JP3124054B2 - Detachable device for assembled antenna - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for communication and the like installed on a space vehicle such as a space station constructed in outer space, and is an assembly type comprising a plurality of divided mirror surfaces. The present invention relates to an antenna and, more particularly, to an attaching / detaching device used for assembling a plurality of divided mirror surfaces into a predetermined shape.

[0002]

2. Description of the Related Art Recently, in the field of space development, the development of large space vehicles such as space stations has been promoted. By the way, as an antenna mounted on such a spacecraft, it is divided in advance on the ground, produced, transported to space in the divided state, and assembled and installed in space using a working manipulator. The assembly type is advantageous in terms of transportation and the like. As such an assembling-type antenna, for example, a system in which a central fixed mirror surface is provided substantially at the center and a divided mirror surface obtained by dividing a parabolic shape into a plurality of parts around the central fixed mirror surface is assembled.

[0003] However, such an assembling type antenna is not simply divided so as to be assemblable, and the assembling work is performed by operating the working manipulator remotely in an extreme environment such as a space environment. Since it must be possible, it is possible to easily realize high-precision assembly with a desired mirror surface accuracy with a simple configuration that can satisfy the small size and weight reduction important in space development. Is required. As one of the issues for realizing this assembled antenna, there is a development of a detachable device that can easily and highly accurately assemble and separate the divided mirror surfaces using a working manipulator.

[0004]

As described above, in the field of space development, a detachable attachment / detachment device for detachably connecting a split mirror surface of an assembly type antenna constructed in space using a working manipulator. Development is required.

The present invention has been made in view of the above circumstances, and has as its object to provide an assembling-type antenna attaching / detaching apparatus that can easily and accurately realize antenna assembly and separation.

[0006]

SUMMARY OF THE INVENTION The present invention relates to an assembling type antenna attaching / detaching apparatus in which a plurality of divided mirrors of a reflecting mirror are assembled using a working manipulator. A manipulator holding portion gripped by the working manipulator, a pivot shaft member provided on one of the mounting-side mirror surface and the mounting-side mirror surface of the split mirror surface, and a mounting-side mirror surface and a mounting side of the split mirror surface. The rotating shaft member is provided on any one of the mirror surfaces and is detachably mounted. The first member has a first position where the rotating member is detachable and a second position where mirror mounting is completed. A first supporting member rotatably supporting the rotating member between the first mirror and a ring-shaped first fitting provided on the mounting-side mirror surface and inclined in a direction in which the diameter decreases in the distal direction; And this part A ring-shaped member which is provided on the mounting-side mirror surface of the split mirror surface corresponding to the fitting portion of the above, and which is inclined in a direction in which the diameter becomes smaller in a base end direction in which the first fitting portion is fitted. A second fitting portion, and the working manipulator holding the manipulator holding portion rotates the rotating shaft member from a first position detachable to the shaft supporting member from a first position to a second position. In a state where the first fitting portion is fitted to the second fitting portion, operation is controlled via latch means for fixing the mounting-side mirror surface to the mounted-side mirror surface, and the working manipulator, The latch by the latch means is released and the first and second latches by the work manipulator are released.
And a latch release means for releasing the fitting of the fitting portion.

[0007]

According to the above construction, the mounting-side mirror surface is first gripped by the working manipulator, transferred to the mounting-side mirror surface, and the mutually provided rotating shaft members are mounted on the shaft supporting member. Thus, after being temporarily positioned, the rotation is urged to the second position about the rotation shaft member as the rotation axis. Here, the mounting-side mirror surface is fixed to the mounting-side mirror surface by the first fitting portion being fitted to the second fitting portion and positioned on the mounting-side mirror surface, and the latch means being operated. And accurate positioning with respect to each other.

[0008] When the work manipulator is driven to control the operation of the latch release means, the attachment side mirror surface is released from being fixed by the latch means. , The first fitting portion is separated from the second fitting portion.
Then, at this first position, the rotating shaft member is separated from the shaft support member, and the mounting-side mirror surface is separated from the mounting-side mirror surface. As a result, safe assembly and disassembly work can be performed without assembling and separating the divided mirror surfaces using the working manipulators, without causing interference between the mirror surfaces.

