JPH0748480Y2 - Space equipment exchange mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a replacement mechanism for space equipment.

[Prior Art] The space station can be operated and maintained by humans at all times in order to use the special environment in space (weightlessness, high vacuum, weather, view independent of atmosphere, abundant energy, etc.) This is a semi-permanent facility, and as a laboratory for space science application experiments, development experiments of new materials, etc., and assembling an ultra-large satellite from which it will be injected into geosynchronous orbits, moons, and planetary orbits. With the function of a relay point, it will be possible to carry out services such as refueling and repairs, and take it back to the ground.

The elements of the infrastructure centering on the space station include (1) maintenance based on a space station that orbits in the same orbit as the space station.
With a co-orbital platform (COP) or free flyer that receives replenishment, (2) polar orbit platform (POP) that orbits polar orbits for earth observation, and (3) inter-orbital transport after being assembled at a space station An orbital work machine (OS) that reciprocates to and from a space station base by providing services such as a stationary platform (GPF) that is put into a geostationary orbit and (4) platform maintenance and supply.
V) is considered.

In the above space system, in order to operate a spacecraft such as a space station or a free flyer for a long period of time, it is necessary to replace a failed device. In the past, astronauts had to loosen the screws at the four corners of the case with a tool and replace them due to extravehicular activities.

FIG. 6 shows a Japanese experimental module JEM consisting of a preload part a, a replenishing part, and an exposing part b. The manipulator c of the preloading part a, the standard payload (PL: experimental device) d in the exposing part b and the on-orbit exchange unit ( ORU) 1 replacement is considered.

[Problems to be solved by the invention] However, it must be taken into consideration that the exchange mechanism of space equipment is a work under a special environment of weightlessness and high vacuum. It is difficult for astronauts to work with one hand due to extravehicular activities only with the conventional structure of attaching the four corners of the case with screws, and it is unavoidable to change hands when turning the screws at the four corners of the case one by one. There was a possibility that the space equipment would fly to outer space when it was separated from. In addition, when the platform equipment, the experimental product, and the like are exchanged by the above-described exchange equipment orbital work machine OSV which is a space swimming robot, the work is desired to be easy.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an exchange mechanism for space equipment that can be easily exchanged.

[Means for Solving the Problem] The present invention relates to a space device exchanging mechanism in which space devices are detachably attached to a partner base by a plurality of screw rods, with a tip of the space device centered on the partner base. Provide one protruding main threaded rod, and install a plurality of auxiliary threaded rods protruding toward the other base with space equipment around this main threaded rod within the range that does not interfere with the installation of the main threaded rod. Provided so that its tip elastically retracts toward the space equipment side, projecting guide pins at multiple points on the mounting surface of the space equipment, and forming recesses in the circumferential direction on the peripheral surface of the tip end of the guide pin. , The mating base has screw holes screwed into the main screw rod and the auxiliary screw rod, a guide hole for guiding the guide pin, and an elastic force in the concave portion of the guide pin which can be elastically projected and retracted into the guide hole. Locking that fits in It is provided with a member.

[Operation] Space equipment is positioned by first inserting the guide pin into the guide hole of the mating base. When this guide pin is inserted, the locking member that can elastically project into and retract from the guide hole fits into the circumferential recess of the guide pin to prevent the guide pin from coming off, and the space device is connected to the other side through this guide pin. Supported by the base. Therefore, even if the astronaut's hand or the manipulator is separated from the space equipment, it is possible to prevent an accident in which the space equipment flies into space due to the action of some force. Next, the main screw bar at the center is screwed to the mating base. At this time, the auxiliary screw rod hits the screw hole, but elastically retracts, and leaves at a position where it does not interfere with the attachment of the main screw rod. Finally, it is completely attached by screwing a plurality of auxiliary screw rods around the main screw rod into the screw holes. When removing space equipment, follow the reverse procedure.

[Embodiment] Hereinafter, the present invention will be described based on an illustrated embodiment.

