JPH0224073A - Module formation for outboard action robot for cosmic ship - Google Patents

Abstract

PURPOSE:To efficiently carry out the work by the outboard action of a cosmic robot by installing a manipulation module and a propulsion module so as to be joined in sandwich form and separated freely and permitting the soft and efficient disposition for a variety of works supposed on the outboard action robot for cosmic ship. CONSTITUTION:A manipulator module 10 is equipped with a plurality of manipulators 13 and 14 for operating at least an outboard action robot for cosmic ship, environment recognition sensor 19, measuring means 23 for measur ing the position and attitude of the robot itself, propulsion means 24 for the shift in a small distance. attitude control means, communication means 21. Further, a propulsion module 30 is equipped with a propulsion means 35 for the shift in a large distance, measuring means 34 for the position and attitude of the robot itself, propulsion means 35 for the shift in a small distance, attitude control means, communication means 31. These modules 10 and 30 are joined in sandwich form or separated freely through the joint mechanisms 26 and 38 and a joined mechanism.

Description

[Detailed description of the invention] Table of contents Overview ・ ・ ・ ・ ・ ・ ・ ・
・ ・ ・ 4 pages Industrial application fields ・・・・・・・
・Page 5: Prior art ・・・Page 6: Problems to be solved by the invention ・Page 7: Means for solving the problem ・・Page 8: Effects ・・
・ ・ ・ ・ ・ ・ ・ ・ ・ ・ 10 pages actual
Example ・ ・ ・ ・ ・ ・ ・ ・ ・
・ ・ Page 13 Effects of the invention ・・・・・・・・・・・3
3 page summary Regarding the modularization method of space extravehicular activity robots, which divides space extravehicular activity robots into modules and combines them as necessary, to obtain the optimal combination according to the work content in outer space. The purpose of the present invention is to provide a modularization method for a space extravehicular activity robot that can perform tasks, and the space extravehicular activity robot at least has a plurality of manipulators for performing work,
An environment recognition sensor, a means for measuring one's own position and orientation,
A manipulation module equipped with a propulsion means for short-distance movement, an attitude control means, and a communication means, a propulsion means for long-distance movement, and a means for measuring its own position and attitude;
It is composed of a propulsion module equipped with a propulsion means for short-distance movement, an attitude control means, and a communication means, and the manipulation module and the propulsion module have a common coupling mechanism and a coupled mechanism at the front and rear, respectively. , the manipulation module and the propulsion module are configured so that they can be combined and separated in a sandwich manner.

Industrial Application Field The present invention is a space extravehicular activity robot that divides a space extravehicular activity robot into modules and combines them as necessary.
Regarding the modularization method.

As humanity advances into outer space, various tasks outside the spacecraft will become increasingly important, but extravehicular activities by astronauts are extremely dangerous considering the special environment of space. Considering that the work hours and range of work that humans can do outside the spacecraft are limited, there is also the problem of poor work efficiency. Therefore, there is a need for technology for space-use extravehicular activity robots that can move freely in outer space and perform various extravehicular activities.

Work items that this space extravehicular activity robot is required to perform include assembling large structures such as antennas, factories, and platforms, inspecting and repairing space equipment such as artificial satellites, equipment, and orbital exchange units (ORUs). It covers a wide range of areas, including replacing satellites, collecting artificial satellites, dust, etc., and even replenishing fuel. Therefore, there is a need for a space extravehicular activity robot that can flexibly handle each of these tasks.

Conventional technology There is currently no space-use extravehicular activity robot in practical use, but conventional space-use extravehicular activity robots that have been proposed include:
Manibiniration function, environment recognition function, posture side required for that! O function, navigation/guidance control function, communication function,
It was an all-in-one, versatile robot with all other functions built into the main body. Alternatively, only the long-distance transportation engine has been proposed as being removable, and it can be used by attaching it to the main body as needed.

