the linear member 163.

  Since the linear member 163 is connected to the fixing release member 162, the fixing release member 162 is moved rearward (that is, in the direction of being pulled into the hollow of the front extension spring 13A) by winding the linear member 163. Can do. Thereby, since the engagement state or connected body of the single fixing release member 162 and the four suppression member fixing members 161 (latch members) is released, the position of the suppression member fixing member 161 is changed from the fixed position. Switch to the release position.

  Further, the linear member winding unit 164 extends the linear member 163 while maintaining the tension with the extension of the front extension spring 13 </ b> A, whereby the fixing member 162 for the four restraining member fixing members 161 is extended. The relative position can be maintained. Therefore, the switching of the position of the restraining member fixing member 161 by the fixing release member 162 is not performed during the extension of the front extension spring 13A but at the timing after completion of extension (that is, after shifting from the retracted state to the protruding state). it can.

  Specifics of the extension restraining member 131 included in the radiation extension spring 13B and the restraining member fixing member 161, the fixing release member 162, the linear member 163, and the linear member winding unit 164 included in the engaging portion spring state switching unit 16 are provided. The specific configuration is not particularly limited, and various known configurations can be suitably used. Further, the radiation extension spring 13B may have other configurations in addition to the spring body and the extension suppression member 131, and the engagement portion spring state switching unit 16 includes the suppression member fixing member 161, the fixing release member 162, the linear shape. You may provide structures other than the member 163 and the linear member winding part 164. FIG.

[Configuration example of space debris removal device and space debris removal satellite]
Next, a configuration example of the space debris removal device 20 will be specifically described with reference to FIGS. 4 and 5 in addition to FIGS. 1 and 3.

  As shown in FIG. 1, the removal device 20 according to the present embodiment includes the device fixing device 10 described above, and further includes the EDT 21 wound around the EDT reel 22 as described above. In the present embodiment, the removal device 20 is attached to the removal satellite 30.

  The EDT 21 is a tether having conductivity, and is fixed to the space debris 100 when the device fixing device 10 engages with the PAF 101 of the space debris 100. When the EDT 21 moves in the earth's magnetic field as the space debris 100 travels on an orbit around the earth, an induced electromotive force and a Lorentz force are generated in the EDT 21. As a result, a propulsive force is generated in the direction opposite to the traveling direction of the space debris 100, so that the propulsion speed of the space debris 100 can be reduced. If the propulsion speed is reduced, the altitude of the space debris 100 gradually decreases, so that the space debris 100 finally leaves the orbit and enters the atmosphere.

  In the present embodiment, the removal device 20 is configured to be separated from the removal satellite 30 after the device fixing apparatus 10 cuts off the spring support portion 151 together with the extension portion 11 and the engagement portion 12. Therefore, although not specifically illustrated in FIG. 1, a known separation and coupling mechanism may be provided between the removal device 20 and the removal satellite 30. Furthermore, a known sensor or the like that can detect that the spring support 151 has been disconnected may be provided.

  In addition, the removal device 20 of this Embodiment is not limited to the structure provided with EDT21, The other well-known structure may be sufficient. For example, the structure provided with a well-known thruster can be mentioned. The removal device 20 including such a thruster may be directly connected to the device fixing apparatus 10 or may be connected to the device fixing apparatus 10 via a tether such as the EDT 21.

  Further, in the present embodiment, as shown in FIGS. 1 and 3, the removal device 20 is schematically illustrated and only schematically described, but the configuration of the removal device 20 is not limited to this. The EDT 21 and the EDT reel 22 and a known configuration other than the separation / coupling mechanism may be provided.

  In the present embodiment, the removal satellite 30 provided with the removal device 20 approaches the space debris 100 while performing relative position measurement. Although this approach method is not specifically limited, as a typical example, a long distance area, a medium distance area, a short distance area, and a fixed area (or a gripping area) are sequentially approached, and then a fixing operation (or a gripping operation) is performed. ).

  First, the removal satellite 30 identifies and analyzes the space debris 100 to be removed, for example, in a long distance range of 200 to 300 m. Next, the removal satellite 30 moves to a middle range near 30 m, for example, as seen from the identified space debris 100, adjusts the relative position, and further moves to a near range such as about 8 m. Adjust the relative position. Finally, a fixing area (for example, 1.5 m) corresponding to the extension length of the extension portion 11 so that the front side thereof (that is, the position of the removal device 20 and the device fixing device 10) faces the PAF 101 of the space debris 100. Move back and forth.

