JP7340233B2 - Coupling device and deployable structure incorporating the coupling device - Google Patents

Description

The present invention relates to a coupling device that couples a passive device and an active device using magnets and switching of magnetic fields, and a deployable structure incorporating the coupling device.

Coupling devices used to construct structures in orbit around the Earth are required to have the necessary rigidity and strength, be lightweight, and have a simple mechanism. The International Space Station (ISS) is a typical large structure built in orbit so far, and the ISS uses bolt-and-nut mechanisms and latch mechanisms to connect each part of the structure. A device is used (for example, see Patent Document 1).

In addition, in a male device and a female device facing each other, the coupling pin of the male device is drawn toward the female device by the magnetic field generated by the electromagnet of the female device, and the locking pin of the female device is pulled toward the female device. The inventor of the present application has proposed a coupling device in which a coupling pin of a male side device is locked (Patent Document 2). According to this coupling device, the locked and engaged states of each part can be controlled by turning the electromagnet on and off, so the structure is simplified and precise positioning is not required. This facilitates the work of coupling and uncoupling, as well as the work of aligning the male and female sides, and greatly reduces the workload.

JP2007-245880A JP 2017-109734 Publication

The use of bolt and nut mechanisms and latch mechanisms in the construction of large space structures in orbit ranging from hundreds of meters to several kilometers, such as space solar power generation systems (SSPS), can be used for extravehicular activities by astronauts and robots. Since arm operation or a highly functional assembly robot or assembly device is required, the construction cost increases and the period required for construction also increases. Furthermore, if the scale of the structure is large, the number of structural members will increase, and the probability that problems will occur during construction increases. Therefore, it is also important to be able to easily separate structures in which defects have occurred.

In addition, in Patent Document 2, it is necessary to install a powerful electromagnet on the female side device in order to attract the coupling pin of the male side device, and there is a concern that this may limit the miniaturization of the coupling device and the reduction of power consumption. In addition, it was necessary to control the coupling pin of the male side device and the locking pin of the female side device with a single electromagnet, and it was necessary to increase the control accuracy of the magnetic field generated by the electromagnet.

Therefore, in order to solve the above-mentioned problems, the present invention provides a coupling device that uses magnets and switching of magnetic fields, is easy to downsize and reduce power consumption, and is easy to control the magnetic field. A deployable structure incorporating a coupling device is provided.

The present invention is a coupling device for coupling a first structure and a second structure,
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
A locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion.

According to the present invention, in coupling the first structure and the second structure, it is possible to easily reduce the size and reduce power consumption while using magnets and switching of the magnetic field, and to reduce the magnetic field. Control can be facilitated.

1 is a schematic cross-sectional view of a coupling device according to an embodiment of the present invention. It is a schematic perspective view of an active side device. FIG. 2 is a schematic perspective view of a passive device. FIG. 3 is a front view of the passive device with the plate removed. It is a perspective view showing the tip portions of the passive side device and the active side device when the passive side device and the active side device are incorporated into an actual deployment structure. FIG. 3 is a perspective view of the entire expanded section as seen diagonally from below. FIG. 2 is a perspective view, seen diagonally from above, chronologically illustrating how a deployable structure consisting of two rows of deployable sections is deployed. FIG. 7 is a schematic cross-sectional view of a coupling device according to another embodiment. FIG. 7 is a front view showing a shutter portion of a passive device according to another embodiment. FIG. 7 is a perspective view showing the distal end portions of the passive device and the active device of the second embodiment when the passive device and the active device are assembled into a deployment structure. FIG. 7 is a front view showing how the coupling claw of the passive device is caught on the tip portion of the active device when the passive device and the active device of the second embodiment are assembled into a deployment structure. FIG. 7 is a perspective view showing a stage immediately before the coupling claw of the passive device is caught on the tip portion of the active device when the passive device and the active device of the second embodiment are assembled into a deployment structure. FIG. 7 is a perspective view showing a stage when the coupling claw of the passive device starts to catch on the tip of the active device when the passive device and the active device of the second embodiment are assembled into a deployment structure; be. A stage when the passive side device and the active side device of the second embodiment are incorporated into the deployment structure, and the connecting claw of the passive side device is caught on the tip portion of the active side device, and the connecting claw and the tip portion are fitted. FIG. When the passive side device and the active side device of the second embodiment are incorporated into the deployment structure, the connecting claw of the passive side device is caught on the tip portion of the active side device, and the connecting claw and the tip portion are fitted and connected. It is a perspective view showing a stage where the claw is towed along the D2 direction.

Embodiments of the present invention will be described below with reference to the drawings. Although the coupling device of this embodiment was manufactured with the intention of being applied to a deployable structure for space use, the present invention is not limited to this, and may be applied to structures for ground use. It is also possible to do so.

FIG. 1 is a schematic sectional view of a coupling device according to an embodiment of the present invention, with FIG. 1(a) showing a separated state and FIG. 1(b) showing a coupled state. The coupling device according to the present embodiment includes an active side device 20 that is incorporated in a deployment section 61 that is a first structure, and an active side device 20 that is incorporated in a deployment section 60 that is a second structure. , that is, a passive device 10 that is slidably held in the direction of the arrow Y. In the following description, arrows X, Y, and Z in each figure indicate the same direction.