Problems to be Solved by the Invention As described above, conventional technology uses general-purpose robots equipped with various functions to cover various tasks, so it is not necessarily the case that the functional configuration is optimal for each task. figure,
Inefficient in carrying out work. Furthermore, since functions that are useless for a given task are installed, there is a problem in that the fuel energy required for movement and the like is wasted. Additionally, when launching space extravehicular activity robots 7) from the ground to space, conventional all-in-one types must be launched all at once, which requires the preparation of a launch vehicle with a large launch capacity. . Furthermore, if the parts are launched in parts rather than all at once, there is a problem that the assembly method is not simple, and if the parts are not unified, it takes a lot of effort to assemble them in space.

Furthermore, since various functions are integrated into the main body, inspection and
There are problems such as difficulty in maintenance and difficulty in maintaining high reliability of the entire system.

The present invention has been made in view of these points, and its purpose is to provide a modular system for space extravehicular activity robots that can obtain optimal combinations depending on the work content in outer space. The goal is to provide the following.

Means for Solving the Problem A space extravehicular activity robot must have at least a plurality of manipulators for performing work, a sensor for environment recognition, a means for measuring its own position and orientation, and a propulsion means for short-distance movement. , a manipulation module equipped with an attitude control means, a communication means, a propulsion means for long-distance movement, a means for measuring one's own position and attitude, a propulsion means for short-distance movement, an attitude control means, , and a propulsion module equipped with communication means. Further, the manipulation module and the propulsion module each have a coupling mechanism and a coupled mechanism at the front and rear thereof, and the manipulation module and the propulsion module are configured to be able to be coupled and separated in a sandwich-like manner.

In addition, as a desirable aspect, an optional module is prepared that provides functions specific to various tasks envisioned for the space extravehicular activity robot, and the optional module has a coupling mechanism and a coupled mechanism at the front and rear, and the manipulation The module, propulsion module, and option module are constructed so that they can be combined and separated in a sandwich manner.

Furthermore, the coupling mechanism and coupled mechanism of each module are common, and information, energy, etc. can be mutually communicated and transmitted through the coupling part.
By providing a common inter-module coupling bus for sending and receiving, a plurality of modules can be coupled in any combination in any order.

Function The present invention is configured such that the space extravehicular activity robot is separated into a manipulation module, a propulsion module, and an option module, and each of these modules can be combined and separated in a sandwich-like manner. ,
A simple and reliable module combination method can be realized. Furthermore, since each module of ah can be combined in any combination and in any order, it is possible to: (2) Use one or more manipulation modules and propulsion module in combination; (3)
(4) Use one or more optional modules in combination with a propulsion module; (5) One or more manipulation modules (6) Use a combination of a manipulation module and a plurality of option modules combined with a propulsion module, ( 7) Establish the optimal configuration by using optional modules according to the content of the work from among the combination methods (1) to (6) above, combined with a remote manipulator system, etc. It has the characteristic that it is possible to

Due to this feature, there is no need to prepare dedicated robots for each type of work, and compared to the method of preparing general-purpose robots equipped with various functions to cover various types of work, it is possible to create an optimal configuration for each type of work. It is possible to perform various tasks efficiently, and only the minimum necessary functions can be installed on a space extravehicular activity robot, so fuel energy required for movement etc. can be kept to a minimum.

In addition, when launching an extravehicular activity robot for space from the ground to space, the ability to split it up and launch it individually and reconfigure it in space reduces the weight of a single launch compared to conventional integrated robots. There is no need to prepare the heaviest and largest launch vehicle that can be launched. Furthermore, if each module has a polygonal column (including cylinder) shape, it can be easily transported by rockets, space shuttles, etc., and if a coupling mechanism and a coupled mechanism are provided at the front and rear of the central axis direction, multiple modules can be coupled. Even in this state, it still maintains its polygonal column (cylindrical pedestal) shape, making it easy to transport and increasing the volumetric efficiency of the luggage compartment.

Furthermore, since the coupling mechanism and the coupled mechanism of each module are unified, assembly in space after launch can be done by two fixed methods, and automation is also easy. In addition, by using the coupling mechanism and the coupled mechanism to stack and store each module, there is no need to prepare a storage mechanism for each module, compact storage can be realized, and it is also possible to launch new modules. Later storage can also be handled flexibly. Furthermore, since the modules are divided according to various functions, the reliability of the entire system can be maintained high, and each module can be inspected and maintained individually.
Easy to inspect and maintain.