[0009]

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

FIG. 1 shows a main part of an assembled antenna according to one embodiment of the present invention. The reflecting mirror surface is, for example, a substantially circular central mirror surface 10 as shown in FIG.
Is assembled in a parabolic shape by a total of 9 divisions of a plurality of substantially fan-shaped divided mirror surfaces 11 having substantially the same shape around, for example, divided into eight.

The central mirror 10 is fixedly supported by a not-shown structure via a support structure 12 made of, for example, a composite material. The support structure 12 has a latch mechanism as shown in FIG. Latch pin 13 serving as a latch unit
Are provided at predetermined intervals corresponding to the divided mirror surfaces 11. Around the latch pin 13, there is provided a ring-shaped fitting portion 14 formed to be inclined in the direction of decreasing the diameter in the proximal direction. Similarly, a support member 15 is provided on the support structure 12 so as to correspond to the latch pin 13. This pivot support member 15 has a guide portion 15
a is provided.

On the other hand, each of the divided mirror surfaces 11 is supported by a support structure 16 formed of, for example, a composite material. At one end on the inner diameter side of the support structure 16, a ring-shaped fitting portion 17 formed to be inclined in a direction in which the diameter becomes smaller in the distal direction is provided corresponding to the fitting portion 14 on the central mirror surface side. At the approximate center of the fitting portion 17, a rotatable latch claw 18 constituting a latch mechanism is provided corresponding to the latch pin 13 on the central mirror side. As shown in FIG. 4, the latch claw 18 is urged to rotate counterclockwise in FIG. Then, one end of a latch release lever 20 is engaged with one end of the latch claw 18, and a spring member 21 is engaged therebetween. The base of the latch release lever 20 is connected to a bevel gear mechanism 22 that constitutes a latch release unit. The bevel gear mechanism 22 is provided with a manipulator driving section 23 at the center of rotation of one of the gears.
When 3 is rotationally driven through the working manipulator,
The rotational force is converted to a direction substantially perpendicular to the latch release lever 20 and the latch release lever 20 is rotationally biased clockwise in FIG. 4 to bias the latch claw 18 in the same direction against the biasing force of the spring member 19. I do.

A rotating shaft member 24 is provided on the divided mirror surface 11 so as to correspond to the shaft support member 15 of the central mirror surface 10. The rotating shaft member 24 has a rotating shaft 24a having cutouts at both ends.
Is provided. When the rotating shaft 24a is inserted into the guide portion 15a of the shaft support member 15 at a first position having a predetermined inclination angle as shown in FIG. 6A, the shaft support portion is inserted through the guide portion 15a. It is rotatably attached to and detached from the member 15, and is rotatably supported from this first position to a second position shown in FIG. 6B.

Further, a manipulator holding section 25 is provided on the divided mirror surface 11 via a position correcting mechanism 26. As shown in FIG. 5, the manipulator holding section 25 has a manipulator holding section 27 of a working manipulator attached thereto, and the manipulator holding section 27 realizes holding of the divided mirror surface 11.

In the above configuration, when assembling the divided mirror surface 11 into a parabolic shape around the central mirror surface 10, first, the work manipulator is operated, and the manipulator holding portion 25 is held by the manipulator holding portion 27, and the divided mirror surface 11 is held. Is transported as shown in FIG.
The fourth rotation shaft 24a is mounted on the shaft support member 15 of the central mirror surface 10 (see FIG. 6A). Here, the divided mirror surface 11 is provisionally positioned with respect to the central mirror surface 10. Then, when the divided mirror surface 11 is rotationally urged to the second position shown in FIG. 6B via the work manipulator, the divided mirror surface 11
The fitting part 17 is fitted to the fitting part 14 of the central mirror surface 10. At this time, the divided mirror surface 11 is position-corrected via the position correction mechanism 26, and is securely fitted. Here, the split mirror surface 11 has its latch claw 18 locked to the latch pin 13 of the central mirror surface 10, and is fixedly positioned at a predetermined position on the central mirror surface 10.

Thereafter, in the same mounting procedure, the other divided mirror surfaces 11 are sequentially mounted around the central mirror surface 10 and assembled in a parabolic shape.