  When the removal satellite 30 reaches the fixed area, the device fixing apparatus 10 starts the fixing operation. First, the extension part 11 (front extension spring 13 </ b> A) of the device fixing device 10 extends, and the engagement part 12 is inserted into the opening 102 of the PAF 101. Thereafter, the radial extension spring 13 </ b> B of the engaging portion 12 extends to engage and fix the engaging portion 12 in the PAF 101. Thereafter, the EDT 21 is fed out from the removal device 20 and the removal satellite 30 is separated from the removal device 20.

  Here, the removal satellite 30 approaches the PAF 101 of the space debris 100 according to the state of the space debris 100 orbiting the orbit. It is assumed that the space debris 100 having the PAF 101, for example, the two-stage portion of the rocket, orbits while rotating on the orbit and is orbiting while swinging on the orbit. In the swinging state, it is estimated that the space debris 100 swings with its longitudinal direction directed toward the earth center due to gravity tilt stability.

  For example, as shown in FIG. 4, if the space debris 100 is swung around the central portion in the longitudinal direction of the structure 103 that is the main body, the removal satellite 30 moves from the intermediate range to the short range. When moving from the side, it goes around in the longitudinal direction from the side, and approaches the PAF 101 of the space debris 100 when moving from the short distance area to the fixed area. As shown in FIG. 5, if the space debris 100 rotates around the structure 103, the removal satellite 30 approaches from the tangential direction of the rotating orbit when moving from the intermediate range to the short range. Furthermore, when moving from the short-range area to the fixed area, the space debris 100 approaches while moving in accordance with the rotational movement of the PAF 101.

  The removal satellite 30 to which the removal device 20 is attached is schematically shown in FIGS. 1, 3, 4 and 5, but these drawings show a specific configuration of the removal satellite 30. Instead, it means that the removal device 20 (and the device fixing apparatus 10) according to the present invention is applicable to various known removal satellites 30. Furthermore, the removal device 20 including the device fixing apparatus 10 may be provided in another known space navigation body instead of the removal satellite 30.

[Operation of Space Debris Removal Device Fixing Device]
Next, a typical example of the operation of the device fixing apparatus 10 according to the present embodiment will be specifically described with reference to FIGS. 6 to 16 in addition to FIGS.

  First, as shown in FIG. 4 or 5, the removal satellite 30 approaches the fixed area with respect to the space debris 100, and the front device fixing device 10 faces the PAF 101 of the space debris 100 as shown in FIG. 6. To do. At this time, the device fixing apparatus 10 is in an initial state shown in FIG. This initial state is the same as the state shown in FIG. 1, and the lid member 152 is fixed to the spring support 151 so as to close the opening in front of the spring support 151. Therefore, the front extension spring 13 </ b> A serving as the extension portion 11 is pressed from the front by the lid member 152 and is held in the stored state. Further, as shown in the enlarged view of FIG. 7, in the engaging portion 12, the stepped portion 131 d of the fixed end 131 c of the extension suppressing member 131 is engaged with the suppressing member fixing member 161, so that the radiation extension spring 13 B is stored. Held in a state.

  Next, as shown in FIG. 8, in the device fixing device 10, the male screw portion rotation driving unit 156 rotates the male screw portion 155. At this time, as described above, since the screw thread of the same pitch is formed in the spring support female screw portion 153 and the lid member female screw portion 154, the lid member 152 is viewed from the spring state switching main body portion 17. And the spring support 151 move forward by the same amount. As a result, the front end of the external thread portion 155 comes out of the state where the front end of the external thread portion 155 is screwed with the cover member internal thread portion 154 of the cover member 152, but the external thread portion is not included in the spring support portion internal thread portion 153 of FIG. 155 remains screwed.

  Here, in the lid member 152 before movement, the front end of the separation guide member 157 is inserted into the guide member insertion hole 152a provided on the rear surface thereof, and in the spring support portion 151 before movement, the bottom surface portion thereof. The guide member 157 is also separated from the guide member through hole 151a provided in the guide member. Therefore, when the lid member 152 and the spring support portion 151 move forward with the rotation of the external thread portion 155, these rotational movements can be separated and prevented by the guide member 157.

