JP6245549B2 - Device fixing device and device including the same - Google Patents

Description

  The present invention relates to a device fixing device for fixing an arbitrary device to an arbitrary object having a cavity wider than an opening, and a device including the device fixing device. For example, when an arbitrary device is a space debris removal device and an arbitrary object is a space debris having PAF (Payload Attach Fitting), the space debris removal device is easily fixed to the PAF. The present invention relates to a space debris removal device fixing apparatus that can perform the above-described operation and a space debris removal device including the same.

  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.

  In addition, regardless of the space debris removal device, there is a demand for a low-cost device fixing device using a simple and lightweight technique for fixing an arbitrary device to an object having a cavity.

  The present invention has been made to solve such a problem, and has a device fixing apparatus capable of fixing an arbitrary device to an object having a cavity with a low-cost and simple configuration, and An object is to provide a device comprising the above.

  In order to solve the above problems, a device fixing apparatus according to the present invention is a device fixing apparatus that fixes an arbitrary device to an arbitrary object having a cavity whose internal space is wider than an opening. An extension portion attached to the device and extending in the forward direction; and an engagement portion attached to a front end of the extension portion and engaged with the inside of the opening of the object. A plurality of projecting members that can be shifted to a projecting state and are maintained in a bar shape longer than the radius of the opening of the cavity in the projecting state, and the front end of the extension unit in a state in which these projecting members are arranged radially A projecting member fixing member that is secured to the engaging portion, and the engaging portion is configured such that when the projecting member is in a stored state, the entire engaging portion is smaller than an opening of the cavity portion, and Extension club After being inserted into the opening of the cavity by the extension is configured to shift to the protruding state the projecting member from the retracted state.

  According to the said structure, an extending part is extended, an engaging part is inserted in the cavity part of arbitrary objects, and a several protrusion member is protruded radially from an engaging part after that. Since the protruding member is maintained in a rod shape longer than the radius of the opening of the cavity portion in the protruding state, the engaging portion in a state in which the protruding member protrudes has a larger extent than the opening of the cavity portion. Since the internal space of the cavity is wider than the opening, the engagement part is engaged without falling off in the cavity. Therefore, an arbitrary device can be easily fixed to an arbitrary object with a simple configuration.

  In the device fixing apparatus having the above configuration, the object may be a space debris having a PAF (Payload Attach Fitting) as the hollow portion, and the device may be a space debris removal device.

  Further, in the device fixing device having the above-described configuration, the engaging portion includes the three or more protruding members, and the protruding members have an equal angle between the protruding members in the protruding state. The structure currently fixed to the front end of the said extension part by the fixing member may be sufficient.

  Moreover, the device according to the present invention is configured to include the device fixing apparatus having the above-described configuration.

  For example, the device having the above-described configuration may be configured to include EDT (ElectroDynamic Tether) when the object is space debris having PAF and the device is a space debris removal device.

  In the present invention, the above configuration can provide a device fixing apparatus capable of fixing an arbitrary device to an object having a cavity with a low cost and simple configuration, and a device including the device fixing device. There is an effect.

It is a schematic diagram which shows an example of a structure of the space debris removal device fixing device which is a typical example of the device fixing device which concerns on embodiment of this invention. It is a schematic diagram which shows an example of a structure of a space debris removal device provided with the space debris removal device fixing apparatus shown in FIG. It is a schematic diagram which shows an example of the removal method of the space debris by the space debris removal device shown in FIG.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the case where the object is space debris and the device is a space debris removal device is illustrated, but the present invention is not limited to this. 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]
As shown in FIG. 1, the space debris removal device fixing device 10 according to the present invention includes an extending portion 11 and an engaging portion 12, and the engaging portion 12 includes a protruding member 13 and a protruding member fixing member 14. Has been. The space debris removal device fixing device 10 is used to fix the space debris removal device 20 to the space debris 100 having the PAF 101 as shown in FIG. In the following description, the space debris removal device fixing device 10 is abbreviated as “device fixing device 10” and the space debris removal device 20 is abbreviated as “removal device 20” for convenience.

