JPH01295772A - Robot for space - Google Patents

Abstract

PURPOSE:To reduce the volume of a robot and narrow the operational space necessary for the robot applicable to various operations by providing a compiling means for interconnecting electrically mechanically constitutional modules provided with fundamental and independent functions necessary for the operations. CONSTITUTION:A control system 5, power supply system 6 and heat control system 7 are built in a frame 8 and a visual system 1 and visual and communication systems 1, 4 are mounted on the top of the frame 8. A propulsion and position control system 3 is mounted on the bottom side of the frame 8. Also, if necessary, a plurality of manipulators 2 are mounted on the peripheral side of the frame 8 and a required end effector 9 is mounted on the end. Also, if a single functional property is requested, an operation system 10 is mounted on the back of the frame 8 and an operator M rides on the system 10 to operate a robot. Then, a mechanism system and electric instrumentation system interface 11 combines respective constitutional modules electrically and mechanically.

Description

[Detailed description of the invention] [Industrial application field] The present invention is a space power station and a space factory.

Although the form of each device is different, it can be used effectively as a system concept, such as construction work of space platforms, free flyers, space bases, etc., maintenance of the above bases, replenishment of inspection parts and supplies, work directly related to taking products home. This article relates to space robots that can be used to work in the deep sea or in contaminated environments.

[Prior Art] Based on the space shuttle or space station concept, the following concepts have been proposed in the United States, Europe, etc. for assembly work, repair work, etc. performed in outer space.

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mesRobot A r+g) ・ROT EX (Robotic
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(Icer) [Problems to be Solved by the Invention] Conventional space robots have had the following problems.

(1) Since robots were developed and designed for each type of work, it will be necessary to continue to develop and design robots for each type of work, which will require huge development costs.

・Both the hardware and software of each robot are not compatible, and the interfaces are not standardized.

・There are many types of parts, making it difficult to maintain the robot.

・Multiple operation systems were required to operate a wide variety of robot types.

There were drawbacks such as.

(2) The robots that were developed as all-purpose robots were extremely large and had limited maneuverability, limiting the types of work they could do.

(3) Based on the experience of long-term spaceflight, the following points have been pointed out and improvements are desired.

・Things with complex structures tend to break down in space.

・Robots that can handle a wide range of tasks both inside and outside the ship are needed.

- Must be able to procure spare parts on their own.

・The robot needs to be highly independent.

Therefore, an object of the present invention is to provide a space robot that has a simple structure, high reliability, versatility, and low manufacturing cost.

[Means and effects for solving the problems] In order to solve the above problems and achieve the objects, the present invention takes the following measures.

(1) Create a configuration module that has any one of the basic configurations such as perceptual function, intelligence, communication, actuation function, and movement function, and make it possible to organically combine these modules.

(2) Each component module will be able to respond to the demands of various tasks faced in space by making it possible to perform its functions independently.

(3) For tasks that are expected to occur in the future, it will be possible to combine new configuration modules.

(4) Mechanical and electrical interfaces will be standardized and unified between each space robot and each constituent module.

(5) When working in outer space, a configuration module with a manipulator function allows for automatic organization to adapt to new work demands. Further, the dispersed component modules after use can be recovered by using a manipulator.

(6) When working in outer space, in order to enable the robot to respond to the demands of new tasks, the capacity of each component module should be minimized, and any components that are not necessary for the task should be be able to be deleted.

(7) It is possible to organize configuration modules that can be operated by a man.

[First Embodiment] FIGS. 1(a) and 1(b) are perspective views showing the configuration of a first embodiment of a space robot, and FIG. 2 is a block diagram showing the configuration of the robot and an external operation system.

The visual system 1 corresponds to the human eye, and is composed of a lens, an optical sensor, and the like.

This vision system 1 captures targets when the space robot moves or docks. Furthermore, when working with a manipulator or the like, the relative position between the target object and the end effector 9 is captured, enabling remote monitoring and image feedback control.

The manipulator system 2 corresponds to a human arm and is composed of a plurality of links, joints, and the like. For this reason, the links can be expanded and contracted, and the joints can be rotated and rotated freely.
have a large degree of freedom.

In addition, the motors, actuators, etc. built into the drive system are
It operates by receiving power, thermal control medium, control signals, etc. through the mechanical/electrical system interface 11.

The propulsion φ attitude control system 3 corresponds to human legs, and is equipped with a plurality of injection jets, an injection control mechanism, and a propellant tank, and is autonomously driven by a control system, and
Controlled by an operating system or central operating system, rotating about each axis.

It becomes possible to perform parallel movement.

The communication system 4 corresponds to one human ear, and is a transmitting/receiving device including directional antennas of various bandwidths. Command and data transmission from central system.

