JPH05116092A - Space platform supplier - Google Patents

Abstract

PURPOSE:To provide a space platform supplier which has a small storing area and a wide operation range and carries a manipulator excellent in ecconomic property and loading performance. CONSTITUTION:A recovery capsule cover 1 in a cap shape which can shift forward coaxially, a propeller part 4 whose front end can be inserted into the rear part of the capsule cover 1 and projected in the rear end of the main body 3, a turning movement shaft 5 for a manipulator stretchable in outward radius direction mounted in the radius direction of the main body 3, a turning arm 6 for the manipulator fixed on the top end part of the turning movement shaft 5 orthogonally and a manipulator arm 7 pivoted on the top end part of the turning arm 6 are provided in a cylindrical main body 3 mounting a mission equipment 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space platform refueling machine.

[0002]

2. Description of the Related Art A space platform replenisher requires a considerably large manipulator to transfer mission equipment to and from the platform.

However, in such a device, it is difficult to compactly put the manipulator in the recovery capsule cover at the time of launching the replenishing machine. Therefore, in the known replenishing machine, there is room for improvement in economical efficiency and cargo handling performance. There is.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and is equipped with a manipulator which has a compact storage space and a wide operating range, and therefore is excellent in economy and cargo handling performance. The purpose of the present invention is to provide a space platform replenisher.

[0005]

To this end, the present invention provides a cap-shaped recovery capsule cover that can be coaxially displaced forward with a cylindrical body on which mission equipment is mounted,
A propulsion device portion protruding from the rear end of the main body, the front end of which can be fitted to the rear end of the capsule cover, and a manipulator rotation shaft mounted in the radial direction of the main body and extendable in the outward radial direction. And a manipulator swivel arm that is orthogonally fixed to the tip of the rotating shaft, and a manipulator arm that is pivotally attached to the tip of the swivel arm, and closes the capsule cover during flight to close the capsule. The manipulator is housed between the cover and the main body, and when loading and unloading, the capsule cover is opened and the manipulator is deployed outside the capsule cover.

[0006]

According to this construction, a capsular collection capsule cover that can be coaxially displaced forward with the cylindrical main body on which the mission equipment is mounted, and a front end protruding from the rear end of the main body are the capsules. A propulsion device part that can be fitted to the rear end of the cover, a manipulator rotation shaft that is mounted in the radial direction of the main body and can extend outward in the radial direction, and is orthogonal to the tip end part of the rotation shaft. Since the fixed manipulator swivel arm and the manipulator arm pivotally attached to the tip of the swivel arm are provided, the following operation is performed. (1) In the flight state, the manipulator arm is folded, the turning arm is turned forward, the turning shaft is pulled into the main body, the capsule cover is closed, and the manipulator can be stored between the capsule cover and the main body. The storage space of is made compact. (2) When loading and unloading, the manipulator can be deployed outside the capsule cover by the procedure reverse to the above, and the operating range of the above manipulator is widened.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, one embodiment of the present invention will be described. First, in the side view of FIG.
Capsule-shaped collection capsule cover that can be displaced coaxially in the front-back direction on the cylindrical main body 3 on which is mounted, 4 is a propulsion device portion protruding from the rear end of the main body 3, the front end of which is the rear of the capsule cover 1. Can be fitted to the edge. 5 is the main body 3
A manipulator rotary shaft that is radially mounted on the rear part of the manipulator and can extend outward in the radial direction, 6 is a manipulator swivel arm that is orthogonally fitted to the tip of the swivel shaft 5, and 7 is a swivel arm 6. A double-fold manipulator arm pivotally attached to the tip, 8 is a manipulator control device arranged at the rear end of the main body 3.