1 and 2, the ORU (orbital replacement unit) 1 provided in the exposed part b of the JEM is an ORU panel 2 and an ORU.
It comprises a case 3 and a bus device 4 arranged therein. Three screw rods are provided so that the ORU 1 can be attached to and detached from the ORU base 5. First
Is a main screw rod 6 provided at the center of the ORU 1,
Is an auxiliary screw rod 7 provided on both sides of the main screw rod 6. These screw rods 6 and 7 are provided so as to penetrate the ORU case 3, and are rotatably guided and supported by a guide member 8 on the ORU panel 2 and a guide member 9 on the upper part of the case. The heads 61 and 71 of the screw rods 6 and 7 are located in the cylindrical tool receiver 10 provided on the upper part of the ORU case 3, and the screw parts 62 and 72 at the tip end project to the lower surface of the ORU panel 2. ing.

On the other hand, the ORU base 5 is provided with screw hole members 11 and 12 into which the screw portions 62 and 72 formed on the outer circumferences of the tip ends of the three screw rods 6 and 7 are screwed. The upper portion of 12 is formed in a dish shape up to the screw hole, and functions as a guide surface that makes it easier to receive the screw portions 62 and 72.

On the other hand, one guide pin 13 is fixed to each of the four corners of the lower surface of the ORU panel 2, and the ORU base 5 is provided with guide hole members 14 for inserting these guide pins 13. In order to facilitate the insertion of the guide pin 13, the tip end portion of the guide pin 13 is formed in a tapered shape, and the upper portion of the guide hole member 14 is formed in a dish shape. Further, in order to prevent the guide pin 13 from coming off, as shown in FIG.
The ball 16 and the spring 17 for pressing the ball 16 are provided in the through hole 15 provided from the position toward the center of the screw hole, and the ball 16 and the spring 17 can be fitted into the recesses 18 provided on the peripheral surface of the guide pin 13. .

A handle 19 is provided on the upper surface of the ORU case 3, a lead wire 20 is pulled out from the bus device 4 inside the case, and is connected to the ORU panel 2 by a connector 21. Also O
The RU base 5 is provided with a cold plate 22 for dissipating heat from the bus equipment 4.

As shown in FIG. 3, the two auxiliary screw rods 7 have a flange portion 73 inside the guide member 8. An inward flange portion 24 is formed in the cylindrical body 23 vertically movably inserted in the guide member 8 and is carried upward by the collar portion 73 of the auxiliary screw rod 7 in FIG. The guide member 8 is provided inside the cylindrical body 23.
A spring 25 is inserted between the inner upper wall and the flange portion 73 of the auxiliary screw rod 7, and the spring 25 causes the auxiliary screw rod 7 to always be attached in a direction in which the screw portion 72 at the tip thereof protrudes. It is receiving momentum. However, the tip of the auxiliary screw rod 7 has a screw hole member 12
When it comes into contact with, it can move backward against the spring 25.

Next, the operation of the above configuration will be described.

When the ORU is attached, a child arm is attached to the manipulator (parent arm) c shown in FIG. 6, and the robot tool 26 (having a function of gripping an opponent and giving a rotational force) is attached to the child arm. (Fig.) The robot tool 26 is first inserted into and supported by the center tool among the three tool receivers 10 to move the ORU 1 to the ORU base 5. At this time, the position and orientation of the ORU 1 with respect to the ORU base 5 are not always constant, and are in an oblique state as shown in FIG. 2, for example.

Therefore, the guide pins 13 at the four corners are aligned and inserted into the guide hole members 14. At this time, two auxiliary screw rods 7 on both sides
Since it comes into contact with the screw hole member 12, the tip end portion thereof escapes rearward as shown in the lower half of FIG. The head 71 of the auxiliary screw rod 7 is the third
It moves further upward from the position shown in the upper half of the figure.

When the guide pin 13 is inserted into the guide hole member 14, the ball 18 is inserted into the recess 18 on the peripheral surface of the guide pin 13 from the side of the screw hole member 14.
16 is elastically inserted by spring 17, ORU1 is ORU base 5
Become one with. With this retaining mechanism, even if the robot tool c is completely separated from the ORU1, the ORU1 separates from the ORU base 5 and flies into outer space.
Lost accidents are prevented.

Then, the main screw rod 6 is fitted in the cross hole of the head portion 61, the main screw rod 6 is rotated, and the screw portion 62 at the tip end is screwed to the screw hole member 11. Also at this time, the two auxiliary screw rods 7 on both sides are
Since it comes into contact with the screw hole member 12 and escapes rearward, it does not interfere with the screwing work.