The active side device 20 includes a drive section 30 located on the rear side with respect to the joint part with the passive side device 10, and a magnetic pole switching section 40 located on the front side with respect to the joint part with the passive side device 10. . The drive rod 33 of the drive section 30 and the coupling rod 43 of the magnetic pole switching section 40 are connected by a joint section 50 as a connection means. FIG. 2 shows a schematic perspective view of the active side device. The drive unit 30 includes a tube 31 made of, for example, an elongated cylindrical magnetic material (for example, iron), a driving solenoid coil 32 wound around the tube, and a solenoid coil 32 that is inside the tube 31 and can move in the longitudinal direction. A drive rod 33 made of a non-magnetic material (for example, brass), a mounting section 34 provided along the tube 31 for mounting the active side device 20 on the deployment section 61, and a tube of the drive rod 33. A permanent magnet 35 provided at an end protruding from the rear end of the drive rod 31 and a permanent magnet 55 provided forward of the front end of the tube 31 of the drive rod 33 are included.

As the permanent magnets 35 and 55, for example, neodymium magnets with strong magnetic force can be used, but the permanent magnets that can be used are not limited to this. Furthermore, in this embodiment, the drive unit 30 is provided with two permanent magnets 35 and 55, but only one of them may be provided.

A drive power supply section 32c is connected to the drive solenoid coil 32 via a lead wire 32a and a connector 32b. The drive power supply unit 32c is a power supply that can control the driving direction of the solenoid coil 32, and may be built into the deployment unit 61 or separate from the deployment unit 61, and supplies current to the solenoid coil 32. When supplied, it may be connected to the connector 32b so that it can be used. Further, when the deployment section 61 is equipped with a power generation device such as a solar panel, the power generation device and the storage battery can also be used as the drive power supply section 32c.

The magnetic pole switching unit 40 includes a tube 41 made of an elongated cylindrical magnetic material (for example, iron), a solenoid coil 42 for magnetic pole switching wound around the tube 41, and a solenoid coil 42 that moves in the longitudinal direction inside the tube 41. At least the tip 45 of the coupling rod 43 is made of a magnetic material (for example, iron), and the connecting rod 43 is attached to the deployment section 61 in cooperation with the attachment section 34 of the active side device 20 provided along the tube 41. A mounting part 44 is included.

A groove portion 45a serving as an engaging portion is formed in the tip portion 45 of the connecting rod 43 and has a smaller diameter than other portions of the connecting rod 43. A magnetic pole power supply section 42c is connected to the magnetic pole switching solenoid coil 42 via a lead wire 42a and a connector 42b. When a current supplied from the magnetic pole power source 42c flows through the solenoid coil 42, the tip 45 of the coupling rod 43, which is a magnetic material, is magnetized to a specific magnetic pole, and by changing the direction of the flowing current, the tip 45 of the coupling rod 43 is magnetized to a specific magnetic pole. 45 magnetic poles can be reversed. That is, the tip portion 45 functions as a magnetization portion. The magnetic pole power supply unit 42c is a power supply that can control the magnetic pole direction of the tip end 45 of the coupling rod 43, and may be incorporated in the deployment unit 61 or may be separate from the deployment unit 61, and is a solenoid coil. When supplying current to 42, it may be connected to connector 42b and used. Further, when the deployment section 61 is equipped with a power generation device such as a solar panel, the power generation device and the storage battery can also be used as the drive power supply section 42c. Note that, from the viewpoint of work efficiency, it is preferable that the connector 32b and the connector 42b be an integral type that can be connected and disconnected at once.

The active side device 20 attaches the deployment direction (arrow (Y direction shown) and perpendicular (on the X axis shown). The drive rod 33 on the drive section 30 side and the coupling rod 43 on the magnetic pole switching section 40 side are connected by a joint section 50 made of a flexible member so that their central axes coincide with each other. By making the joint part 50 flexible, even if the central axes of the drive rod 33 and the coupling rod 43 are slightly shifted or bent, the joint part 50 can absorb it. Further, the joint portion 50 can also be configured with a spring, a damper, or the like.

When a current is supplied to the solenoid coil 32 of the drive unit 30, the entire tube 31 around which the solenoid coil 32 is wound becomes an electromagnet, and interacts with the permanent magnet 35 and the permanent magnet 55. For example, the solenoid coil 32 is arranged so that the rear end side of the drive section 30 (on the right side of the paper in FIG. 1) is attracted to the permanent magnet 35, and the front end side of the drive section 30 (on the left side on the paper in FIG. 1) is repelled by the permanent magnet 55. When a current is applied to the drive rod 33 and the coupling rod 43 connected at the joint portion 50, the entire drive rod 33 and coupling rod 43 are urged to the left in the drawing (hereinafter also referred to as the "coupling direction"). On the other hand, when current is applied to the solenoid coil 32 so that the rear end side of the drive section 30 repels the permanent magnet 35 and the front end side of the drive section attracts the permanent magnet 55, the drive rod 33 connected at the joint section 50 and The coupling rod 43 as a whole is biased toward the right in the drawing (hereinafter also referred to as the "release direction").

