JPH06278700A - Space robot - Google Patents

Abstract

PURPOSE:To improve the reliability of long-time operation of a small robot by providing operating legs on the peripheral wall of a robot body so that they are projected from the wall and can be freely driven, and driving- controlling the operating legs to control the attitude of the robot body. CONSTITUTION:Plural, for example, two working arms 11 are provided on a robot body 10 to work by remote control. Further, operating legs 12 are rotatably provided on four corner parts of the robot body 10. The operating legs 12 are driven to turn by connecting their base parts to driving sources such as drive motors, etc. The drive motors, etc., are controlled through an attitude control device. That is, based on movement of the positions of the center of gravity of the working arms 11 due to the operation of the working arms 11, the drive motors, etc., are driven to control the attitude of the robot body 10. The operating leg 12 can be provide on one place or two or more places.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space robot used for performing various tasks such as assembling a space station and repairing artificial satellites in outer space.

[0002]

2. Description of the Related Art In the field of space development, as a part of future service in outer space, for example, assembling and repair of space stations and artificial satellites using space robots called unmanned orbital working machines. There is a plan to execute the work of. As such a space robot, a working arm 2 is arranged on a robot body 1 as shown in FIG. 2, and the robot body 1 is equipped with a device such as a solar battery paddle and various electronic devices (see FIG. 2). (Not shown) is mounted therein. Then, the space robot itself drives the propulsion device 3 to directly fly in space to approach the work object, and various work such as assembling work of the space station using the work arm 2 is performed. A way to do is being considered.

By the way, such a space robot is
It is necessary to provide two propulsion means, a propulsion device 3 for flying in outer space and a propulsion device 4 for controlling the attitude of the robot body 1. Particularly, in the attitude control propulsion device 4, it is expected that the attitude change of the robot body 1 will be large due to the influence of the inertial mass associated with the operation of the work arm 2, so that a large amount of fuel is required. Become.

On the other hand, such a space robot is
Since the mission is to perform various tasks in outer space, it is required to perform various tasks in outer space for a long period of time. For this reason, in a space robot, unless a relatively large amount of propellant, which is the fuel for the propulsion device 4, is mounted, long-term work in space cannot be performed, and the propellant There is a problem that it becomes large due to the large storage area required.

[0005]

As described above, the conventional space robot has a problem that it becomes large-sized when it is configured to be usable for a long period of time.

The present invention has been made in view of the above circumstances, and is a space robot having a simple structure, capable of promoting miniaturization, and realizing reliable operation for a long period of time. The purpose is to provide.

[0007]

According to the present invention, a robot body provided with a working arm flies in outer space and approaches a work object, and various work is performed by using the working arm. In the robot for use, a movable actuating limb is protrusively provided on the peripheral wall of the robot main body, and the working limb is drive-controlled to control the posture of the robot main body. .

[0008]

According to the above structure, the operating limb controls the posture of the robot main body by being driven according to the variation of the position of the center of gravity of the working arm. Therefore, it becomes possible to control the posture for a long period of time with a drive source that only drives the operating limb.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a space robot according to an embodiment of the present invention.
A work arm 11 of a book is arranged. This working arm 11
Is composed of, for example, a plurality of indirects 11a, and a gripper 11b is provided at the tip of the indirects 11a, and is remotely operated to perform various operations such as assembling a space station.

The number of working arms 11 is not limited to two, and only one arm is provided or three or more arms are provided in consideration of work content and the like. Then, the number of the indirect portions 11a of the work arm 11 arranged is appropriately set according to the work content and the like.

Further, the robot main body 10 is provided with the operating limbs 12 rotatably at four corners thereof.
The base of the operating limb 12 is connected to a drive source, for example, a drive motor (not shown), and is rotationally driven via the drive motor (not shown). A drive motor (not shown) is rotationally driven via an attitude control unit (not shown). An attitude control unit (not shown) drives a drive motor (not shown) based on a change in the position of the center of gravity of the work arm 11 due to the operation of the work arm 11 to control the attitude of the robot body 10.

The actuating limbs 12 are not provided at the four corners of the robot body 10 as described above,
It may be provided only at one place, or may be arranged at a plurality of two or more places. And the working arm 1
The change in the position of the center of gravity of 1 is detected by a detection sensor (not shown), and the detected value is input to the attitude control unit (not shown).

Further, the robot body 10 is provided with a propulsion device 13 for flight, and the propulsion device 13 is used to directly fly in outer space to move to a desired position in outer space. .

In the above structure, the robot body 10 is
When the propulsion device 13 is driven, it flies in outer space and approaches a work object (not shown). When it reaches a predetermined position near the work body (not shown), it is stopped, and then the work arm 11 is operationally controlled to execute a desired work. At this time, the position of the center of gravity of the work arm 11 changes due to its operation. Then, when the working arm 11 is changed, the detection sensor (not shown) causes the working arm 11 to move.
The change in the position of the center of gravity is detected, and the detected value is output to the posture control unit (not shown). Attitude control unit (not shown)
Generates a drive signal based on the input detection value and drives a drive motor (not shown) to selectively rotate the operating limb 12 to control the posture of the robot body 10.

Further, the attitude control device (not shown) operates in the same manner by changing the center of gravity of the work arm 11 even when the attitude of the robot main body changes, for example, when the work arm is inactive. The robot 12 is rotationally driven to control the posture of the robot body 10.

As described above, in the space robot, the working limb 12 is rotatably arranged on the robot body 10, and the working limb 12 is rotatably driven, so that the robot body 10 moves when the work arm 11 is operated. It is configured to control the posture of. According to this, the posture control can be performed only by providing the drive source for rotationally driving the actuating limb 12, and since the consumables such as the conventional propellant are eliminated, the posture control can be stably performed for a long period of time. Is possible. As a result, the conventional accommodating area for propellant is eliminated, and the miniaturization can be promoted as much as possible.

In the above embodiment, the rotatable working limb 12 is arranged in the robot body 10 and the posture of the robot body 10 is controlled by rotationally driving the working limb 12. As a drive system of the operating limb 12,
Without being limited to this, various types can be configured.

In the above embodiment, the working limb 12 is specially arranged on the robot body 10, but the invention is not limited to this. For example, a solar cell arranged on the outer peripheral wall of the robot body 10. It may be configured to also serve as a paddle, a radiator for exhaust heat having a mass, and the like. Therefore, the present invention is not limited to the above embodiment,
It goes without saying that various modifications can be made without departing from the scope of the present invention.

[0020]

As described above in detail, according to the present invention, a space-saving structure with a simple structure that can facilitate miniaturization and realize reliable operation for a long period of time is provided. A robot can be provided.

[Brief description of drawings]

FIG. 1 is a diagram showing a space robot according to an embodiment of the present invention.

FIG. 2 is a diagram showing a conventional space robot.

[Explanation of symbols]

10 ... Robot main body, 11 ... Working arm, 11a ... Indirect, 11b ... Gripper, 12 ... Operating limb, 13 ... Propulsion device.

Claims (2)

[Claims] 1. A space robot in which a robot main body provided with a work arm flies in outer space and approaches a work object, and various work is performed using the work arm. A space robot characterized by comprising a posture control means for projecting a drivable actuating limb on a peripheral wall and drivingly controlling the actuating limb to control the posture of the robot body. 2. The space robot, wherein the operating limb of the attitude control means also serves as an on-board device arranged on the outer peripheral portion of the robot body.