  The extension portion 11 is attached to the front of the removal device 20 and is configured to extend in the forward direction of the removal device 20 as shown in FIG. 1 from the contracted state shown in FIG.

  The engaging portion 12 is attached to the front end of the extending portion 11 and can be inserted into a PAF (Payload Attach Fitting) 101 included in the space debris 100 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. The engaging portion 12 can be inserted into the PAF 101 from the opening 102 by the extension of the extension portion 11. The PAF 101 corresponds to a hollow portion whose internal space is wider than the opening.

  The engaging portion 12 includes a protruding member 13 and a protruding member fixing member 14. A plurality of projecting members 13 are provided in the engaging portion 12, and are configured to be able to shift from a stored state as shown in FIG. 1 and FIG. 1 to a projected state as shown in FIG. The protruding member fixing member 14 is fixed to the front end of the extending portion 11 in a state where these protruding members 13 are arranged radially. Further, when the protruding member 13 is in the protruding state, as shown in FIG. 2, the entire length thereof is maintained in a rod shape longer than the radius of the opening 102 of the PAF 101.

  The engaging portion 12 is configured such that the entire engaging portion 12 (that is, the protruding member 13 and the protruding member fixing member 14 in the stored state) is smaller than the opening 102 of the PAF 101 when the protruding member 13 is in the stored state. Has been. Further, after the engaging portion 12 is inserted into the opening 102 of the PAF 101 by the extension of the extension portion 11, the protruding member 13 is configured to shift from the housed state to the protruding state.

  The number of the protruding members 13 included in the engaging portion 12 is not particularly limited, and may be plural, that is, two or more. As described above, the protruding member 13 protrudes so as to have a rod shape longer than the radius of the opening 102. For example, as shown in the configuration example I of FIG. If two are fixed by the protrusion member fixing member 14 in relation, it will become larger than the diameter of the opening 102 at least. Therefore, since the engaging part 12 can be engaged in the PAF 101, the removal device 20 can be fixed to the space debris 100.

  Further, it is preferable that three or more protruding members 13 are provided as in the configuration example II of FIG. Thereby, if the engaging part 12 is provided with the three protrusion members 13, the protrusion member 13 of a protrusion state will spread in planar shape compared with the case (structure example I) of two. Therefore, the engagement state in the PAF 101 by the engagement portion 12 can be further stabilized. Furthermore, as shown in Configuration Example III in FIG. 2, four projecting members 13 may be provided.

  2 are schematic plan views showing a perspective view of the space debris 100 to which the device fixing device 10 shown in the upper part of FIG. 2 is fixed as viewed from the direction of the block arrow V in the figure. It corresponds to. Further, in the configuration examples I to III in the lower part of FIG. 2, the opening 102 of the PAF 101 is shaded for the convenience of distinguishing the opening 102 from the structure body 103.

  Here, when the engaging part 12 is provided with three or more projecting members 13, it is preferable that the angle formed between the projecting members 13 in the projecting state is an equal angle. For example, in the configuration example II of FIG. 2, since the three protruding members 13 are provided, it is only necessary that these protruding members 13 are fixed by the protruding member fixing members 14 so as to form 120 °. Further, in the configuration example III of FIG. 2, since the four protruding members 13 are provided, it is only necessary that these protruding members 13 are fixed by the protruding member fixing members 14 so as to form 90 °.

  In other words, if the engaging portion 12 includes three or more projecting members 13, the positions of the projecting members 13 so that the polygon connecting the tips of the projecting members 13 in the projecting state becomes a regular polygon. Is preferably defined by the protruding member fixing member 14. Thereby, since the protruding member 13 in the protruding state spreads in the uniform direction within the opening 102 of the PAF 101, the engaged state in the PAF 101 can be further stabilized.