That is, when the active device 20 and the passive device 10 are in an uncoupled state, the coupling rod 43 is housed in the active device 20 and is not coupled, as shown in FIG. 1(a). In this state, as shown in FIG. 1(b), the coupling rod 43 is extended from the active device 20 and fitted into the passive device 10 incorporated in the deployment section 60, as will be described later. Engaged by shutters 14 and 15.

A slot 16 is formed in the passive side device 10, and a pair of shutters 14 and 15 functioning as locking parts are provided in the slot 16 so as to be slidable in the vertical direction in the plane of FIG. There is. The leading end 14c of the shutter 14 and the leading end 15c of the shutter 15 face each other, and are separated from each other in the open state shown in FIG. 1(a). In the locked state shown in FIG. 1(b), they are close to or in contact with each other, and a notch portion, which will be described later, engages with a groove portion 45a of the coupling rod 43 of the active side device 20.

A recess 17 is formed in the wall of the slot 16 opposite the opening 12 . The recess 17 functions as a receiving portion into which the connecting rod 43 extended from the active side device 20 is inserted. The diameter of the recess 17 is made somewhat larger than the tip of the connecting rod 43 so that the recess 17 can be inserted with sufficient margin for alignment with the connecting rod 43 and for some inclination of the connecting rod 43 during the connecting operation.

A permanent magnet 14b for locking is embedded in the lower end of the shutter 14 in the drawing, and a permanent magnet 15b for locking is also embedded in the upper end of the shutter 15 in the drawing. Permanent magnets 14b and 15b are arranged so that their opposing ends have the same polarity. For example, neodymium magnets with strong magnetic force can be used as the permanent magnets 14b and 15b. Note that the tip 14c of the shutter 14 and the tip 15c of the shutter 15 are made of a non-magnetic material (for example, aluminum alloy, titanium alloy, , polyimide resin, etc.).

The details of the passive side device 10 will be explained using FIG. 3 and FIG. 4. FIG. 3 is a schematic perspective view of the passive side device 10. A rectangular plate 11 fixed with screws or the like is arranged at the lower part of the front side of the passive side device 10, and a circular opening 12 in the center thereof is large enough to allow the tip 45 of the coupling rod 43 to be inserted. is formed. An opening 13 is provided in the upper part of the plate 11 for the purpose of reducing the overall weight.

FIG. 4 is a front view of the passive device 10 with the plate 11 removed, and FIG. b) shows a state in which the shutters 14 and 15 are close to each other (locked state).

As described above, the tip 14c of the shutter 14 and the tip 15c of the shutter 15 face each other, are separated from each other in the open state shown in FIG. 4(a), and are separated from each other in the locked state shown in FIG. 4(b). Proximity or contact. A semicircular notch 14a is formed at the tip 14c of the shutter 14, and a similar notch 15a is formed at the tip 15c of the shutter 15. These two notches 14a and 15a form a substantially circular opening as shown in FIG. 4(b) when in the locked state. The diameter of this approximately circular opening is set to be larger than the diameter of the groove 45a formed in the tip 45 of the coupling rod 43 of the active side device 20, and smaller than the diameter of the portion of the coupling rod 43 other than the groove 45a. ing. Note that the shape of the opening formed by the notch 14a of the shutter 14 and the notch 15a of the shutter 15 is not limited to a circular shape as long as it can lock the groove 45a of the coupling rod 43 inserted from the active side device 20. .

That is, when the active side device 20 and the passive side device 10 are in a separated state, the shutters 14 and 15 are at the position where the recess 17 is opened, as shown in FIGS. 1(a) and 4(a). When the shutters 14 and 15 are in the released state and in the coupled state, the shutters 14 and 15 are in the locked state close to each other and the notch 14a The groove 45a of the fitting rod 43 engages with the notch 15a.

The operation of the coupling device according to this embodiment will be explained using FIG. 5. FIG. 5 is a perspective view showing the distal end portions of the passive device 10 and the active device 20 when the passive device 10 and the active device 20 are incorporated into an actual deployment structure, and FIG. ) shows a state in which the passive device 10 and the active device 20 are uncoupled, and FIG. 5(b) shows a state in which the passive device 10 and the active device 20 are coupled. The passive side device 10 is arranged movably in the deployment direction within a rail 60a formed on the side of the deployment section 60 of the deployment structure so that the plate 11 is parallel to the longitudinal direction of the rail 60a (arrow Y direction). has been done. The active side device 20 is mounted perpendicularly to the deployment direction at the distal end of the deployment section 61 adjacent to the deployment section 60 in the deployment direction. That is, the axial direction of the coupling rod 43 of the active side device 20 (arrow X direction) is perpendicular to the movement direction of the shutters 14 and 15 (arrow Y direction).

As shown in FIG. 5(a), with the tip 45 of the active device 20 directly facing the opening 12 of the passive device 10, the drive rod 33 is connected to the solenoid coil 32 of the active device 20 in the coupling direction. When a current is applied in the biased direction, the drive rod 33 and the coupling rod 43 connected by the joint portion 50 move in the coupling direction as shown by arrow A. At this time, the shutters 14 and 15 are in the open state as shown in FIG. 1(a) and FIG. The circular recess 17 is reached, and the groove 45a of the tip 45 of the connecting rod 43 is located between the shutters 14 and 15.