Next, the robot tool 26 is pulled out from the central tool receiver 10 and inserted into the rule receivers 10 on both sides. Then, similarly to the above, the auxiliary screw rod 7 is turned and screwed into the screw hole. Even in this case, the robot tool 26 is completely separated from the ORU1, but even if the screwing by the main screw rod 6 fails, the retaining mechanism for the guide pin 14 and the ball 16 works, so that the ORU1 There is no need to worry that he will fly in the direction in which he received the force.

Since the procedure for removing the ORU1 is completely opposite to the above, it is possible to prevent the ORU1 from escaping.

In this way, it is possible to attach with one robot tool 26 by means of the central main threaded rod 6. Further, the left and right auxiliary screw rods 7 are automatically retracted and stored so as not to get in the way when the central screw rod 6 is tightened. Further, the retaining mechanism of the guide pin 13 and the ball 16 does not require the aviator to hold the case, and one person can work.

FIG. 5 shows another embodiment in which the auxiliary screw rod 7 is elastically supported. The lower end portion of the auxiliary screw rod 7 has a large diameter, and the movable screw rod 76 is arranged in the hollow portion 75 of the large diameter portion 74 so as to be slidable in the vertical direction. At the lower end of the large diameter portion 74, there is a retaining piece 77 with a hole that has internal spline teeth.
Is fixed, and the spline shaft portion 78 of the movable screw rod 76 is inserted through the spline hole so as to be axially movable and non-rotatable. Further, in the hollow portion 75 of the large diameter portion 74, the movable screw rod 76 is provided with a collar portion 79.
The spring 25 is inserted between 79 and the upper wall of the hollow portion 75.

Therefore, in the case of the embodiment of FIG. 5 as well, in the same way as in the case of FIG. 3, when the central main screw rod 6 is screwed, the movable screw rod 76 hits the screw hole member 12 and retracts. In addition, when the auxiliary screw rod 7 is screwed, by rotating the top portion 71, the rotational force can be transmitted to the movable screw rod 76 via the spline 77 and screwed into the screw hole member 12.

Although the above is described with the tool of the space robot, even if it is an astronaut's tool, it is possible to safely replace ORU1 without loss accident.

[Advantage of the Invention] As described above, according to the present invention, when the space device is positioned by the insertion of the guide pin, the locking member is fitted into the circumferential recess of the guide pin to prevent the guide pin from coming off. Therefore, even if the astronaut's hand or the manipulator is removed,
Accidents in which space equipment flies into space due to the action of some force are prevented. Further, when the main screw rod is completely screwed to the mating base, the auxiliary screw rod retracts elastically, so that the attachment of the main screw rod is not disturbed. Therefore, it can be attached with one robot tool. Also, it is not necessary for an aviator to hold the case, and one person can work.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment in which the present invention is applied to an ORU (on-orbit exchange unit), FIG. 2 is a longitudinal section thereof, and FIG. FIG. 4 is an enlarged view, FIG. 4 is a partial sectional view of the guide pin, FIG. 5 is a sectional view showing another embodiment of the auxiliary screw rod portion, and FIG. 6 is a view showing a part of the JEM. In the figure, 1 is an ORU (orbital replacement unit), 2 is an ORU panel, 3 is an ORU case, 5 is an ORU base, 6 is a main screw rod, 7
Is an auxiliary screw rod, 10 is a tool receiver, 11 is a screw hole member of a main screw rod, 12 is a screw hole member of an auxiliary screw rod, 13 is a guide pin,
14 is a guide hole member, 16 is a ball, 17 is a spring, 18 is a recess,
25 shows a spring.

Claims (1)

[Scope of utility model registration request] Claim: What is claimed is: 1. In a space device exchange mechanism in which a space device is detachably attached to a mating base with a plurality of screw rods, one main screw rod protruding toward the center of the space device with its tip facing the mating base. A plurality of auxiliary screw rods protruding toward the other side base to the space equipment around the main screw rod so that the tip is elastic to the space device side to the extent that it does not interfere with the installation of the main screw rod. So that it will retreat,
Guide pins are projected at multiple points on the mounting surface of the space equipment,
A concave portion is formed in the circumferential surface of the tip end portion of the guide pin in the circumferential direction, and a screw hole to be engaged with the main screw rod and the auxiliary screw rod, a guide hole for guiding the guide pin, and the guide hole are formed on the mating base. An exchange mechanism for space equipment, comprising a locking member that is elastically fitted into the concave portion of a guide pin that can be elastically projected and retracted.