It receives telemeter communication and transmits it to the control system, and also sends space robot information to the central operating system 21.

The control system 5 corresponds to the human brain, and is composed of a computer system that executes operation control, fault diagnosis, transmission data processing, etc. of the space robot system.

The power supply system 6 is a manipulator motor and a thermal control device drive motor of a space robot system.

It is equipped with a battery for supplying power used by each control electronic device, etc., and is charged as appropriate.

Thermal control system 7 is a movable part of the manipulator.

This is a device for forced cooling of control equipment, etc.

The frame 8 is a body part of the space robot, and has a structure to which various constituent modules can be attached or installed.

The end effector 9 corresponds to a human hand, and by being attached to the tip of the manipulator 2, it becomes possible to perform fine operations.

The operation system 10 is a device for enabling manned operation of the robot system, and is an operation panel.

It consists of the pilot's boarding platform 1, etc.

The mechanical system/electrical system interface 11 is an interface for functionally connecting each component module, such as mechanical connection, fluid pipe connection, power and signal connection, etc., and can be automatically attached and detached. In addition, special connectors are provided between the equipment provided for each task and the component modules. lla is an interface between the orbiter and the frame 8 when the robot system 20 is operated by a manned person.

The tool box 12 is provided to store general-purpose tools such as the end effector 9 and to be able to be taken out as needed.

The central operation system 21 is a device for remotely controlling and monitoring the space robot system, and includes an electrical system interface 221, a display system 23, a control system 24.
Power system 251 Communication system 26. Operation system 2
7.

This central operation system 21 is installed on the ground or on an orbiter, and information between this central operation system 21 and the space robot system 20 is transmitted wirelessly or by wire using various frequency bands.

Reception is performed.

The operation or function of the first embodiment having the above configuration will be described below. Control system 5 on frame 8.
A power supply system 6 and a thermal control system 7 are built in, a vision system 1 and a communication system 4 are attached to the top of the frame 8, and a propulsion/attitude control system 3 is attached to the bottom side of the frame 8. Further, a plurality of manipulators 2 are attached to the peripheral side of the frame 8 as necessary, and a required end effector 9 is attached to the tip thereof. In addition, when independent functionality is required, an operating system 10 is attached to the back of the frame 8 and an operator M is on board to operate the robot, or from a central operating system 21 installed on the ground or inside the orbiter. By sending an operation signal to the robot, the robot moves while controlling its direction and approaches a target object. Then, the manipulator 2 performs the work. The configuration of the space robot shown in Figs. 1 and 2 is such that all of the above-mentioned constituent modules are attached and have all-purpose functions, and other constituent modules or parts may be removed or removed depending on the work in question. can be added.

[Second Embodiment] FIG. 3 is a perspective view showing the configuration of a second embodiment of the present invention, and FIG. 4 is a block diagram showing the configuration including an external operation system.

In FIGS. 3 and 4, the same parts as in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed explanations will be omitted.

Reference numeral 11 denotes a mechanical/electrical interface that mediates the exchange of information between the trolley system 30 installed separately in the ship and the space robot system. Reference numeral 31 denotes an operation panel that is the object of work of the space robot.

A space robot or a person attaches the manipulator 2 to a trolley system 30 installed in advance in the ship via a mechanical/electrical system interface 11.

By doing so, when it is difficult for a person to perform the work inside the ship, the robot can operate the work target such as the control panel 31 by the operator M operating the central operation system 21.

[Third Embodiment] FIG. 5 is a perspective view showing the configuration of a third embodiment of the present invention, and FIG. 6 is a block diagram showing the configuration including an external operation system.

In FIGS. 5 and 6, the same parts as in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed explanations will be omitted.

Control system 5 on frame 8. A power supply system 6° and a thermal control system 7 are installed inside the frame 8, and a visual system 1. By controlling a space robot equipped with a propulsion/attitude control system 31 and a communication system 4, it is possible to monitor and inspect the operating state of an object (not shown) using the display system 23 of the central operation system 21. .

By controlling the robot system 20 from the central operation system 21 to rendezvous toward the object that requires monitoring, the robot 20 can move toward the object using its own propulsion/attitude control system 3. and execute the rendezvous action. Then, image information captured by the visual system 1 about the operating state of the object is sent from the communication system 4 to the central operation system 21. The central operation system 21 displays the received image showing the state of the object using the display system 23, and the operator M monitors the state of the object.

[Fourth Embodiment] FIG. 7 is a perspective view showing the configuration of a fourth embodiment of the present invention, and FIG. 8 is a block diagram showing the configuration including an external operation system.