In this state, when a current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 in a direction in which the tip of the coupling rod 43 becomes a magnetic pole that attracts the permanent magnets 14b, 15b, the shutters 14, 15 move to the tip of the coupling rod 43. It is pulled together and becomes locked as shown in FIG. 1(b) and FIG. 4(b). At this time, the shutters 14 and 15 fit into the groove 45a, and the passive device 10 and the active device 20 are coupled. Even if the currents of the solenoid coil 32 of the drive section 30 and the solenoid 42 of the magnetic pole switching section 40 are turned off in this state, the magnetic force of the permanent magnet 14b of the shutter 14 and the permanent magnet 15b of the shutter 15 will cause the coupling rod 43, which is a magnetic material, to Since a suction force is generated between the distal end portion 45 and the distal end portion 45, the locked state is maintained, and the coupled state of the deployable portion 60 and the deployable portion 61 is maintained. Note that the connection between the shutters 14 and 15 and the connecting rod 43 is only due to the magnetic force of the permanent magnets 14b and 15b, so if it is necessary to maintain a stronger connection, connecting members such as bolts and nuts may be added. desirable.

To release the coupling between the passive side device 10 and the active side device 20, a current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 in a direction such that the tip end 45 of the coupling rod 43 becomes a magnetic pole that repels the permanent magnets 14b and 15b. flow. When a magnetic force is generated at the tip 45 of the coupling rod 43 by the action of the solenoid coil 42, a repulsive force acts between the tip 45 of the coupling rod 43 and the permanent magnets 14b, 15b, and the shutters 14, 15 4(a) and becomes the open state shown in FIG. 4(a). In this state, when a current is applied to the solenoid coil 32 of the active side device 20 in a direction that urges the drive rod 33 in the release direction, the drive rod 33 and the coupling rod 43 connected at the joint part 50 move as indicated by the arrow B. As shown, the coupling between the passive device 10 and the active device 20 is released by moving in the release direction. At this time, since the tip 14c of the shutter 14 and the tip 15c of the shutter 15 are each made of a non-magnetic material, there is no adhesion to the tip 45 of the coupling rod 43, and a relatively small magnetic force is generated. It is possible to uncouple even if it occurs.

As described above, according to the present embodiment, the bolt/nut mechanism and the latch mechanism are activated by coupling or uncoupling the passive side device and the active side device using magnets and switching of magnetic fields. No longer needed. Therefore, when the present invention is applied to structures built in Earth orbit, the burden of extravehicular activities and robot arm operations on astronauts will be reduced, or the need for high-performance assembly robots and assembly equipment will be eliminated. , construction costs can be kept low, and the period required for construction can also be shortened. In addition, even if a problem occurs during construction, the structure can be easily separated, reducing the burden of extravehicular activities and robot arm operations, and shortening the period required for construction. is planned.

Further, the coupling rod 43 which is a coupling member is provided with a tip 45 which is a magnetized part, and a pair of shutters 14 and 15 which are locking parts that lock the coupling rod 43 inserted into the opening 12 are attached to the tip 45. By locking the coupling rod 43 by the action of the magnetic pole, the tip part 45 can be made to act as a magnetic pole while in close proximity to the shutters 14 and 15. This allows for miniaturization and consumption while utilizing switching of the magnet and magnetic field. It is easy to save power and control the magnetic field.

Further, the magnetic pole switching unit 40 magnetizes the tip end 45 of the coupling rod 43 inserted into the passive side device 10 to a magnetic pole opposite to that at the time of coupling, and moves the shutters 14 and 15 to a position where the locking is released. The drive unit 30 drives the coupling rod 43 inserted into the passive device 10 to pull out the coupling rod 43 to release the coupling between the passive device 10 and the active device 20. The drive unit 30 of the side device 20 can largely omit gears and pulleys for transmitting drive, allowing the coupling device to be downsized and to operate stably over a long period of time.

The magnetic pole switching unit 40 of the active side device 20 includes a cylindrical magnetic pole switching tube 41 into which a coupling rod 43 is movably inserted in the longitudinal direction, and a coupling rod that is wound around the magnetic pole switching tube 41. The switching solenoid coil includes a magnetic pole switching solenoid coil 42 that magnetizes the tip 45 made of a magnetic material of 43, and a power source 42c that supplies current to the magnetic pole switching solenoid coil 42 so that the magnetic pole can be switched, and is switched by the power source 42c. Since the tip portion 45 is magnetized according to the direction of the current flowing through the active side device 20, the magnetic pole switching portion 40 of the active side device 20 only needs to magnetize the tip portion 45, so that the coupling device can be made smaller, save power, and last longer. Stable operation over a long period of time is possible.

The tip end 45 of the coupling rod 43 is magnetized to a predetermined magnetic pole, and the pair of shutters 14 and 15 having the locking permanent magnets 14b and 15b are moved to the groove 45a, which is the engagement part of the coupling rod 43. Since the distal end portion 45 is engaged with the shutters 14 and 15, the magnetic pole can be applied to the tip portion 45 while the shutters 14 and 15 are in proximity. This makes it easy to control.