  Specifically, when the rotating male screw part 155 moves in the direction of coming out of the lid member female screw part 154 and the spring support female screw part 153, the male screw part 155 is placed on the lid member 152 and the spring support part 151. The center torque acts. Therefore, as it is, the lid member 152 and the spring support portion 151 also rotate with the rotation of the external thread portion 155. However, a separation guide member 157 that is in a position parallel to the male screw portion 155 passes through or is inserted into the lid member 152 and the spring support portion 151. As a result, the lid member 152 and the spring support 151 move forward without rotating themselves.

  As described above, the rotation of the external thread portion 155 allows the lid member 152 and the spring support portion 151 to smoothly move forward, so that the front end of the external thread portion 155 smoothly exits from the lid member internal thread portion 154. It will be. Therefore, as shown in the enlarged view of FIG. 8, since the fixed state of the lid member 152 with respect to the spring support portion 151 is released, the lid member 152 is separated from the spring support portion 151. At this time, the front end of the separation guide member 157 easily comes out of the guide member insertion hole 152 a of the lid member 152 as the lid member 152 is separated. Thus, the male screw part 155 and the male screw part rotation drive part 156 together with the lid member female screw part 154 constitute a lid member fixing part of the extension part spring state switching part 15, and the separation guide member 157 A “lid member separation guide portion” is configured together with the guide member insertion hole 152a.

  When the lid member 152 is separated from the spring support 151, the pressing of the front extension spring 13A is released, so that the front extension spring 13A extends and protrudes from the housed state as shown in FIG. 6 and FIG. Migrate to At this time, since the front of the removal satellite 30 (that is, the position where the removal device 20 and the device fixing device 10 are provided) faces the PAF 101 of the space debris 100, the opening 102 of the PAF 101 is extended by the extension of the front extension spring 13A. The engaging portion 12 is inserted into the inside.

  Here, in the extension process of the front extension spring 13 </ b> A, the linear member winding unit 164 extends the linear member 163 forward while maintaining the tension of the linear member 163 at the same level as that in the housed state. Thus, as the front extension spring 13A extends, the linear member 163 also extends forward, so that the suppression member fixing member 161 engaged with the fixed end 131c of the extension suppression member 131, and the suppression member The positional relationship with the fixing release member 162 engaged or connected to the fixing member 161 is held substantially the same as the positional relationship in the housed state. Therefore, until the extension of the extension part 11 is completed, the radiation extension spring 13B of the engagement part 12 remains in the stored state and does not shift to the protruding state.

  Next, when the front extension spring 13 </ b> A is completely extended and protrudes, the linear member winding unit 164 stops the feeding of the linear member 163 as shown in FIG. Winding of the member 163 is started. Immediately after the extension of the extension portion 11 is completed, the restraining member fixing member 161 is engaged with the step portion 131d of the extension restraining member 131 and the fixing release member 162, as shown in the enlarged view on FIG. Are also engaged or connected. If this position is the steady position, when the linear member winding unit 164 starts winding the linear member 163, the fixing release member 162 starts to move backward from the steady position.

  Then, as shown in the lower part of FIG. 10, the fixing release member 162 moves into the hollow of the front extension spring 13 </ b> A by winding the linear member 163, and accordingly, the fixing release member 162 and the restraining member fixing member are moved. The engagement or connection state with 161 is released. If the position of the restraining member fixing member 161 when the fixing release member 162 is in the steady position is a fixed position (see the enlarged view in FIG. 10 and the enlarged views in FIGS. 7 and 8), the lower portion in FIG. As shown in the figure, the restraining member fixing member 161 is switched from the fixing position to the releasing position by the backward movement of the fixing releasing member 162. As a result, the engagement between the stepped portion 131d of the extension suppressing member 131 and the suppressing member fixing member 161 is released.

  Here, since one restraining member fixing member 161 in the fixing position is engaged with the stepped portion 131d of one extension restraining member 131, there are a total of four restraining member fixing members 161. The fixing release member 162 in the steady position is engaged with or connected to all the four restraining member fixing members 161. Therefore, if the fixing release member 162 moves rearward from the steady position, all the four suppression member fixing members 161 are switched from the fixed position to the release position.

  As a result, as shown in the lower part of FIG. 6 and FIG. 11, the four radiation extension springs 13 </ b> B included in the engagement portion 12 are all released from the stored state and thus returned to the protruding state. Since the radiation extension spring 13 </ b> B in the protruding state has a larger spread than the inner diameter of the opening 102 of the PAF 101, the engaging portion 12 is engaged with the PAF 101.