In FIGS. 7 and 8, the same parts as in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed explanations will be omitted.

Control system 5 on frame 8. A space robot equipped with a built-in power supply system 6° thermal control system 7 and a visual system 1° manipulator 2 is connected to an orbiter 40 via a mechanism/transmission system interface 11. At this time, the work of attaching the special connector to the orbiter 40 is performed in advance by a person or by another space robot system in outer space. When the operator M operates the operation system 27, the robot system 20 performs work in outer space.

In addition, the control system built into the robot 5. A control system that can be substituted for the power supply system 6 and the thermal control system 7,
f! If the power source system and thermal control system system are in the orbiter 40, the control system 5 and the power supply system 6 are installed in the robot.
, there is no need to incorporate a thermal control system 7.

[Fifth Embodiment] FIG. 9 is a perspective view showing the configuration of a fifth embodiment of the present invention, and FIG. 10 is a block diagram showing the configuration including an external operation system. In FIGS. 9 and 10, the same parts as in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed explanations will be omitted.

' Control system 5 on the frame 8. A power supply system 6 and a thermal control system 7 are built in, and a visual system 1. Manipulator 2. A space robot equipped with a propulsion attitude control system 31 and a communication system 4 moves a cargo 50 to a manipulator 2 and an end effector 9 based on control signals from a central operation system 21 on the ground or in an orbiter.
The conveyance object 50 is held and conveyed to the conveyance target position.

Note that this embodiment is not limited to the embodiment described above. The present invention is a space robot that can be configured to perform work by appropriately combining configuration modules developed for each function. Of course, various modifications can be made to the aspect.

[Effect of the invention] According to the present invention, the following effects are achieved.

(1) Since it can be organized using the minimum necessary configuration modules, it has the effect of saving energy and electricity consumption, and as the capacity of the robot becomes smaller, the work space required for the robot becomes smaller, making it easier to perform various tasks. It becomes possible to use it for

(2) Since the number of parts required for the work is minimized, the possibility of accidents occurring can be minimized and reliability is improved.

(3) Compatibility of each component module and commonality of interfaces simplify the robot system, control system, etc., improve serviceability, and extend service life.

(4) Since it is possible to update and add configuration modules,
Design of robot systems for each type of work.

There is no need for development, resulting in huge cost benefits.

(5) By incorporating a manned operation system into the space robot of the present invention, various tasks can be performed in outer space.

Thus, the space robot has a simple structure, high reliability, versatility, and low manufacturing cost.

can provide the following items.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the first embodiment of the present invention, and FIG.
The figure is a block diagram showing the configuration of the first embodiment including an external operation system, FIG. 3 is a perspective view showing the second embodiment of the present invention, and FIG. 4 is a block diagram showing the configuration of the second embodiment including the external operation system. FIG. 5 is a perspective view showing the third embodiment of the present invention; FIG. 6 is a block diagram showing the structure of the third embodiment including an external operation system; FIG. 7 shows the fourth embodiment of the present invention.
FIG. 8 is a block diagram showing the configuration of the fourth embodiment including an external operation system; FIG. 9 is a perspective view showing the fifth embodiment of the present invention; FIG. FIG. 10 is a block diagram showing the configuration of the fifth embodiment including an external operation system. 1...Visual system, 2...Manipulator, 3.
...propulsion/attitude control system, 4...communication system,
5... Control system, 6... Power supply system, 7...
・Thermal control system, 8...Frame, 9...End effector, 10...Operation system, 11...Mechanical system/electrical system interface, 20...Robot system, 21...Central operation system , 22... Electrical system interface, 23... Display system, 24
...Control system, 25...Power supply system, 26.
...Communication system, 27...Operation system, 30...
- Trolley, 31... Control panel, 40... Orbital ship. Applicant's representative Patent attorney Takehiko Suzue Preface to the drawings: (no changes to approx. 8) (a) Figure 1 Figure 3 Figure 5 Figure 7 Figure 9 Procedural amendment June 17, 1988; Director General of the Patent Office Gu 1) Moon Yi 1, Indication of the case Patent Application No. 122780/1983 2, Name of the invention Space robot 3, Person making the amendment Relationship to the case Patent applicant C620) Mitsubishi Heavy Industries, Ltd. 4. Agent U&E Building, 3-7-2 Kasumigaseki, Chiyoda-ku, Tokyo io
o Telephone 03 (502>3181 (main representative)) As shown in the engraving appendix of the drawing originally attached to the application (no change in content)

Claims (1)

[Claims] A universe characterized by comprising component modules that have basic functions and independent functions necessary for work, and organizing means that includes a standardized interface that allows electrical and mechanical connection between the component modules. robot.