Notches are formed in the distal ends 14c and 15c of the shutters 14 and 15, respectively, and the notches engage with the grooves 45a of the coupling rod 43, so even if an external force is applied to the deployable structure, a stable connection can be achieved. It becomes possible to maintain

A deployable structure to which the coupling device according to the present embodiment is applied will be described with reference to FIGS. 6 and 7. Here, regarding the deployment of the deployable structure, in Japanese Patent Application Laid-open No. 2017-109734, after deploying the structure folded into a bellows shape, adjacent deployable structures are connected to each other. There has been concern that if the structure is bent or moved from its intended position due to inertia, etc., it will take a long time to connect the structure. In the deployable structure to which this embodiment is applied, after the second structure is deployed, the passive side device is moved within a rail formed in the second structure.

FIG. 6 is a perspective view of the entire deployable parts 60 and 61 viewed diagonally from below, FIG. 6(a) shows the deployable part 61 in the middle of deployment, and FIG. 6(b) is the same as that in FIG. 6(a). An enlarged view of the passive side device 10 and the active side device 20 is shown, and FIG. 6(c) shows a state in which the deployment section 61 has been completely deployed. One end of a wire 60b (indicated by a broken line) is fixed to the side of the passive device 10, and this wire 60b is stretched along the rail 60a, and is attached to a winch mechanism 60c provided at the tip of the deployment section 60. The other end is connected to. By winding up the wire 60b with this winch mechanism, the passive side device 10 can be moved along the rail 60a of the deployment section 60 in the direction of arrow C parallel to the direction of arrow Y in FIG. 6(b). That is, the wire 60b and the winch mechanism 60c function together as a moving part. At this time, the active side device 20 combined with the passive side device 10 also moves together in the direction of arrow C, and the deployed section 61 that was in the stored state is now parallel to the deployed section 60, as shown in FIG. 6(c). It is expanded into a flat shape and becomes an expanded state. A part of the antenna 70 is formed in each panel of the expansion section 61. When each panel of the unfolding section 61 is folded, the antenna 70 is also folded, but as each panel of the unfolding section 61 is unfolded, the antenna 70 is also unfolded.

FIG. 7 is a perspective view, seen diagonally from above, chronologically showing how a deployable structure consisting of two rows of deployable sections is deployed. FIG. 7(a) shows the folded storage state before the two unfolding parts 60 and 61 are unfolded. From this state, first, the panels constituting the deployment section 60 are separated from each other by the separation mechanism. Next, as shown in FIG. 7(b), each panel of the unfolding section 60 is unfolded into a planar shape. As shown in the figure, a wire 80 is stretched out from the satellite main body 90, passes through each panel, and returns to the satellite main body 90 again. By winding up this wire with a winch mechanism (not shown) provided on the satellite main body 90, each panel is pulled in as shown in FIG. 7(c), and each panel of the deployment section 60 has a boosting mechanism. They are locked together by the panel lock mechanism, and the deployment of the deployment section 60 is completed. At this time, the rail 60a is also connected to the passive side device 10 in a movable state in the Y direction in the figure.

When the expanded deployment section 60 is locked, as described with reference to FIG. combine. The panels constituting the unfolding section 61 are connected to each other in the unfolding direction and folded into a bellows shape. 7(d) and FIG. As shown in e), the unfolding section 61 which has been in the stored state is gradually unfolded to the unfolded state, and finally the unfolding is completed as shown in FIG. 7(f).

In this embodiment, the number of rows of the deployed parts is two, but the number of rows of the deployed parts of the deployed structure is not limited to two, and can be any number of rows greater than or equal to two. That is, after the active side device 20 provided in the Nth column (N is an integer of 2 or more) deployment unit and the passive side device 10 provided in the N-1st column deployment unit are combined, the passive side By winding up the wire 60b connected to the device 10 with a winch mechanism 60c provided at the tip of the N-1st column, it is possible to deploy the Nth column.

According to the present embodiment, the passive side device 10 is attached to the deployment section 60 and the active side device 20 is attached to the deployment section 61 adjacent to the deployment section 60. After the mounted deployment section 60 is deployed, the passive side device 10 is moved on the rail 60a formed in the deployment section 60, thereby creating the deployment section 61 on which the active side device 20 combined with the passive side device 10 is attached. Since the parts are expanded, it is possible to significantly reduce the work time required to connect the expanded parts.

In addition, the passive side device 10 of the deployable structure can be moved within the rail 60a by winding up the wire 60b fixed to the passive side device 10 using the winch mechanism 60c, so the deployable structure can be moved reliably even by remote control. It becomes possible to expand. The deployable structure according to this embodiment can be applied, for example, to an antenna of an artificial satellite, a solar panel, or the like, as well as a frame that is relatively lightweight even under gravity, and can be deployed only by remote control.

Another embodiment of the passive side device 10 will be described using FIG. 8 and FIG. 9. FIG. 8 is a schematic sectional view of a coupling device according to another embodiment, with FIG. 8(a) showing a separated state and FIG. 8(b) showing a coupled state. FIG. 9(a) is a front view showing the shutter portion of the passive device 10 of another embodiment, and FIG. 9(b) is a front view showing the shutter portion of the passive device 10, and FIG. FIG. 9(c) is a diagram schematically showing the state in which the shutter shown in FIG. 9(b) is locked, and FIG. 9(d) is a diagram showing the state in which the shutter shown in FIG. 9(c) is locked. FIG. 6 is a diagram showing a state in which the shutter and the coupling rod coupled thereto have been relatively moved in the direction of arrow L within the slot of the passive device from the state shown in FIG. Note that the same components as those in the above-described embodiments are given the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 9(a), the passive side device 10 of this embodiment also has a slot 16 elongated from side to side inside the plate 11. Shutters 14 and 15 are provided. An elongated permanent magnet 14b is embedded in the left end of the shutter 14 in the drawing, and an elongated permanent magnet 15b is embedded in the right end of the shutter 15 in the drawing. Permanent magnets 14b and 15b are arranged so that their opposing ends have the same polarity. The shutters 14 and 15 are not formed with semicircular cutouts 14a and 15a as shown in FIG.