Embodiments The present invention will be explained in detail below based on embodiments shown in the drawings.

FIG. 1 is a perspective view of an embodiment of the present invention in a module separated state. In the figure, 10 is a manipulation module, in which a first body 11 having an octagonal prism shape and a second body 12 also having an octagonal prism shape are laminated, and the first body 11 and the second body 12 are arranged around the central axis. are rotatable with respect to each other. For example, two 7-degree-of-freedom manipulators 13 each having a total length of about 4 m are attached to the second body 12, and two 4-degree-of-freedom manipulators 14 each having a total length of about 4 m, for example, are attached to the first body 11. End effectors (hands) 15.degree. 16 are attached to the tips of the 7-degree-of-freedom manipulator 13 and the 4-degree-of-freedom manipulator 14, respectively. Furthermore, a wrist three-dimensional camera 17 is attached near the tip of the seven-degree-of-freedom manipulator 13.

Reference numeral 18 designates replacement end effector storage boxes, two of which are provided on both sides of the second main body 12. 19 is an illuminated stereoscopic vision sensor, and a 6-degree-of-freedom sensor manipulator 2
0 to the second body 12. The first main body 11 is provided with two wireless communication antennas 21, and a GPS (global positioning system) antenna 22 is attached to the wireless communication antennas 21. 23 is a position/orientation sensor.

24 is a propulsion device for short distance movement and attitude control;
A plurality of them are provided around the first main body 11. These propulsion devices 24 have injection port angles different from each other, and by selectively operating some of the plurality of propulsion devices 24, the manipulation module 10
The aim is to achieve postural control or to move over short distances.

25 is an orbit replacement unit (○RU), which includes, for example, replacement parts for artificial satellites, fuel, space structure assembly members, etc.

At the center of the front surface of the manipulation module 10, a coupling mechanism 26 for coupling each module is provided so as to protrude in the central axis direction.

Further, in the center of the back surface of the manipulation module 10, there is provided a coupled mechanism that is coupled by a coupling mechanism of another module. 27 is a coupled mechanism for RMS (Remote Manipulator System) which will be described later.

Reference numeral 30 denotes a propulsion module, which has an octagonal prism-shaped body 30° similar to the manipulation module 10. 31 is a wireless communication antenna, and 32 is a GPS antenna. 33 is an illuminated stereoscopic vision sensor. 34 is a position/orientation sensor. 35 is a propulsion device for short distance movement and attitude control, and the propulsion module 30
Multiple pieces are provided on the side of the. The injection ports of each propulsion device 35 are attached at angles shifted from each other, and attitude control of the propulsion module 30 is achieved by selectively operating some of the propulsion devices 35.

36 is a solar battery paddle, which is foldably attached to the side of the propulsion module 30.

Further, the propulsion module 30 has a radar device 37, and a coupling mechanism 38 for coupling the modules to each other is provided at the center of the front surface of the radar device 37 and protrudes in the direction of the central axis. On the back surface of the propulsion module 30, there is provided a coupled mechanism that is coupled by a coupling mechanism of another module, and a propulsion engine for long-distance movement. 39 is a coupled mechanism for RMS.

Reference numeral 40 denotes a RU (orbit exchange unit) mounting module, which is a type of optional module, and has a main body 41 having an octagonal prism shape similar to the above-mentioned manipulation module 10 and propulsion module 30. ORU
A replacement ORU 42 is mounted on the side surface of the mounted module 40.

A connecting mechanism 43 for connecting other modules is provided protruding from the center of the front surface of the ORU mounting module 40, and an RMS mounting base connecting mechanism 4 is provided on the side of the connecting mechanism 43 for connecting other modules.
I've been kicked out by 4. The above-mentioned coupling mechanisms 26, 38, and 43 have exactly the same configuration, and the RMS work base coupling mechanism 27
9.44 also has exactly the same configuration.

