JPH0451384U

JPH0451384U -

Info

Publication number: JPH0451384U
Application number: JP9383290U
Authority: JP
Priority date: 1990-09-06
Filing date: 1990-09-06
Publication date: 1992-04-30

Description

[Brief explanation of drawings]

第１図、第２図、第３図はこの考案における保
持安定化装置を組み込んだ月面作業機の一実施例
を示す図で、第１図は月面作業機の各構成要素を
説明する図、第２図はその月面作業機が作業を実
施している状態を示す図、第３図は月面作業機が
建設資材等の大質量物を取り扱つている状態を示
す図、第４図、第５図はこの考案による保持安定
化装置の一実施例を示す図で、第４図は設置準備
状態を示す図、第５図は作業環境拘束状態を示す
図、第６図は従来、宇宙空間における作業におい
て使用されている機器の一例を示す図、第７図、
第８図、第９図、第１０図、第１１図は従来の保
持安定化装置の一実施例を示す図である。図中、１はスタンド、２は台座、３，５は駆動
装置、４はアーム、６は爪、７は回転角検出器、
８はエンドエフエクタ、９は腕、１０は駆動装置
、１１は探査機構体、１２はエンドエフエクタ、
１３，１４，１６，１８，１９は駆動装置、１５
は第一アーム、１７は第二アーム、２０はスラス
タ、２１は視覚装置、２２は制御／動力源装置、
２３は作業機本体、２４，２５は保持安定化装置
、２６はベース、２７，３３はドリル状シヤフト
、２８は駆動装置、２９，３０はガイド、３１は
ベースプレート、３２は構体、３４はシヤフト、
３５はサポート、３６はスカート、３７は駆動装
置、３８はヒータ、３９，４０はノズル、４１は
インシユレーシヨン、４２は補給管である。なお
、図中同一符号は、同一または相当部分を示す。 Figures 1, 2, and 3 are diagrams showing an embodiment of the lunar surface working machine incorporating the holding and stabilizing device of this invention, and Fig. 1 explains each component of the lunar surface working machine. Figure 2 shows the state in which the lunar surface work machine is performing work, Figure 3 shows the state in which the lunar surface work machine is handling large objects such as construction materials, and Figure 2 shows the state in which the lunar surface work machine is handling large objects such as construction materials. Figures 4 and 5 are diagrams showing one embodiment of the holding and stabilizing device according to this invention. Figure 4 is a diagram showing the installation preparation state, Figure 5 is a diagram showing the work environment restraint state, and Figure 6 is a diagram showing an example of the holding and stabilizing device according to this invention. A diagram showing an example of equipment conventionally used in work in outer space, FIG.
FIG. 8, FIG. 9, FIG. 10, and FIG. 11 are views showing one embodiment of a conventional holding and stabilizing device. In the figure, 1 is a stand, 2 is a pedestal, 3 and 5 are drive devices, 4 is an arm, 6 is a claw, 7 is a rotation angle detector,
8 is an end effector, 9 is an arm, 10 is a drive device, 11 is an exploration mechanism, 12 is an end effector,
13, 14, 16, 18, 19 are drive devices, 15
is a first arm, 17 is a second arm, 20 is a thruster, 21 is a visual device, 22 is a control/power source device,
23 is a working machine body, 24 and 25 are holding and stabilizing devices, 26 is a base, 27 and 33 are drill-like shafts, 28 is a drive device, 29 and 30 are guides, 31 is a base plate, 32 is a structure, 34 is a shaft,
35 is a support, 36 is a skirt, 37 is a drive device, 38 is a heater, 39 and 40 are nozzles, 41 is an insulation, and 42 is a supply pipe. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims

[Scope of utility model registration request]

A rotatable drive device that allows the angle of the claws of multiple arms with harpoon-like claws to be set to an arbitrary angle is used in work equipment that performs predetermined tasks while moving in low-gravity environments such as the moon and asteroids. A holding and stabilizing device characterized in that a pedestal on which the arms are assembled is connected to a stand attached to a working mechanism by a rotatable drive device.