A composite recess 97 is formed in the wall of the passive device main body behind the shutters 14 and 15, and has a shape in which a first circular recess 97a with a large diameter and a second circular recess 97b on the left side with a small diameter are overlapped. ing. In the embodiment shown in FIG. 4, the diameter of the circular recess 17 formed in the wall of the slot 16 opposite the opening 12 was made somewhat larger than the diameter of the tip 45 of the coupling rod 43. In the composite recess 97 of this embodiment, the diameter of the first recess 97a is larger than the diameter of the recess 17 shown in FIG. The diameter is the same as that of the portion 45.

As shown in FIG. 9(b), by making the diameter of the first recess 97a larger than the diameter of the recess 17 shown in FIG. It is possible to further increase the margin for inclination.

In this state, when a current is applied to the solenoid coil 42 of the magnetic pole switching unit 40 in a direction in which the tip 45 of the coupling rod 43 becomes a magnetic pole that attracts the permanent magnets 14b, 15b, the shutters 14, 15 move to the tip of the coupling rod 43. 45, the shutters 14, 15 fit into the groove 45a, and the attractive force between the permanent magnets 14b, 15b and the tip 45 of the connecting rod 43 acts, resulting in a locked state as shown in FIG. 9(c). becomes. Thereby, the passive side device 10 and the active side device 20 are coupled. At this time, the distance between the inner ends of the shutters 14 and 15 corresponds to the diameter of the groove 45a. Similarly to the embodiment described above, even if the currents of the solenoid coil 32 of the drive unit 30 and the solenoid 42 of the magnetic pole switching unit 40 are turned off in this state, the magnetic force of the permanent magnet 14b of the shutter 14 and the permanent magnet 15b of the shutter 15 Since an attractive force is generated between the connecting rod 43 and the distal end 45 of the magnetic coupling rod 43, the locked state is maintained, and the coupled state between the deployable portion 60 and the deployable portion 61 is maintained.

From this state, as explained with reference to FIG. 6, when the wire 60b fixed to the passive side device 10 is wound up by the winch mechanism 60c, the passive side device 10 moves along the arrow R in FIG. 9(c). direction (parallel to the arrow Y direction). As a result, as shown in FIG. 9(d), the shutters 14, 15 and the coupling rod 43 coupled thereto move relatively in the direction of arrow L within the slot 16 of the passive device 10. Then, the tip end 45 of the coupling rod 43 moves toward the second recess 97b of the composite recess 97 and fits there. This state is maintained not only while the deployment parts 60 and 61 are moving, but also after the movement is completed and the deployment parts 60 and 61 are deployed. Thereby, rattling of the connecting rod 43 can be eliminated not only in the horizontal direction of the drawing but also in the vertical direction of the drawing.

According to this embodiment, the receiving portion has a shape in which a first recess 97a having a larger diameter than the tip 45 of the coupling rod 43 and a second recess 97b corresponding to the diameter of the tip 45 of the coupling rod 43 are overlapped. A composite recess 97 is provided in the passive side device 10, and with the distal end 45 of the coupling rod 43 inserted into the first recess 97a, the distal end 14c of the pair of shutters 14 and the distal end 15c of the shutter 15 are connected to the distal end 45 of the coupling rod 43. The distal end 45 of the coupling rod 43 is engaged with the groove 45a and moved toward the second recess 97b while maintaining the engaged state, so that the looseness of the coupling rod 43 is eliminated without providing a cushioning material or the like. It is possible to eliminate the problem.

Next, the operation of a coupling device according to still another embodiment of the present invention (herein referred to as a second embodiment) will be described with reference to FIGS. 10 to 15.
In addition, in this 2nd embodiment, the same code|symbol is attached|subjected to the component same as the component in the said embodiment, the description is abbreviate|omitted, and only a different point will be described. Further, in this embodiment, a direction parallel to the X direction in the embodiment described above is referred to as a D1 direction, a direction parallel to the Y direction is referred to as a D2 direction, and a direction parallel to the Z direction is referred to as a D3 direction.