Reference numeral 45 denotes an RMS (remote manipulator system), whose base end is attached to a structure such as a space base, and whose tip end has a coupling mechanism 46 having the same configuration as the coupling mechanism of each module described above. It is provided. R
The coupling mechanism 46 of the MS 45 can be coupled to the RMS receiving base coupling mechanism 279.44 provided on the side of each module, or coupled to a coupled mechanism (not shown) provided on the back of each module. , RMS 45 can be used to combine and separate each modicoll.

The space extravehicular activity robot of this embodiment thus includes the manipulation module 10 and the propulsion module 30.
and an ORU mounting module 40, and are assembled integrally by connecting these modules in a sandwich-like manner in the direction of the central axis.

Next, examples of optional modules will be explained with reference to FIGS. 2 to 4. FIG. 2 is a perspective view of the ORU-mounted module, and shows the ORU-mounted module 4 shown in FIG.
Since it has the same configuration as 0, its explanation will be omitted. FIG. 3 is a perspective view of the cargo module, and the cargo module 4-7 is constructed by attaching a lid 49 to a main body 48 in the shape of an elongated prism. In addition, a coupling mechanism 50 is provided at the center of the front surface thereof and protrudes in the direction of the central axis. Fourth
The figure shows a perspective view of an astronaut boarding module 52, in which a cockpit 54 in which an astronaut boards is provided on the side of an octagonal prism-shaped main body 53. Numeral 55 is a propulsion device for short-distance movement and attitude control, and a plurality of propulsion devices are installed on the side of the main body 53. Other modules are connected to the front center of the astronaut boarding module 52. A coupling mechanism 56 is provided protruding in the direction of the central axis.When the space extravehicular activity robot is operated by human operation, it can be remotely controlled from a command station in space such as a space base or a command station on the ground. However, in the event of an emergency, humans may want to go to the scene.The astronaut boarding module 52 shown in Figure 4 makes this possible, and the astronaut can board the cockpit 54 and go to the scene. This will allow astronauts to directly operate the robot.

FIG. 5 shows a perspective view of an embodiment of the present invention in which the manipulation module 10, the ORU module 40, and the propulsion module 30 are combined. By combining the propulsion module 30, long-distance movement is possible, and O
With the RU mounting module 40, it is possible to carry multiple 0RUs 42 at once and go to the site (in some cases, multiple sites) to exchange them, which improves work efficiency.

! 601 Manipulation module 10, a cargo module 47, and a propulsion module 30 are combined.The figure shows a perspective view of an embodiment of the present invention in which a 601 manipulation module 10, a cargo module 47, and a propulsion module 30 are combined.After heading to the site in this combined state, only the manipulation module 10 is separated and the cargo Assembly materials can be taken out from the module 47 and assembly work can be performed efficiently.

FIG. 7 shows a perspective view of an embodiment of the present invention in which the manipulation module 10, the astronaut boarding module 52, and the propulsion module 30 are combined. An astronaut boards the astronaut boarding module 52,
The propulsion engine of the propulsion module 30 is fired and the astronaut heads to a distant site, and the astronaut directly operates the manipulator 13.
14 can be operated to perform the work.

FIG. 8 Hamanipulation module 10, cargo module 47, and astronaut boarding module 52
2 shows a perspective view of an embodiment of the present invention in which a propulsion module 30 is combined. In this embodiment, a cargo module 47 is added to the combination shown in FIG. 7, and a large amount of assembly materials can be loaded into the cargo module 47 and then headed to the site.

Furthermore, since the configuration is such that the number of manipulation modules 101jt can be combined, a configuration as shown in the schematic diagram of FIG. 9 is also conceivable. This is exactly the image of a large truck with multiple workers (four in Figure 9) heading to the site. FIG. 10 shows a perspective view of an embodiment of the present invention in which the manipulation module 10 and propulsion module 30 are combined. In this way, it is also possible to go to the site and perform work without connecting any optional modules.

FIG. 11 is a perspective view of the embodiment showing the working state, in which the manipulation module 10 has four manipulators 1.
3 and 14, the structure 58 is being assembled. That is, while recognizing the site environment using the illuminated stereoscopic vision sensor 19, the manipulator 14 attaches to the structure 58, the manipulator 13 extracts the material 57 mounted on the RU mounting module 40, and the structure 58 is assembled. . FIG. 12 is a perspective view of another embodiment showing the working state, and in this embodiment, the RMS
45 controls the feats of space extravehicular activity robots.