  Next, if the engaging part 12 engages with the PAF 101, the male screw part rotation driving part 156 rotates the male screw part 155 again as shown in FIG. Since the male screw portion 155 is screwed into the spring support portion female screw portion 153, the male screw portion 155 comes out of the spring support portion female screw portion 153 by the rotation of the male screw portion 155. If this movement is viewed from the spring state switching main body portion 17, the spring support portion 151 moves forward by the rotation of the external thread portion 155. Here, as described above, one end of the EDT 21 is connected to the rear surface of the bottom surface of the spring support 151. Therefore, as the spring support portion 151 moves forward, the EDT 21 is gradually fed out from the EDT reel 22 in the removal device 20 through the EDT feeding hole 17a.

  Finally, as shown in FIG. 12 and FIG. 14, the male screw portion 155 completely comes out of the spring support portion female screw portion 153, and the spring support portion 151 is separated from the spring state switching main body portion 17. If the spring support 151 is cut off, the removal satellite 30 moves away from the space debris 100. As a result, the distance between the spring support portion 151 and the spring state switching main body portion 17 (and the removal device 20 to which the spring support switching portion is attached) increases, so that the EDT 21 is gradually fed out from the removal device 20. As described above, the male screw portion 155 and the male screw portion rotation driving portion 156 not only form the lid member fixing portion together with the lid member female screw portion 154 but also the spring support portion female screw portion 153 and the spring support portion separating portion. It is composed.

  Moreover, in the spring support part 151 before movement, the separating guide member 157 penetrates the guide member through-hole 151a provided in the bottom face part. Therefore, as in the case of the separation of the lid member 152 described above, when the spring support portion 151 moves forward with the rotation of the external thread portion 155, the rotational movement of the spring support portion 151 is separated and prevented by the guide member 157. can do.

  As a result, the spring support portion 151 smoothly moves forward by the rotation of the external thread portion 155, so that the external thread portion 155 can smoothly come out of the spring support portion internal thread portion 153. As a result, the spring support 151 is separated from the spring state switching main body 17. Further, as shown in FIG. 14, the separation guide member 157 inserted into the guide member through-hole 151a easily comes out of the guide member through-hole 151a as the spring support 151 is detached. Thus, the separation guide member 157 not only constitutes the lid member separation guide portion together with the guide member insertion hole 152a of the lid member 152, but also “the spring support portion separation guide portion” together with the guide member through hole 151a of the spring support portion 151. Is comprised.

  Next, as shown in FIG. 12 and FIG. 15, the removal satellite 30 separates the removal device 20 and the device fixing apparatus 10 and leaves the orbit of the space debris 100. Since the removal device 20 continues to move in a direction away from the space debris 100 even after the removal satellite 30 leaves, as shown in the bottom of FIG. 12 and FIG. 16, the feeding of the EDT 21 from the removal device 20 continues, and the EDT 21 Stretches greatly. The EDT 21 finally extends to several kilometers (for example, 5 to 10 km). After that, the propulsion speed of the space debris 100 is reduced by the action of the EDT 21 and deorbited from the earth orbit.

  As described above, the device fixing apparatus 10 according to the present invention extends the front extension spring 13 </ b> A that becomes the extension portion 11, inserts the engagement portion 12 into the PAF 101 of the space debris 100, and then from the engagement portion 12. The four radial extension springs 13B are extended radially. Since the radiation extending spring 13B is maintained in a rod shape longer than the radius of the opening 102 of the PAF 101 in the protruding state, the engaging portion 12 in this state has a larger spread than the opening 102 of the PAF 101. Since the inside of the PAF 101 is generally wider than the opening 102, the engaging portion 12 to which the plurality of radiation extending springs 13 </ b> B are extended is engaged without falling off within the PAF 101. Therefore, the removal device 20 can be easily fixed to the space debris 100 with a simple configuration.

  Moreover, the PAF 101 is a mechanical interface for fixing the artificial satellite to the rocket, and its configuration is basically standardized. Therefore, it is possible to standardize according to the configuration of the engaging portion 12. In addition, since the diameter of the opening 102 of the PAF 101 is relatively large, the engaging portion 12 can be easily configured to be smaller than the opening 102 of the PAF 101. Therefore, even when the engaging portion 12 is inserted into the PAF 101 by the extending portion 11, there is no need to perform highly accurate position control.