FIG. 10 is a perspective view showing the distal end portions of the passive device 10 and the active device 20 when the passive device 10 and the active device 20 are assembled into a deployment structure. The slot 16 and the composite recess 97 are formed in the passive side device 10. The slot 16 is closed by the plate 11. The plate 11 has the opening 12 formed therein. The slot 16 has a rectangular shape that is longer in the D2 direction than in the D3 direction when viewed from the D1 direction. The passive device 10 includes a coupling claw 110 that is movable in the D2 direction (the longitudinal direction of the slot 16) that intersects with the D1 direction in which the composite recess 97 receives the coupling rod 43. The coupling claw 11 is housed within the slot 16.
In the second embodiment, the passive device 10 includes a coupling claw 110 instead of the shutters 14 and 15. The material of the coupling claw 110 is the same as that of the shutters 14 and 15. The coupling claw 110 is also the same as the shutters 14 and 15 in that it is provided with a permanent magnet 113 and moves in the D2 direction within the slot 16. However, the difference is that while the shutters 14 and 15 are provided in pairs in the slot 16, only one coupling claw 110 is provided.
The coupling claw 110 is formed with an opening 111 into which the coupling rod 43 is fitted, and a notch 112 that opens from the opening 111 in the direction D2. The coupling claw 110 includes a permanent magnet 113 at its end in the D2 direction. In the coupling claw 110, the notch 112 is open toward the first side D2a in the D2 direction, and the permanent magnet 113 is provided at the end of the second side D2b in the D2 direction. The connecting claw 110 has a pinnate shape. The coupling claw 110 is line symmetrical in the D3 direction. The opening 111 has a circular shape with the same diameter as the groove 45a of the coupling rod 43. In a front view seen from the D1 direction, the notch 112 widens in the D3 direction as it goes in the D2 direction. The notch 112 is provided between a pair of inclined surfaces 112a facing each other in the D3 direction.
With respect to the coupling rod 43 received in the composite recess 97, the coupling claw 110 approaches the first side D2a in the D2 direction, so that the coupling rod 43 passes through the notch 112 and is fitted into the opening 111. .

The coupling rod 43 of the active device 20 is provided with an anti-rotation collar 100 . The anti-rotation collar 100 has a circular shape. The anti-rotation collar 100 is provided so as to wrap around the coupling rod 43. The anti-rotation collar 100 is provided on the outer peripheral surface of the coupling rod 43 over the entire circumference. The anti-rotation collar 100 locks onto the plate 11 when the coupling rod 43 is received in the passive device 10 (compound recess 97).

FIG. 11 shows how the coupling claw 110 of the passive device 10 is caught on the tip 45 of the coupling rod 43 of the active device 20 when the passive device 10 and the active device 20 are assembled into a deployment structure. FIG. FIG. 11(a) shows a stage before the coupling claw 110 of the passive device 10 is caught on the tip portion of the active device 20. FIG. 11(b) shows a stage in which the coupling claw 110 of the passive device 10 is caught on the tip of the active device 20, and the coupling claw 110 is towed and fitted together. This will be described in detail below with reference to FIG. 12 and subsequent figures.

FIG. 12 is a perspective view showing a stage immediately before the coupling claw 110 of the passive device 10 is caught on the tip portion of the active device 20 when the passive device 10 and the active device 20 are assembled into a deployment structure. It is a diagram. The coupling rod 43 is stationary towards the passive device 10. When a current is applied to the solenoid coil 32 of the active side device 20 in a direction in which the drive rod 33 is urged in the coupling direction, the drive rod 33 and the coupling rod 43 connected at the joint part 50 are biased in the direction of the passive side device 10. Move to. Before the coupling rod 43 is inserted into the first recess 97a of the passive device 10 in the D1 direction, the coupling claw 110 is positioned in the D2b direction with respect to the composite recess 97.

FIG. 13 shows the stage when the coupling claw 110 of the passive device 10 begins to catch on the tip of the active device 20 when the passive device 10 and the active device 20 are assembled into a deployment structure. FIG.

FIG. 14 shows that when the passive side device 10 and the active side device 20 are assembled into a deployment structure, the coupling claw 110 of the passive side device 10 is caught on the tip portion of the active side device 20, and the coupling claw 110 and the tip portion FIG. After the coupling rod 43 is inserted into the composite recess 97 of the passive device 10, current is passed through the solenoid coil 42 of the magnetic pole switching unit 40 in a direction in which the tip 45 of the coupling rod 43 becomes a magnetic pole that attracts the permanent magnet 113. Then, the connecting claw 110 is attracted by the tip end 45 of the connecting rod 43 and slides in the D2 direction.

FIG. 15 shows that when the passive device 10 and the active device 20 are assembled into a deployment structure, the coupling claw 110 of the passive device 10 is inserted into the groove 45a of the distal end portion 45 of the coupling rod 43 of the active device 20. It is a perspective view when caught. At this time, the tip portion 45 passes through the notch 112 and is fitted into the first recess 97a. The coupling claw 110 is attracted to the tip end 45 of the coupling rod 43, and after completing the fitting, the coupling claw 110 further slides in the D2 direction. As a result, the tip 45 of the coupling rod 43 moves to the smaller hole of the composite recess 97, the second recess 97b.
At this time, the coupling claw 110 can also be moved in the D2 direction with respect to the coupling rod 43 by adjusting the solenoid and reversing the magnetic pole.