Figure 13 is a schematic diagram showing how to store the module! and
RMS 45 is attached to spacebase structure 60. Manipulation module 10 by RMS 45. Uniform module 30, ○RUMe module 40
, the coupled mechanisms 27, 39° 44, etc. provided on the sides of the cargo module 47, etc. are grasped, and each module is stacked and stored in the space base structure 60 in an arbitrary order.

Space base structure 60 is also provided with a similar coupling mechanism. 61 is a spacecraft such as a space shuttle. Since each module is stored in a stacked state using the coupling mechanism in this way, it is possible to flexibly accommodate the increase in the types and number of modules.

By adopting such a storage method, materials can be efficiently supplied from, for example, the space shuttle 61 to the cargo module 47 and the like. If necessary, the 13th
In the stored state shown in the figure, each module can be controlled, such as opening the lid of the cargo module 47, through the signal line of the coupling section. Also, in this storage location, the necessary modules can be assembled to assemble an extravehicular activity robot for space, and it can be dispatched to the field. These assembly and storage operations can be easily automated because they use a simple and unified connection method.

Next, with reference to FIGS. 14 and 15, a conventionally known catching mechanism for a peg that connects each module will be described. FIG. 14 shows a schematic diagram of the capture mechanism, in which the capture cylinder 6
An inner ring 63 and an outer ring 64 are attached to 2, and the inner ring 63 is configured to be rotatable with respect to the outer ring 64. A snare wire 65 is wound around the inner ring 63 and the outer ring 64. 66 is a capture shaft captured in capture cylinder 62.

Thus, as shown in FIGS. 14 and 15A, when the capture shaft 66 is captured in the capture cylinder 62,
As shown in FIG. 15(B), the inner ring 63 rotates and the snare wire 65 approaches the capture shaft 66. When the rotation of the inner ring 63 is completed, the first
As shown in FIG. 5(C), the snare wire 65 tightens the capture shaft 66, and the capture shaft 66 is captured at the center of the capture cylinder 62. Such a capture mechanism is
It is suitable for effectively capturing objects at the center in space, where there is no gravity.

Next, with reference to FIGS. 16 and 17, the coupling mechanism of each module including the above-mentioned capturing mechanism will be described. FIG. 16 is a sectional view of the coupling mechanism, and FIG. 17 is a front view of the coupling mechanism. A recess 68a is formed in the rear end surface (back surface) of the module 68, and a capture shaft (coupled mechanism) 66 is provided in this recess 68a. Furthermore, a power/signal connector 69 is provided in this recess 68a. As best shown in FIG. 17(A), three fitting holes 70 having a conical slope are provided on the back surface of the module 68, and a throttle mechanism 71 is installed in the fitting holes 70. installed. Additionally, a capture cylinder (coupling mechanism) 62 is attached to the front surface of the module 74, and as best shown in FIG. 17(B), three conical positioning bins 75 are attached to the module 68.
It is provided corresponding to the fitting hole 70 provided on the back surface of the. 76 is a spacer for determining the bonding plane.

In FIG. 17, 72 is a marking mark,
77 is a docking camera. While monitoring the marking mark 72 with the marking camera 77, coarse positioning of both modules 68, 74 is achieved by the propulsion device for short distance movement and attitude control.

After roughly positioning both modules 68 and 74 using a propulsion device for short-distance movement and attitude control, or by RMS at a space base, both modules 68 and 74 are moved by the capture mechanism explained in FIGS. 14 and 15. ．．
74 into each other. At this time, the pin 75 and the fitting hole 7
The center axis, rotation angle, parallelism, etc. of both modules can be precisely positioned by the 0-angle inclined surface. After the retraction is completed, both modules are completely fixed by the coupling and fixing aperture mechanism 71 as shown in FIG. 16(B).