  The specific structure of the extension part 11 and the engaging part 12 is not specifically limited. For example, the extension part 11 and the engagement part 12 may be configured as one extension type robot arm. In this case, the extension portion 11 is a large extension arm, and the protruding member 13 provided in the engaging portion 12 may be a small extension type arm as compared with the extension portion 11, and the protruding member fixing member 14 is small. Any member may be used as long as it can fix the extendable arm to the large extendable arm.

  Moreover, if the extension part 11 and the protrusion member 13 are an extension type arm, the drive part which carries out extension drive of these can employ | adopt a well-known structure. Moreover, the drive part which extends the extension part 11 should just be provided in the removal device 20 vicinity or inside, and the drive part which extends the protrusion member 13 should just be provided in the protrusion member fixing member 14 integrally.

  Alternatively, the extension portion 11 and the protruding member 13 may be configured by a known extension type actuator or a known mechanical extension member, respectively. As the mechanical extension member, for example, an extension spring capable of changing from a state of being accommodated in a cylindrical shape to a rod-like extension state can be exemplified. At this time, the protruding member fixing member 14 may be configured as a member that radially fixes actuators or extending members that become the plurality of protruding members 13.

  Further, the extension portion 11 and the protruding member 13 may have the same configuration, but may have different configurations (for example, the extension portion 11 is an extendable arm and the plurality of protruding members 13 are actuators. May be) The extending portion 11 may be configured to be able to extend so that the engaging portion 12 including the protruding member 13 and the protruding member fixing member 14 is moved to the front of the removal device 20, and the protruding member 13 is in a protruding state when the PAF 101 is in a protruding state. Any structure can be used as long as it can exhibit sufficient rigidity to be able to be sufficiently engaged.

[Configuration example of space debris removal device]
The device fixing apparatus 10 according to the present invention can be applied to a known removal device 20. In the present embodiment, as shown in FIG. 2, the removal device 20 includes an EDT (ElectroDynamic Tether) 21 and is accommodated in a state of being wound in the removal device 20, for example, although not shown. The tip of the EDT 21 is connected to the device fixing device 10. Such a removal device 20 is attached to a space debris removal satellite 30 having a known configuration.

  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 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.

  Next, the fixing operation of the removal device 20 including the device fixing apparatus 10 will be specifically described with reference to FIG.

  First, the removal device 20 is provided in front of the space debris removal satellite 30, and approaches the PAF 101 of the space debris 100 as indicated by a block arrow M1 in FIG. Next, when the space debris removal satellite 30 approaches to a distance that allows the device fixing device 10 to perform a fixing operation, the extending portion 11 of the device fixing device 10 extends, and thereby the engaging portion 12 enters the opening 102 of the PAF 101. Inserted. At this point, the protruding member 13 is in the stored state.

  Next, the engaging part 12 projects the protruding member 13 (the engaging part 12 is schematically shown in FIG. 3, and thus the protruding member 13 and the protruding member fixing member 14 are not denoted by reference numerals). As a result, the protruding member 13 in the protruding state has a larger extent than the opening 102 in the PAF 101. Therefore, the engaging portion 12 is engaged in the PAF 101 without being detached from the opening 102, and as a result, the removal device 20 is fixed to the PAF 101 of the space debris 100 via the device fixing device 10.

  Next, the space debris removal satellite 30 moves in a direction away from the space debris 100 as indicated by a block arrow M2 in FIG. Accordingly, the EDT 21 accommodated in the removal device 20 is pulled out. If the EDT 21 is fully extracted, the space debris removal satellite 30 disconnects the removal device 20. 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 extension portion 11 and inserts the engagement portion 12 into the PAF 101 of the space debris 100, and then a plurality of projecting members radially from the engagement portion 12. 13 is protruded. Since the protruding member 13 is maintained in a bar 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 extent 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 from which the plurality of protruding members 13 protrude 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.

  If the engaging portion 12 is inserted into the PAF 101, the device fixing device 10 can be engaged with the PAF 101 simply by protruding the protruding member 13. Therefore, the control configuration of the device fixing apparatus 10 can be simplified.