  Further, in the present invention, both the extension portion 11 and the engagement portion 12 are provided with extension springs 13 (forward extension springs 13A and radial extension springs 13B), and these extension springs 13 are stored in the housed state by the spring state switching unit. Is retained. Therefore, the forward extension spring 13A can be extended and the engaging portion 12 can be inserted into the opening 102 of the PAF 101, and the radial extension spring 13B can be simply extended by simply releasing the holding state of the spring state switching portion. Can be extended to engage the engaging portion 12 in the PAF 101. Thereby, the removal device 20 can be fixed to the space debris 100 with a low cost and simple configuration.

  In the present embodiment, as the spring state switching portion, the extension portion spring state switching portion 15 that switches from the retracted state to the protruding state by releasing the pressing of the front extension spring 13A, and the proximal end side of the radiation extension spring 13B And an engagement portion spring state switching portion 16 that switches from the housed state to the protruding state by releasing the attraction.

  Among these, the front extension spring 13A is pressed by fixing the lid member 152 to the spring support 151, so that the front extension spring 13A can be easily extended only by removing the lid member 152. Further, by configuring the spring support portion 151 supporting the front extension spring 13A in a casing shape, the front extension spring 13A before extension is accommodated in the case (in the spring support portion 151 closed by the lid member 152). Can also be protected. Therefore, since it is possible to suppress the front extension spring 13A from being influenced by the outside before extension, the reliability of the extension portion 11 can be improved.

  Further, by connecting the EDT 21 to the spring support portion 151, the EDT 21 can be easily drawn out from the removal device 20 and extended simply by separating the spring support portion 151 from the extension portion 11. Furthermore, in the present embodiment, the screw part 155 and the male screw part rotation drive part 156 are used for the lid member fixing part and the spring support part separating part, so that the “female screw part” that is screwed into the male screw part 155 is used. Configurations other than (lid member female screw portion 154 and spring support female screw portion 153) can be combined into one. Therefore, since it is not necessary to provide a plurality of mechanisms as the lid member fixing portion and the spring support portion separating portion, the configuration of the device fixing device 10 can be simplified and an increase in weight can be avoided.

  Further, the radial extension spring 13B is attracted to the proximal end side by inserting the extension restraining member 131 into the hollow of the radiation extension spring 13B and fixing the fixed end 131c. Therefore, the fixed end 131c is fixed. The radiation extension spring 13B can be easily extended only by releasing. In addition, since the radial extension springs 13B are arranged radially, the base ends can be concentrated in one place. Accordingly, the four radial extension springs 13B can be held in the stored state only by using one fixing release member 162, and the transition from the stored state to the protruding state can be performed simultaneously. Therefore, it is not necessary to provide each of the radiation extension springs 13B with a plurality of fixing release mechanisms, so that the configuration of the device fixing apparatus 10 can be simplified and an increase in weight can be avoided.

  Furthermore, if the spring state switching unit is configured as in the present embodiment, a motor based on a known sequence control is preferably used as a configuration for rotating the external thread unit 155 or moving the fixing release member 162. Can do. Such a motor does not require complicated control and has high operation reliability because it is used in many fields. Therefore, complication of the control configuration of the device fixing apparatus 10 can be avoided, and the reliability of the operations of the extending portion 11 and the engaging portion 12 can be improved.

  In the present embodiment, the extension part spring state switching part 15 is configured to use both the lid member fixing part and the spring support part separating part by using the male screw part 155 and the male screw part rotation driving part 156. However, the present invention is not limited to this, and the lid member fixing portion and the spring support portion separating portion may be independent mechanisms. Further, the configuration of the “female screw portion” (lid member female screw portion 154 or spring support female screw portion 153) that is screwed into the male screw portion 155 is not particularly limited. For example, the lid member female screw portion 154 is illustrated in FIG. 1 may be a configuration having a through hole such as the spring support female screw portion 153 instead of the configuration having the bottomed hole as shown in FIG.

  The lid member fixing portion may be any configuration that holds the front extension spring 13 </ b> A in a pressed state together with the engaging portion 12 by releasably fixing the lid member 152 to the spring support portion 151. The spring support part separating part may be configured to separate the spring support part 151 together with the extension part 11 and the engagement part 12. Therefore, the lid member fixing portion and the spring support portion separating portion are not limited to the configuration including the male screw portion 155 and the male screw portion rotation driving unit 156.