Next, the control system for each module will be explained with reference to FIGS. 18 to 30. FIG. 18 is a schematic diagram of the system configuration of each module.
7 includes a plurality of subsystems 78, . 782. ..., 7
8 are connected, and each of these subsystems is controlled by a module central controller 77. The module central controller 77 is also connected to the central controllers of other modules via an inter-module coupling bus 79 and a bus arbitration master selection subsystem 80.

Figure 19 shows system A of the manipulation module.
The figure shows a manipulation module central control unit 81, a manipulator control subsystem 82, a visual processing subsystem 83, and a propulsion/attitude control subsystem 84.
, a docking control subsystem 85 , a power management subsystem 86 , and a communication control subsystem 87 are connected, and each of these subsystems is controlled by the manipulation module central controller 81 .

FIG. 20 is a system configuration diagram of the propulsion module, in which the propulsion module central control unit 88 includes a visual processing subsystem 89, a propulsion/attitude control subsystem 90, a docking control subsystem 91, an iE source management subsystem 92, and a communication control subsystem. systems 93 are connected and each of these subsystems is controlled by propulsion module central controller 88.

! 21E is a manipulator control subsystem 82 and a visual processing subsystem 83 of the manipulation module.
, in which a manipulator integrated control device 94 and a visual processing control device 101 are connected to a manipulation module central control device 81. A seven-degree-of-freedom manipulator control device 95 and a four-degree-of-freedom manipulator control device 96 are connected to the manipulator general control device 94 . The 7-degree-of-freedom manipulator control device 95 controls the 7-degree-of-freedom manipulator 13 based on the information from the 6-axis wrist sensor 97, and the 4-degree-of-freedom manipulator control device 96 controls the 4-degree-of-freedom manipulator 13 based on the information from the 6-axis wrist sensor 99. The degree of freedom manipulator 14 is controlled. These 6
The axis wrist sensor 97,99 is a force sensor attached to the wrist position of the manipulator. The manipulator integrated control device 94 further includes end effectors 15, 16,
It controls the end effector storage box 18, the wrist three-dimensional camera 17, and the end effector mounting parts 98 and 100.

The manipulator general control device 94 controls the sensor manipulator 20 via the sensor manipulator control device 103.
The visual processing control device 101 controls the camera control device 1.
02 to control an illuminated stereoscopic vision sensor 19.

122 [Shows the propulsion/attitude control subsystem of the manipulation module. A propulsion/attitude control device 104 is connected to the manipulation module central control device 81, and the propulsion/attitude control device 104 performs propulsion/attitude control.
Controls the attitude control actuator (propulsion device, etc.) 24° and position/attitude sensor 23'.

23 shows the docking control subsystem of the 23rd Cffllt manipulation module, in which a docking mechanism control device 105 is connected to the manipulation module central control device 81, and the docking mechanism control device 1f) 5 is connected to the docking mechanism control device 105. sensor 10
6. Docking mechanism before and after the module 107.1
Controls 08.

In addition, power system/signal system connectors 109 before and after the module
．． 110, an inter-module coupling bus 79, and a power supply line 111 to electrically connect each module.

FIG. 24 shows the power management subsystem of the manipulation module, where the power management control 12112 is controlled by the manipulation module central controller 81. The power management control bag ff1l12 controls the power supply to various parts of the manipulation module.
For example, the state of charge of the built-in battery 113 is monitored and charged or switched to a power source via an inter-module connector.

FIG. 125 shows the communication control subsystem of the manipulation module, in which a communication control device 114 is connected to the manipulation module central control device 81, and this communication control device 114 is connected to the antenna drive side ill.
The antenna drive stand 116 to which the antenna 21 is attached is driven via the device 115 to orient the antenna 21 in a predetermined direction, and then controlled via the communication processing device 117 so that the antenna 21 performs wireless communication. There is.

FIG. 26 shows the propulsion/attitude control subsystem of the propulsion module, in which a propulsion/attitude control device 119 is connected to a propulsion module central control device 118. The propulsion/attitude control device 119 includes a propulsion/attitude control actuator (
The navigation control device 120 controls a propulsion engine 121 for long-distance movement and a propulsion/attitude control device 119.