In such an apparatus, when the replenishing machine reaches the vicinity of the platform of the universe, as shown in FIG. 1, the replenishing machine removes the capsule cover 1 from the propulsion device section 4 to the front end of the main body 3. The shift shaft 5 is pushed outward in the radial direction of the main body 3, the swivel arm 6 is swung backward, the manipulator arm 7 is extended, and the manipulator arm 7 is used to transfer the mission device 2 to and from the platform. .. Also, when the refueling aircraft starts the earth or returns from space to the earth,
As shown in the side view of FIG. 2, the replenishing machine folds the manipulator arm 7, swivels the swivel arm 6 forward, retracts the rotary shaft 5 inward in the radial direction of the main body 3, and shifts the capsule cover 1 rearward. Fits with the propulsion device section 4.

According to the apparatus of this embodiment, a cap-shaped recovery capsule cover which can be coaxially displaced forward with a cylindrical main body on which mission equipment is mounted, and a projection provided at the rear end of the main body. The front end has a propulsion device portion that can be fitted to the rear end of the capsule cover, a manipulator rotation shaft that is mounted in the radial direction of the main body and can extend outward in the radial direction, and the tip end portion of the rotation shaft. Since the manipulator swivel arm that is fixed orthogonally to the manipulator and the manipulator arm that is pivotally attached to the tip end of the swivel arm are provided, the following effects can be obtained. (1) In the flight state, the manipulator arm is folded, the turning arm is turned forward, the turning shaft is pulled into the main body, the capsule cover is closed, and the manipulator can be stored between the capsule cover and the main body. The storage space is reduced, and the economy of the refueling machine is improved. (2) At the time of cargo handling, the manipulator can be deployed outside the capsule cover by the procedure reverse to the above, the operating range of the above manipulator is widened, and the cargo handling performance of the replenisher is improved. (3) The present invention can also be applied to manipulators of seabed probes.

[0010]

In summary, according to the present invention, a cap-shaped recovery capsule cover that can be coaxially displaced forward with a cylindrical main body on which mission equipment is mounted, and a front end protruding from the rear end of the main body is the above-mentioned. A propulsion device part that can be fitted to the rear end of the capsule cover, a manipulator rotating shaft that is mounted in the radial direction of the main body and can extend outward in the radial direction, and is orthogonal to the tip part of the rotating shaft. A manipulator swivel arm fixedly attached to the manipulator, and a manipulator arm pivotally attached to the tip end of the swivel arm.The capsule cover is closed during flight to store the manipulator between the capsule cover and the main body. When loading, by opening the capsule cover and deploying the manipulator outside the capsule cover, the storage space is compact, and Wide work range, therefore from obtaining the space for-platform replenishing machine equipped with excellent manipulator economy and handling performance, the present invention is extremely useful industrially.

[Brief description of drawings]

FIG. 1 is a side view showing a usage state of a manipulator according to an embodiment of the present invention.

FIG. 2 is a side view of the manipulator of FIG. 1 in a retracted state.

[Explanation of symbols]

 1 Capsule Cover 2 Mission Equipment 3 Main Body 4 Propulsion Equipment 5 Rotation Axis 6 Swiveling Arm 7 Manipulator Arm 8 Control Equipment

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takeya Kawamura 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Sanbishi Heavy Industries Ltd. Kobe Shipyard (72) Michiaki Mizuochi Wadazaki-cho, Hyogo-ku, Kobe 1-1-1 Sanryo Heavy Industries Co., Ltd. Kobe Shipyard (72) Inventor Takahiro Ito 10 Oemachi, Minato-ku, Nagoya City Mitsubishi Heavy Industries Ltd. Nagoya Aerospace Systems Works

Claims (1)

[Claims] 1. A cap capsule-shaped recovery capsule cover that can be coaxially displaced forward to a cylindrical main body on which a mission device is mounted, and a front end protruding from the rear end of the main body and fitted to the rear end of the capsule cover. A propulsion device that can be fitted together, a manipulator rotary shaft that is mounted in the radial direction of the main body and can extend outward in the radial direction, and a manipulator swivel that is fixed orthogonally to the tip of the rotary shaft. An arm and a manipulator arm pivotally attached to the tip of the swivel arm are provided, the capsule cover is closed during flight to store the manipulator between the capsule cover and the main body, and the capsule during loading and unloading. A space platform replenisher, wherein the cover is opened and the manipulator is deployed outside the capsule cover.