  Further, in this embodiment, the engaging portion spring state switching portion 16 uses the fixed end 131c of the extension restraining member 131 inserted into the hollow of each of the four radial extension springs 13B as the base of the radial extension spring 13B. It is configured to hold each radiation extension spring 13B in the retracted state by fixing it so as to be releasable in a state exposed from the end, but the present invention is not limited to this and is held in the retracted state. Any structure may be used as long as the holding state is released to return from the storage state to the protruding state. For example, the radial extension spring 13B may be attracted from the protruding state to the proximal end side and held in the retracted state by a method other than the extension inhibiting member 131, or a frame body or the like may be used similarly to the front extension spring 13A. Then, it may be pressed from the extended end and held in the stored state.

  Furthermore, in this embodiment, a latch member is used as the restraining member fixing member 161, a pin member that engages with or connects to the latch member is used as the fixing release member 162, and a known wire is used as the linear member 163. However, the present invention is not limited to this, and any other known configuration can be suitably used as long as it has a similar function.

  Further, in the present embodiment, the extension portion 11 is configured by one front extension spring 13A, and the engagement portion 12 includes four radial extension springs 13B. However, the present invention is not limited to this, The extension portion 11 may include two or more extension springs 13, and the radiation extension spring 13 </ b> B included in the engagement portion 12 may be three or five or more. Further, the extension portion 11 may have a configuration other than the extension spring 13, and the engagement portion 12 may have a configuration other than the extension spring 13 and the extension spring fixing member 14.

  It should be noted that the present invention is not limited to the description of the above-described embodiment, and various modifications are possible within the scope shown in the scope of the claims, and are disclosed in different embodiments and a plurality of modifications. Embodiments obtained by appropriately combining the technical means are also included in the technical scope of the present invention.

  The present invention can be widely used in the field of removing space debris having a PAF or similar structure.

DESCRIPTION OF SYMBOLS 10 Device fixing device 11 Extension part 12 Engagement part 13 Extension spring 13A Forward extension spring 13B Radiation extension spring 14 Extension spring fixing member 15 Extension part spring state switching part 16 Engagement part spring state switching part 17 Spring state switching main body part 20 Space Debris removal device 21 EDT
30 Space debris removal satellite 100 Space debris 101 PAF
102 PAF opening 103 Structure (part of space debris)
131 Extension inhibiting member 151 Spring support portion 152 Lid member 153 Spring support portion female screw portion (spring support portion separating portion)
154 Female screw part of lid member (lid member fixing part)
155 Male thread (lid member fixing part, spring support part separating part)
156 Male thread part rotation drive part (lid member fixing part, spring support part separating part)
157 Detaching guide member 161 Suppression member fixing member 162 Unlocking member 163 Linear member 164 Linear member winding portion

Claims (16)

