JPH04217477A - Manipulator - Google Patents

Abstract

PURPOSE:To improve the folding storage performance of a small sized manipulator onto a large sized manipulator. CONSTITUTION:A fitting column 10 operated with its revolving by positioning at the front of the manipulator operating room 1a of a pressurized module part 1 is fitted, the boom 6 base end side of the large sized manipulator is provided successively at the tip side of the same fitting column 10 and also a small sized manipulator 8 is provided successively with its overhang via a rotating shaft 11 crossed with the shaft center of the same arm, at the arm 7 tip side of the above large sized manipulator.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator installed in a space station or the like.

0002

[Prior Art] Conventional manipulators for space stations include large manipulators with long arms that can withstand space environments such as vacuum and low temperatures, and cover a wide range of work. In order to carry out the operation, conditions such as the need for a high-precision manipulator are required, and there are engineering constraints in expecting high precision from a large manipulator at the same time. A parent-child type manipulator that satisfies the former condition is being planned, with the former used for rough positioning and the latter used for necessary work.

The specific mechanism of the parent-child type manipulator is as shown in FIG.
, in the pressurized module section 1 (normal environment part where humans can operate), which has an airlock 2 and is provided with a mast 3 and a platform 4, in the front part of the manipulator control section 1a of the pressurized module section 1, Large manipulator 6,
The proximal ends of the booms 6 (upper arms) of the large manipulators 6 and 7 are connected, and the small manipulators 8 are connected to the tips of the arms 7 (lower arms) of the large manipulators 6 and 7. The base is removable by remote control, and it is planned to be able to perform independent work using large manipulators 6 and 7.The large manipulators 6 and 7 can be operated independently to move payload a (cargo) and take out the machine, and large and small manipulators 6 , 7, and 8 can be used to inspect, assemble, and maintain equipment, expanding the work area and performing high-precision work.

The pressurized module section 1 in which the large and small manipulators 6, 7, 8, etc. are installed is launched into space by a Space Shuttle or the like, and when launched or when the manipulators are not used in space, other systems are used. It is necessary to store the large and small manipulators 6, 7, and 8 on the pressurized module section 1 side so as not to obstruct the airlock. There must be restrictions such as not having a payload a, and not occupying a particular space for placing the payload a on the platform.

As the storage means for the large and small manipulators 6, 7, and 8, the methods shown in FIGS. 4 to 7 can be considered. That is, as shown in FIGS. 4(A) and 4(B), there is a method in which the boom 6, arm 7, and small manipulator 8 of a large manipulator are stored in the upper part of the pressurized module part 1 in a straight extended and supported state. 5(A)(B)
As shown in the figure, the boom 6 and arm 7 of the large manipulator
6 (A) (B)
), the boom 6 of a large manipulator is held horizontally in front of the manipulator control room 1a, and
A method of storing the arm 7 and the small manipulator 8 in a folded state on the lower side, as shown in FIGS. 7(A) and 7(B), the boom 6 of the large manipulator is arranged diagonally along the front side of the manipulator control room 1a, Arm 7 on the same boom 6
There is also a method of storing the small manipulator 8 in a folded state.

[0006]

[Problems to be Solved by the Invention] In the conventional manipulators, large and small manipulators 6, as shown in FIG.
In the storage methods 7 and 8, the manipulator itself fits well, but the critical dimensions of the pressurized module section 1, which is stored in the cargo hold of the space shuttle, etc., are significantly expanded as shown by the chain line in the figure, and the pressurization is accordingly increased. Since the diameter of the module part 1 is significantly reduced, valuable space for human activities (
However, the storage method shown in Figure 5 limits the placement space for payload a, and also reduces the amount of space available when accessing airlock 2. There are problems such as it becoming a hindrance. In addition, the storage method shown in FIG. 6 has problems such as fixing (clamping) the manipulator, which is necessary during launch, as well as impairing the forward visibility of the manipulator cockpit 1a. The storage method is
Along with obstructing the forward view of the manipulator cockpit 1a,
Each of the storage methods described above has the above-mentioned problems, such as the small manipulator 8 being close to the arm of the large manipulator 8 in the airlock 2, and the folding arrangement of the small manipulator 8 having technical problems.

The present invention was developed to address the above-mentioned problems, and an object of the present invention is to improve the folding and storage performance of a small manipulator on a large manipulator.

[0008]

[Means for Solving the Problems] The structure of the present invention for achieving the above object will be explained using FIGS. 1 and 2 corresponding to the embodiment. Attaching a mounting column 10 that is located at the front of the machine and can be rotated, and connecting the base end side of a boom 6 of a large manipulator to the distal end side of the mounting column 10,
It is characterized in that a small manipulator 8 is overhanging and connected to the tip end side of the arm 7 of the large manipulator via a rotating shaft 11 that intersects with the axis of the arm 7.