FIG. 27 shows the docking control subsystem of the propulsion module, in which a docking mechanism control device 122 is connected to the propulsion module central control device 118, and this docking mechanism control gfj device 122 is connected to the docking sensor 123 and the module Controls front and rear docking mechanisms 124°125. Further, the modules are electrically connected by power system/signal system connectors 126, 127 before and after the modules, an inter-module coupling bus 79, and a power supply line 111.

FIG. 28 shows the visual processing subsystem of the propulsion module, in which a visual processing control device 128 is connected to the propulsion module central control device 118, and this visual processing control device 128 is connected to the propulsion module central control device 118 via a pan head control device 129 to control the illumination. A pan-tilt telescopic pan head 1 equipped with a stereoscopic vision sensor 30
After the stereoscopic visual sensor 30 is directed in a predetermined direction, information from the illuminated stereoscopic visual sensor 30 is captured via the camera control device 131.

FIG. 29 shows the power management subsystem of the propulsion module, in which a power management control device 132 is connected to the propulsion module central control device 118. The power management control device 132 controls the power supply to various parts of the propulsion module and the power supply to other modules via the connector of the coupling part and the power supply line. Power management control device 1
32 controls the direction and opening/closing of the solar battery paddle 36 via a paddle orientation/opening/closing control device 133 as needed, charges the built-in battery 134, and provides a power source for the solar battery paddle 36 and the built-in battery 134. Performs switching control.

FIG. 30 is a schematic diagram showing the connection state of each module, in which each module is connected via a connector 69, an inter-module connection bus 79, and a bus arbitration master selection subsystem 80. As is clear from the above description and FIG. 30, each module is comprised of a central controller and a plurality of subsystems that control and execute the individual functions and various management functions of each module. The control software of these central controllers and subsystems can be communicated externally via inter-module coupling bus 79 and thus:
It is also possible to remotely rewrite the software via a module with communication means. It is also possible to directly control the subsystems of one module from the central controller of another module, which serves as a master module. Furthermore, sensors and actuators (manipulators, propulsion devices, cameras, etc.) controlled by each subsystem can be connected to the space station via antennas 136 and 137, for example, by setting the subsystem and module central controller to slave operation mode. etc. control device 135
Alternatively, it can be directly controlled by a remote control device such as a command station on the ground (including remote control by an operator).

Regarding the relationship between master and slave of each module, if a manipulation module is included, one of them should be the master, and if a propulsion module is included in other cases, it is desirable that one of them be the master. .

Further, the option module is usually not used alone, but is controlled by other modules.

Effects of the Invention Since the present invention is configured as detailed above, it is possible to adopt a configuration that can flexibly and effectively deal with various tasks expected for a space extravehicular activity robot, and the robot will be used in future space exploration. This has the effect of greatly contributing to the efficiency of work through extraspace activities.

[Brief explanation of the drawing]