A device fixing device for fixing a space debris removal device to a space debris having PAF (Payload Attach Fitting),
An extension part attached to the space debris removal device and extending forward;
When the extension part is attached to the front end of the extension part and the extension part is not extended, the whole is smaller than the opening of the PAF, and after the extension part is extended and inserted into the opening of the PAF, An engagement portion configured to expand beyond the opening and engage within the PAF;
With
For the extension part and the engagement part, an extension spring is used, which is an elastic body capable of shifting from a hollow, rod-like protruding state to a storage state shorter than the protruding state,
The extension portion is composed of at least the extension spring, and the engagement portion is attached to the front end of the extension spring.
In the protruding state, the engaging portion includes a plurality of extension springs that are rod-shaped longer than the radius of the opening of the PAF, and the extension springs that are the extension portions in a state in which these extension springs are arranged radially. An extension spring fixing member fixed to the front end,
Further, the extension spring used in the extension portion and the engagement portion is held in a retracted state, and is released from the retracted state by releasing the holding, and a spring state switching portion,
It is characterized by having,
Space debris removal device fixing device. When the extension spring provided in the extension part is a front extension spring, and the extension spring provided in the engagement part is a radial extension spring,
The spring state switching unit is
An extension portion that holds the front extension spring pressed from the front end side so as to change from the protruding state to the stored state, and returns the front extension spring from the stored state to the protruding state by releasing the pressing. A spring state switching unit;
The four radial extension springs are attracted from the protruding state to the proximal end side so as to be in the stored state, and the radial extension springs are returned from the stored state to the protruding state by releasing the attraction. An engaging portion spring state switching portion;
It is composed of
The space debris removal device fixing apparatus according to claim 1. The extension part spring state switching part is
A spring support portion for supporting the front extension spring at least on the rear end side;
A lid member provided in front of the engaging portion;
A lid member fixing portion that holds the front extension spring in a pressed state together with the engagement portion by releasably fixing the lid member to the spring support portion;
It is characterized by having,
The space debris removal device fixing apparatus according to claim 2. The radial extension spring includes an extension inhibiting member that inhibits extension of the radial extension spring and holds it in a stored state.
The extension suppressing member has one end larger than the hollow inner diameter of the radial extension spring, the main body has an outer diameter that can be inserted into the hollow of the radial extension spring, and is stored in the radial extension spring. Longer columnar,
The engagement portion spring state switching portion can be released together with the other end of the extension restraining member inserted into the hollow of each of the radial extension springs exposed from the proximal end of the radial extension spring. It is characterized in that each radial extension spring is held in a stored state by being fixed to
The space debris removal device fixing device according to claim 3 . The space debris removal device includes EDT (ElectroDynamic Tether) in a wound state,
The front extension spring is supported in front of the spring support portion, and one end of the EDT is connected to the rear thereof.
The extension part spring state switching part is
A spring support that separates the spring support portion together with the extension portion and the engagement portion in order to feed out the EDT in a wound state after both the front extension spring and the radiation extension spring are in a protruding state. It further comprises a part separating part,
The space debris removal device fixing apparatus according to claim 4. The spring state switching unit has a housing shape that can accommodate a part of the extension unit spring state switching unit and the engagement unit spring state switching unit therein, and the space debris removal device on the rear end side. And a spring state switching main body part that is detachably attached to the front end side of the spring support part.
The spring support part separating part is
A spring support female screw provided in a part of the spring support;
A male threaded portion that is screwed to the spring support female threaded portion;
A male screw part rotation driving part provided in the spring state switching main body part for rotating the male screw part;
With
The spring support part is separated from the spring state switching main body part by detaching the male screw part from the spring support part female screw part by the rotation of the male screw part,
The space debris removal device fixing apparatus according to claim 5. The male screw part of the spring support part separating part is arranged so as to penetrate the spring support part in a state parallel to the front extension spring,
On the rear surface of the lid member, a lid member female screw portion into which a front end of the male screw portion is screwed is provided,
The lid member fixing portion is configured by the male screw portion, the male screw portion rotation driving portion, and the lid member female screw portion,
In a state where the male screw portion is screwed into the lid member female screw portion, the front extension spring is held in a state of being pressed together with the engaging portion by the lid member,
The state in which the front extension spring is pressed by the lid member is released when the male screw portion is rotated by the male screw portion rotation driving portion and the male screw portion is detached from the lid member female screw portion. Characterized by the
The space debris removal device fixing apparatus according to claim 6. The engagement portion spring state switching portion is
A restraining member fixing member for securing the other end of the extension restraining member;
The front extension spring has a size that enters the hollow of the front extension spring, and is engaged or connected to the restraining member fixing member at a position exposed from the front end of the front extension spring, and is drawn into the hollow of the front extension spring. A fixed release member that switches the restraining member fixed member from a fixed position to a released position by moving in a direction;
A linear member provided so as to penetrate through the hollow of the front extension spring, and having one end connected to the fixing release member;
A linear member take-up unit connected to the other end of the linear member and moving the fixed release member in a direction to be pulled into the hollow of the front extension spring by winding the linear member;
With
The linear member take-up part is provided in the spring state switching main body part,