By providing the coupling claw 110 in the passive device 10, the area where the distal end portion 45 (the portion of the distal end portion 45 located closer to the distal end than the groove portion 45a) is caught on the coupling claw 110 in the D1 direction increases. As a result, when the coupling rod 43 using a solenoid, which is the active side device 20, engages with the composite recess 97 provided in the passive side device 10 via the coupling claw 110, the passive side device 10 and the active side device 20 The binding force of becomes stronger.
By providing the anti-rotation collar 100, the coupling rod 43 does not rotate. That is, the rotation prevention collar 100 is caught on the plate 11 in the D1 direction, thereby preventing the coupling rod 43 from rotating around the D2 direction or the D3 direction from the tip 45 of the coupling rod 43 as a starting point. When the coupling rod 43 using the solenoid 42 of the active side device 20 engages with the composite recess 97 provided on the passive side device 10 via the coupling claw 110 and the coupling rod 43 rotates, torque is applied to the coupling. This acts on the claw 110, causing the coupling rod 43 to rotate around the D2 direction and the D3 direction with respect to the passive side device 10, resulting in the connecting rod 43 becoming diagonal. Therefore, the rotation prevention collar 100 is fitted onto the coupling rod 43 in advance to prevent the coupling rod 43 from rotating.

What has been described so far is only one embodiment of the present invention, and the technical scope of the invention is not limited by its contents.

10 Passive device 14, 15 Shutter 14b, 15b, 35, 55 Permanent magnet 17 Recess 97 Composite recess 20 Active device 30 Drive portions 32, 42 Solenoid coil 33 Drive rod 40 Magnetic pole switching portion 43 Coupling rod 50 Joint portions 60, 61 Expanded part 60a Rail 100 Rotation prevention collar 110 Connection claw 111 Opening 112 Notch

Claims (9)

A coupling device for coupling a first structure and a second structure,
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
a locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion ;
The magnetic pole switching section is
a magnetic pole switching tube that accommodates the coupling member so as to be movable in the longitudinal direction;
a magnetic pole switching solenoid coil that is wound around the magnetic pole switching tube and magnetizes the magnetized portion;
A coupling device including a power source that supplies current to the magnetic pole switching solenoid coil . A coupling device for coupling a first structure and a second structure,
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
a locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion ;
a driving part for fitting the coupling member into the receiving part ,
The drive unit includes:
a driving member made of a non-magnetic material that drives the coupling member;
a driving tube into which the driving member is inserted;
a driving solenoid coil that is wound around the driving tube and generates a magnetic field at both ends of the driving tube;
a power source that supplies current to the drive solenoid coil;
a driving permanent magnet provided in the driving member and interacting with a magnetic field generated in the driving tube;
A coupling device including : A coupling device for coupling a first structure and a second structure,
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
a locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion ;
The coupling member has a rod shape whose tip portion is the magnetized portion,
A coupling device, wherein the coupling member is provided with a rotation prevention collar that locks onto the second structure when the distal end portion of the coupling member is received in the receiving portion. A coupling device for coupling a first structure and a second structure,
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
a locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion ;
The locking part includes a coupling claw movable in a first direction intersecting a direction in which the receiving part receives the coupling member,
The coupling claw is formed with an opening into which the coupling member is fitted, and a notch that opens from the opening toward a first side in the first direction,
In a front view of the locking portion from the receiving direction, the notch widens toward the first side;
As the coupling claw approaches the coupling member received in the receiving portion toward the first side along the first direction, the coupling member passes through the notch and closes in the opening. A coupling device that is fitted into the At least a portion of the locking portion is made of a permanent magnet,
When the magnetized portion is switched to the first magnetic pole by the magnetic pole switching portion , the permanent magnet generates an attractive force with the magnetized portion, and the magnetized portion is switched to the second magnetic pole. 5. The coupling device according to claim 1, wherein the coupling device generates a repulsive force between the magnetized portion and the magnetized portion. At least a portion of the locking portion is made of a permanent magnet,
When the magnetized portion is switched to the first magnetic pole by the magnetic pole switching portion, the permanent magnet generates an attractive force with the magnetized portion, and the magnetized portion is switched to the second magnetic pole. In this case, a repulsive force is generated between the magnetized portion and the magnetized portion.
The locking portion includes a pair of shutters each equipped with a permanent magnet,
According to any one of claims 1 to 3 , wherein when the magnetized part is switched to the first magnetic pole by the magnetic pole switching part , the pair of shutters are brought into a closed state and engaged with the coupling member. Coupling device as described. 7. The shutters according to claim 6, wherein cutouts each having a predetermined shape are formed at inner end portions facing each other, and the coupling member engages with the cutouts of the pair of shutters in a closed state. Coupling device. A coupling device according to any one of claims 1 to 7 ,
a rail that is provided on the second structure and that holds the receiving part and the locking part so as to be able to guide it;
a moving part that moves the receiving part that receives the coupling member and the locking part that locks the coupling member along the rail;
The first structure is a deployable structure that changes from a stored state to a deployed state by movement of the receiving part that receives the coupling member and the locking part that locks the coupling member. A deployable structure comprising a coupling device coupling a first structure and a second structure,
The coupling device includes:
a coupling member provided on the first structure and having a magnetized portion;
a magnetic pole switching section that switchably magnetizes the magnetic pole of the magnetization section of the coupling member;
a receiving portion provided on the second structure and receiving the coupling member;
a locking portion that interacts with the magnetic pole of the magnetization portion to lock the coupling member received in the receiving portion;
The deployable structure is
a rail that is provided on the second structure and that holds the receiving part and the locking part so as to be able to guide it;
a moving part that moves the receiving part that receives the coupling member and the locking part that locks the coupling member along the rail;
The first structure is a deployable structure that changes from a stored state to a deployed state by movement of the receiving part that receives the coupling member and the locking part that locks the coupling member.

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