[0009]

[Operation] The lengths of the booms 6 and arms 7 of the large manipulators 6, 7 are determined by taking into account the work space and operability, and the arms 7 are usually longer. In many cases, when the arm 7 is folded, it protrudes beyond the boom 6, causing problems in storage. As shown by the solid line in Fig. 1, when the pressurized module section 1 is folded and stored on the front side, the arm 7 is parallel to and has the same length as the mounting column 10 and the boom 6. The folded arm 7 does not protrude above the pressurized module section 1, and the mounting column 10 is folded as shown in FIG.
By turning the airlock 2 at a predetermined angle, the airlock 2 can be easily stored in an inclined state on the side, and if necessary, the mounting column 10 can be further turned to the side to bring it into a horizontal state, thereby improving the visibility of the manipulator control room 1a. can be further increased.

Furthermore, when using a manipulator,
As shown in FIG. 2, by rotating the mounting column 10 upward as shown by the chain line, the base sides of the booms 6 of the large manipulators 6 and 7 can be positioned above the manipulator operation chamber 1a. , the operating range of the small manipulators 6, 7, and 8 can be significantly expanded, and visibility and work performance can be significantly improved.

Furthermore, since the small manipulator 8 is overhanging and connected to the tip of the arm 7 of the large manipulators 6 and 7 by the rotating shaft 11, the small manipulator 8 is connected to the arm 7 as shown in FIG. By ensuring the desired offset Z, it can be easily folded and stored in a compact manner, and when the arm 7 is folded and stored, the large and small manipulators 6, 7, and 8 are stored compactly, and the folding and storage performance is significantly improved. The visibility of the chamber 1a is improved and access to and from the airlock 2 is not hindered at all. Furthermore, a jig 1 for the large manipulators 6 and 7 is provided on the rear side of the small manipulator 8.
3 is arranged, the jig tool 1 of the large manipulator 8
3 and the small manipulator 8 can be performed at the same time, or the small manipulator 8 can be easily attached and detached, and both the above-mentioned tasks can be performed separately, resulting in significantly improved work performance.

0012

[Embodiment] A first embodiment of the present invention is shown in Figs. 1 and 2, and 1 in the figures shows a manipulator cockpit 1a and an airlock 2 at the front, a mast 3 and a platform 4. A pressure module section, the pressurization module section 1
A mounting column 10 is attached to the upper part of the front surface of the manipulator cockpit 1a with a shaft 12 so as to be rotated by an appropriate mechanism as shown by chain lines and solid lines in FIG. The base end sides of the boom 6 of the manipulators 6 and 7 are connected in an operable manner, and
Further, a small manipulator 8 is connected to the tip side of the arm 7 of the large manipulators 6 and 7 with a rotating shaft 11 intersecting at right angles to the axis of the arm 7, overhanging as shown in the figure. A jig 13 such as a tip tool or a general-purpose tool for the large manipulators 6 and 7 is installed in advance on the rear side, and the jig 13 and the small manipulator 8 can be quickly attached and detached by an appropriate mechanism for switching. It is configured to be usable.

[0013]

Effects of the Invention As described above, in the present invention, the base end side of the boom 6 of the large manipulators 6, 7 is connected to the distal end of the mounting column 10 which is rotated, and It has a configuration in which a small manipulator 8 is overhanging the rotating shaft 11 and arranged in series on the side, and the mounting column significantly improves visibility, work performance, and folding storage performance. By overhanging and connecting the rotary shafts, the folding storage performance of the small manipulator into the large manipulator and the working performance of large and small manipulators are significantly improved. There is.

[Brief explanation of the drawing]

FIG. 1 is a side view showing one embodiment of the present invention.

FIG. 2 is a front view of FIG. 1.

FIG. 3 is a perspective view showing a conventional example.

4 shows various aspects of folding and storage of the large and small manipulators of FIG. 3, in which (A) is a side view and (B) is a plan view.

5 shows various aspects of folding and storage of the large and small manipulators of FIG. 3, in which (A) is a side view and (B) is a plan view.

6 shows various aspects of folding and storage of the large and small manipulators in FIG. 3, in which (A) is a side view and (B) is a plan view.

7 shows various aspects of folding and storage of the large and small manipulators in FIG. 3, in which (A) is a side view and (B) is a plan view.

[Explanation of symbols]

1 Pressurized module section 1a Manipulator cockpit 6 Large manipulator boom 7 Large manipulator arm 8 Small manipulator 10 Mounting column 11 Rotating shaft

Claims (1)

[Claims] Claim 1: A mounting column that is located at the front of the manipulator control room of the pressurized module section and is rotated is installed, and a boom proximal end side of a large manipulator is connected to the distal end side of the mounting column, and A manipulator characterized in that a small manipulator is overhanging and connected to the tip end side of the arm of the large manipulator via a rotation axis intersecting the axis of the arm.