  As described above, the 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 a PAF, and is attached to the space debris removal device in a forward direction. An extension portion that extends to the front end of the extension portion, and an engagement portion that engages with the interior of the PAF included in the space debris, and the engagement portion transitions from a stored state to a protruding state. A plurality of projecting members that are possible and are maintained in a rod shape longer than the radius of the opening of the PAF in the projecting state, and a projecting member that fixes these projecting members radially to the front end of the extension portion A fixing member, and when the protruding member is in the retracted state, the engaging portion is smaller than the opening of the PAF. It made is, and, after being inserted into the opening of the PAF by extension of the extension portion may be composed so as to shift the projecting state the projecting member from the retracted state.

  According to the said structure, an extending part is extended, an engaging part is inserted in PAF of space debris, and a several protrusion member is protruded radially from an engaging part after that. Since the protruding member is maintained in a rod shape longer than the radius of the opening of the PAF in the protruding state, the engaging portion in a state where the protruding member protrudes has a larger spread than the opening of the PAF. Since the inside of the PAF is generally wider than the opening, the engaging portion is engaged without falling off within the PAF. Therefore, the space debris removal device can be easily fixed to the space debris with a simple configuration.

  Moreover, the PAF 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.

  In addition, since the diameter of the opening of the PAF is relatively large, the engaging portion can be easily configured to be smaller than the opening of the PAF. Therefore, even when the engaging portion is inserted into the PAF by the extending portion, there is no need to perform highly accurate position control.

  Further, if the engaging portion is inserted into the PAF, the device fixing device can be engaged with the PAF simply by protruding the protruding member. Therefore, the control configuration of the device fixing device can be simplified.

  As described above, in the present embodiment, the space debris having a PAF is exemplified as an object having a cavity whose internal space is wider than the opening, and the space debris removing device is exemplified as a device fixed to the object. However, the present invention is not limited to this, and it goes without saying that the present invention can be widely applied to the field of fixing an arbitrary device to an object having a cavity.

  Further, the present invention is not limited to the description of the present embodiment, and various modifications can be made within the scope shown in the claims, and each of them is 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.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used widely in the field of fixing an arbitrary device to an object having a hollow portion whose internal space is wider than an opening.

DESCRIPTION OF SYMBOLS 10 Device fixing device 11 Extension part 12 Engagement part 13 Projection member 14 Projection member fixing member 20 Space debris removal device (device)
21 EDT
30 Space debris removal satellite 100 Space debris 101 PAF (cavity)
102 PAF opening 103 Structure (part of space debris)

Claims (5)

A device fixing device for fixing an arbitrary device to an arbitrary object having a cavity whose internal space is wider than an opening,
An extension part attached to the device and extending in the forward direction;
An engaging portion that is attached to the front end of the extension portion and engages the inside of the opening of the object;
With
The engaging portion is
A plurality of projecting members that extend from the housed state and can be shifted to a rod- like projecting state, and are maintained in a state longer than the radius of the opening of the cavity in the projecting state;
A projecting member fixing member that fixes these projecting members to the front end of the extension portion in a radially arranged state,
The engaging portion is configured so that the entire engaging portion is smaller than the opening of the cavity when the projecting member is in the retracted state, and the extension of the extending portion is within the opening of the cavity. After being inserted, the protruding member is configured to shift from a stored state to a protruding state,
Device fixing device. The object is a space debris having a PAF (Payload Attach Fitting) as the cavity,
The device is a space debris removal device,
The device fixing apparatus according to claim 1. The engaging portion includes three or more protruding members, and
It is fixed to the front end of the extension part by the protruding member fixing member so that the angles of the protruding members in the protruding state are equal angles,
The device fixing apparatus according to claim 1 or 2.   A device comprising the device fixing apparatus according to claim 1. When the object is space debris with PAF and the device is a space debris removal device,
It is equipped with EDT (ElectroDynamic Tether),
The device of claim 4.

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