Figure 1 is a perspective view of the embodiment in the module separated state, Figure 2 is a perspective view of the ORU mounted module, Figure 3 is a perspective view of the cargo module, Figure 4 is a perspective view of the astronaut boarding module, and Figure 5 is the manipulation. Figure 6 is a perspective view of an example of a combination of a modular ORU mounted module and a propulsion module. Figure 6 is a perspective view of an example of a combination of a manipulation module, a cargo module, and a propulsion module. Figure 7 is a manipulation module and an astronaut. A perspective view of an embodiment in which a boarding module and a propulsion module are combined, FIG. 8 is a perspective view of an embodiment in which a manipulation module, a cargo module, an astronaut boarding module, and a propulsion module are combined, and FIG. 9 is a manipulation module. A schematic diagram of a state in which a plurality of modules are combined, FIG. 10 is a perspective view of an embodiment in which a manipulation module propulsion module is combined, FIG. 11 is a perspective view of an embodiment showing a working state, and FIG. A perspective view of the embodiment, FIG. 13 is a schematic diagram of the method of storing the module,
Figure 14 is a schematic diagram of the capture mechanism, Figure 15 is an explanatory diagram of the capture step, and Figure 16 is a sectional view of the coupling mechanism, where (A> shows the state in which the modules are separated, and (B) shows the state in which the modules are coupled. Fig. 17 is a front view of the coupling mechanism, where (A> shows the back side of the module and (B) shows the front side of the module. Fig. 18 is a system configuration diagram of each module. , Fig. 19 is a system configuration diagram of the manipulation module, Fig. 20 is a system configuration diagram of the propulsion module, 121[
Ht Manipulation Module 3: Configuration of L-L's manipulator control subsystem and visual processing subsystem, Figure 122 is a configuration diagram of the propulsion/attitude control subsystem of the Manipulation Module, Figure 23 is the configuration of the Manipulation Module's Manipulation Module. Docking control subsystem configuration diagram, Figure 124 is the power management subsystem configuration diagram of the manipulation module, Figure 125 is the communication control subsystem configuration diagram of the manipulation module, and Figure 26 is the propulsion/attitude control subsystem of the propulsion module. Figure 27 is a diagram of the docking control subsystem of the propulsion module, Figure 28 is a diagram of the visual processing subsystem of the propulsion module, Figure 29 is a diagram of the power management subsystem of the propulsion module, and Figure 30 is a diagram of each Schematic % formula showing the combined state of modules 13... 7 degree of freedom manipulator, 14... 4 degree of freedom manipulator, 15.16... end effector, 17... wrist stereoscopic camera, 18... end Effector storage box, 19... Stereoscopic vision sensor with illumination, 20... 6 degrees of freedom manipulator for sensor, 21.3
DESCRIPTION OF SYMBOLS 1... Communication antenna, 23.34... Position sensor, 24.35... Propulsion device, 26.38.43.46... Coupling mechanism, 30... Propulsion module, 33... Illuminated stereoscopic vision sensor, 36...Solar battery paddle, 37...Radar, 40...ORU mounted module, 42...○RU. 47... Cargo module, 52... Astronaut boarding module.

Claims (7)

[Claims] (1) A space extravehicular activity robot includes at least a plurality of manipulators for performing work, a sensor for environment recognition, a means for measuring its own position and orientation, a means for propulsion for short-distance movement, and a means for controlling posture. a manipulation module equipped with a means of communication, a means of propulsion for long-distance movement, a means of measuring one's own position and attitude, a means of propulsion for short-distance movement, a means of attitude control, and a means of communication. The manipulation module and the propulsion module have a common coupling mechanism and a coupled mechanism at the front and rear, respectively, and the manipulation module and the propulsion module are configured to be able to be coupled and separated in a sandwich-like manner. A modular system for space extravehicular robots. (2) It further includes an optional module that provides functions specific to various tasks envisioned for the space extravehicular activity robot, and the optional module has a coupling mechanism and a coupled mechanism common to those described in claim 1 at the front and rear thereof. 2. The modular system for a space extravehicular activity robot according to claim 1, wherein the manipulation module, the propulsion module, and the option module are constructed so that they can be combined and separated in a sandwich manner. (3) The module of the space extravehicular activity robot according to claim 1 or 2, characterized in that communication between the connected modules is enabled via the bus arbitration master selection subsystem and the inter-module connection bus. method. (4) By using an inter-module communication method via the bus arbitration master selection subsystem and the inter-module coupling bus, any combination of modules can be selected from among the various modules, and the various modules can be combined in any order. 3. The modular system for a space extravehicular activity robot according to claim 1 or 2, wherein (5) The module for use in space according to claim 1 or 2, characterized in that each module is stacked and stored in a space base structure by connecting the coupling mechanism and the coupled mechanism of each module. How to store an extravehicular robot. (6) A remote manipulator system having a coupling mechanism similar to the coupling mechanism is provided in the space base structure, and one of the modules is coupled by the coupling mechanism of the remote manipulator system. A method for controlling a space extravehicular activity robot, which comprises controlling a modularized space extravehicular activity robot using a remote manipulator system. (7) The shape of each module is a polygonal prism (including a cylinder)
3. The modular system for a space extravehicular activity robot according to claim 1, wherein the robot has a shape and has the coupling mechanism and the coupled mechanism at the front and rear in the direction of the central axis.