JPS61211200A - Space station - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a space station with an improved manipulator.

[Prior Art] Manipulators working in outer space include large manipulators with a wide operating range for transporting specified parts to various locations in outer space, and small, high-precision manipulators for assembling space station antennas, etc. is required. For this reason, it is possible to use a combination of high-precision small manipulators by attaching them to the tip of a large manipulator, or to attach a small manipulator to a predetermined position on the space station to perform collaborative work using both large and small manipulators. is considered.

In such a case, the problem is how to supply the drive power for the small manipulator and the IIJa signal that instructs the small manipulator to work. For this reason, it has been considered to provide a connector coupling section between the large manipulator and the small manipulator, and to supply the drive power and control signals to the -C small manipulator via this connector coupling section. In this case, since the connector joint portion is exposed to space, there is a problem in that the reliability of the connector portion is problematic due to problems in a thermal environment and in a vacuum.

[Problems to be Solved by the Invention] The present invention has been made in view of the above points, and its purpose is to eliminate one part of the connector connection as described above, to ensure a drive power source for a small manipulator, and to provide a compact manipulator. The goal is to provide a highly reliable space station that can send and receive control signals that direct the work of the space station.

[Means and Uses for Solving the Problems] In order to solve the above problems, the present invention provides a first manipulator provided on a space station, and a second manipulator provided on the first manipulator. an attachment device for the manipulator foil 1, an attachment device for at least one or more second manipulator foils 2 provided on the space station, a first engagement portion that is detachable from the first attachment device, and At least one comprising a second engaging part that is detachable from the second attachment device, a battery device for self-power supply, and a receiving part that receives a control command transmitted from the transmitting part of the space station.
the second manipulator is configured to selectively attach the first retaining portion to the second engaging portion to the first attaching device or the second attaching device; The present invention provides a space station characterized in that it obtains power from the battery device and is operated by control commands transmitted from the transmitter.

With the above configuration, control signals can be sent and received to the small manipulator wirelessly, and the small manipulator has its own drive power source, which simplifies the coupling mechanism between the large manipulator and the small manipulator and increases its reliability. You can improve your sexuality. Furthermore, when a plurality of small manipulators and large manipulators work together to perform work, the degree of freedom of each small manipulator can be improved.

[Example] An example of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a pressurized module section (operation section) of the space station, which is a place where workers live in outer space. 2 is a flat deck, which is a mount on which the experimental payload is mounted in the exposed part. 3 is an experimental payload, and 4 is a small antenna. In addition, 5 is a mast, a pedestal for attaching experimental payloads, antennas, etc. in the exposed part, 6 is a large antenna, 7 is a large manipulator, 8
1 is a small manipulator, 9 is a fixing base for the small manipulator, 10 is a small manipulator coupling unit, 11 is a solar cell, 12 is a receiving antenna for receiving control signals from the small manipulator 8, and 13 is for sending control signals to the small manipulator 8. This is a transmitting antenna for transmitting data.

In the space station described above, the large manipulator 7 is used as the first manipulator for transportation in space, and the small manipulator 8 is used as the second manipulator to perform assembly, maintenance, and inspection work. I try to have them share the same. In this case, connectors for transmitting power and control signals for driving the small manipulator 8 are eliminated to make it wireless.

In other words, the power source for driving the small manipulator 8 is the solar cell 1.
A control signal for controlling the operation of the small manipulator 8 is transmitted from a transmitting antenna 13 attached to the pressurized module section 1 and received by a receiving antenna 12. In this way, the pressurized module 1,
The small manipulator 8 is attached to the small manipulator fixing base 9 on the flat deck 2 and the mast 5, and the tasks that the small manipulator 8 can perform are made more versatile.The small manipulator 8 can also be operated by wirelessly transmitting and receiving control signals. The degree of freedom is increased.

Next, the situation in which the small manipulator 8 is attached to the tip of the large manipulator 7 is shown in FIGS. 2-1 to 2-5. First, from the state where the large manipulator 1 and the small manipulator 8 are separated as shown in FIG. 2) Transport the small manipulator 8 to the small manipulator fixing stand 9 (Fig. 2-3) closest to the predetermined work position and attaching it to the fixing stand 9 (Fig. 2-4). When this installation is completed, the solar cell 11 is expanded (Fig. 2-5>,
The driving power for this small manipulator 8 is taken from a solar cell 11. Thereafter, a control signal transmitted from the transmitting antenna 13 is received by the receiving antenna 12, and a work command to be performed by the small manipulator 8 is received wirelessly, and various works are performed.

In the above embodiment, the solar cell 11 is shown as a type that spreads out laterally, but if it becomes an obstacle to the operating range of the manipulator 8 or the experimental payload 3, the solar cell 11 may be moved to the boom of the manipulator 8. It may also be pasted on the outer cylinder.

[Effects of the Invention] As detailed above, the space station of the present invention has the following effects.

(1) By dividing the work between a large manipulator and a small manipulator, the range of work in space can be expanded, and precision work such as assembly, maintenance and inspection work can be performed.

(2) By using a plurality of manipulators, cooperative work of the manipulators is possible, and assembly work etc. can be facilitated.

(3) By making the small manipulator wireless, it is possible to eliminate the need for connecting connectors for power and signals between the large manipulator and the small manipulator, which simplifies the coupling mechanism of the large manipulator and improves the reliability of the space station. improves.

(4) By attaching a solar cell to a small manipulator, it can be easily applied in a space station where power is saved. In other words, since each small manipulator can secure its own electric power, a large number of small manipulators can be provided.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of one embodiment of the present invention, and FIGS. 2-1 to 2
-5 is an explanatory view when a small manipulator is attached to a small manipulator fixing base and operated in an embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Pressurization module, 7... Large manipulator, 8... Small manipulator, 9... Fixing stand for small manipulator, 10... Small manipulator etc. coupling part, 11... Solar cell, 12 ...reception antenna,
13... Transmission antenna. Applicant sub-agent Patent attorney Takehiko Suzue)'12-1) Addendum 2-5

Claims (1)

[Claims] A first manipulator provided on a space station, a first attachment device for a second manipulator provided on the first manipulator, and at least one second manipulator provided on the space station. a second attachment device for use, a first engagement portion that is detachable from the first attachment device, a second engagement portion that is detachable from the second attachment device, a battery device for self-power supply, and the space At least one or more second manipulators include a receiving section that receives a control command transmitted from a transmitting section of the station, and the second manipulator is connected to the first engaging section or the second engaging section. selectively mounted on the first mounting device or the second mounting device, the space station receives power from the battery device, and is operated by control commands transmitted from the transmitter. .