The space debris removal device fixing apparatus according to claim 6 or 7. When the lid member fixing portion is released from the state where the lid member is fixed to the spring support portion, and the front extension spring starts to extend from the stored state,
The linear member take-up portion extends the linear member in the hollow according to the degree of extension of the front extension spring,
After the forward extension spring shifts to the protruding state, the winding of the linear member is started,
The space debris removal device fixing apparatus according to claim 8. A device fixing device for fixing a space debris removal device to a space debris having PAF (Payload Attach Fitting),
An extension part attached to the space debris removal device and extending forward;
When the extension part is attached to the front end of the extension part and the extension part is not extended, the whole is smaller than the opening of the PAF, and after the extension part is extended and inserted into the opening of the PAF, An engagement portion configured to expand beyond the opening and engage within the PAF;
With
For the extension part and the engagement part, an extension spring is used, which is an elastic body capable of shifting from a hollow, rod-like protruding state to a storage state shorter than the protruding state,
The extension portion is composed of at least the extension spring, and the engagement portion is attached to the front end of the extension spring.
In the protruding state, the engaging portion includes a plurality of extension springs that are rod-shaped longer than the radius of the opening of the PAF, and the extension springs that are the extension portions in a state in which these extension springs are arranged radially. An extension spring fixing member fixed to the front end,
Further, the extension spring used in the extension portion and the engagement portion is held in a retracted state, and is released from the retracted state by releasing the holding, and a spring state switching portion,
With
When the extension spring provided in the extension part is a front extension spring, and the extension spring provided in the engagement part is a radial extension spring,
The spring state switching unit is
An extension portion that holds the front extension spring pressed from the front end side so as to change from the protruding state to the stored state, and returns the front extension spring from the stored state to the protruding state by releasing the pressing. A spring state switching unit;
The four radial extension springs are attracted from the protruding state to the proximal end side so as to be in the stored state, and the radial extension springs are returned from the stored state to the protruding state by releasing the attraction. An engaging portion spring state switching portion;
Consisting of
The radial extension spring includes an extension inhibiting member that inhibits extension of the radial extension spring and holds it in a stored state.
The extension suppressing member has one end larger than the hollow inner diameter of the radial extension spring, the main body has an outer diameter that can be inserted into the hollow of the radial extension spring, and is stored in the radial extension spring. Longer columnar,
The engagement portion spring state switching portion can be released together with the other end of the extension restraining member inserted into the hollow of each of the radial extension springs exposed from the proximal end of the radial extension spring. It is characterized in that each radial extension spring is held in a stored state by being fixed to
Space debris removal device fixing device. The space debris removal device includes EDT (ElectroDynamic Tether) in a wound state,
The extension part spring state switching part is
A spring support portion for supporting the front extension spring at least on the rear end side is provided, the front extension spring is supported in front of the spring support portion, and one end of the EDT is connected to the rear thereof. With
Further, after both the forward extension spring and the radial extension spring are in a protruding state, the spring support part is separated together with the extension part and the engagement part in order to pay out the EDT in a wound state. It is characterized by having a spring support part separating part,
The space debris removal device fixing apparatus according to claim 10. The spring state switching unit has a housing shape that can accommodate a part of the extension unit spring state switching unit and the engagement unit spring state switching unit therein, and the space debris removal device on the rear end side. And a spring state switching main body part that is detachably attached to the front end side of the spring support part.
The spring support part separating part is
A spring support female screw provided in a part of the spring support;
A male threaded portion that is screwed to the spring support female threaded portion;
A male screw part rotation driving part provided in the spring state switching main body part for rotating the male screw part;
With
The spring support part is separated from the spring state switching main body part by detaching the male screw part from the spring support part female screw part by the rotation of the male screw part,
The space debris removal device fixing apparatus according to claim 11. The engagement portion spring state switching portion is
A restraining member fixing member for securing the other end of the extension restraining member;
The front extension spring has a size that enters the hollow of the front extension spring, and is engaged or connected to the restraining member fixing member at a position exposed from the front end of the front extension spring, and is drawn into the hollow of the front extension spring. A fixed release member that switches the restraining member fixed member from a fixed position to a released position by moving in a direction;
A linear member provided so as to penetrate through the hollow of the front extension spring, and having one end connected to the fixing release member;
A linear member take-up unit connected to the other end of the linear member and moving the fixed release member in a direction to be pulled into the hollow of the front extension spring by winding the linear member;
With
The linear member take-up part is provided in the spring state switching main body part,
The space debris removal device fixing apparatus according to claim 12. The space debris removal device fixing device according to any one of claims 1 to 13 ,
Space debris removal device. It is attached to the space debris removal satellite,
The space debris removal device according to claim 14 . The space debris removal device fixing device according to any one of claims 6 to 9, 12, and 13,
It is attached to the space debris removal satellite,
The space debris removal device fixing device includes the extension part spring state switching part as the spring state switching part, and the extension part spring state switching part includes the spring support part, the spring state switching body part, and includes the spring support portion disconnection unit,
The space debris removal device fixing device is configured to separate from the debris removal satellite after separating the spring support portion together with the extension portion and the engagement portion .
Space debris removal device.

Images