To separate the assembled mirror 11 from the central mirror 10, the manipulator holding section 27 is first attached to the manipulator holding section 25 of the split mirror 11, and from this state, the manipulator is held. Using a driver tool or the like provided in the part 27,
First, the manipulator driving section 23 of the bevel gear mechanism 22 is moved to the position shown in FIG.
Is turned in the direction of the middle arrow as shown in FIG. Then, the bevel gear mechanism 22 rotates the latch release lever 20 clockwise in the drawing to rotate the latch claw 18 in the same direction against the urging force of the spring member 19 to release the latch of the latch pin. At the same time, the split mirror surface 11 is rotationally urged by the working manipulator to a first position shown in FIG. 6A substantially in reverse to the assembling operation, and first, the fitting portion 17 is disengaged from the fitting portion 14 of the central mirror surface 10. Be separated. And from this state, the split mirror surface 11
The rotation shaft 24 a of the rotation shaft member 24 is separated from the shaft support member 15 and separated from the central mirror surface 10. Next, the other mirror surfaces 11 are sequentially separated from the central mirror surface 10 by the same procedure, and the mirror surface disassembling operation is completed.

As described above, the detachable device for the assembling type antenna includes a manipulator holding portion 25 on the divided mirror surface 11, a ring-shaped fitting portion 17 formed to be inclined in a direction of decreasing the diameter toward the distal end, and a rotating shaft member. 24, and the fitting portion 1 in which the fitting portion 17 on the split mirror side is fitted to the central mirror surface 10.
4 and the pivotal support member 15 are provided, and the rotating shaft member 24 on the divided mirror surface side is mounted on the pivotal support member 15 via the working manipulator, and the temporary positioning is performed. By pivoting about the central mirror surface 10 with respect to the central mirror surface 10 and fitting the fitting portion 17 to the fitting portion 14 on the central mirror surface side, it is latched at a predetermined position on the central mirror surface 10 and assembled. When removing from this assembled state,
After the work manipulator is operated again to release the latch, the work manipulator is separated in a procedure substantially reverse to the assembling operation. According to this, it is possible to perform high-precision assembling and separating operations by reliably preventing interference between mirror surfaces by using a relatively inaccurate working manipulator, and it is easy to construct an assembling antenna in outer space. You.

In the embodiment described above, the shaft support member 15 is provided on the center mirror surface 10 on the mounting side, and the rotating shaft member 24 is provided on the split mirror surface 11 on the mounting side. However, the present invention is not limited to this. It is also possible to provide a configuration in which the rotating member is provided on the central mirror surface 10 and the pivot support member is provided on the divided mirror surface 11.

Further, in the above embodiment, the case where the reflecting mirror is constituted by 9 divisions so that the dividing mirror surface 11 is attached to the central mirror surface 10 has been described. However, the present invention is not limited to this. , Can be configured with various numbers of divisions. In this case, for example, it is possible to configure so that the divided mirror surfaces are attached to each other.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.

[0022]

As described in detail above, according to the present invention, it is possible to provide an assembling type antenna attaching / detaching apparatus which can easily and accurately realize antenna assembly and separation.

[Brief description of the drawings]

FIG. 1 is a diagram showing a part of an assembled antenna according to one embodiment of the present invention.

FIG. 2 is a diagram showing an appearance of FIG. 1;

FIG. 3 is a diagram showing a main part of FIG. 1 taken out;

FIG. 4 is a view showing a part of FIG.

FIG. 5 is a diagram showing details of a manipulator holding unit in FIG. 1;

FIG. 6 is a view shown for explaining the operation of FIG. 1;

FIG. 7 is a view shown for explaining the operation of FIG. 3;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Central mirror surface, 11 ... Divided mirror surface, 12, 16 ... Support structure, 13 ... Latch pin, 14 ... Fitting part, 15 ... Bearing member, 15a ... Guide part, 17 ... Fitting part, 18 ... Latch pawl,
19, 21: spring member, 22: bevel gear mechanism, 23: manipulator driving unit, 24: rotating shaft member, 25: manipulator holding unit, 26: position correcting mechanism, 37: manipulator gripping unit.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kazuo Oshima 1, Komukai Toshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture Inside the Komukai Plant, Toshiba Corporation (56) References JP-A-2-20901 (JP, A) JP-A-2-59237 (JP, A) JP-A-3-80605 (JP, A) JP-A-3-170277 (JP, A) JP-A-3-245989 (JP, A) JP-A-4-250704 (JP JP, A) (58) Fields surveyed (Int. Cl. ⁷ , DB name) B64G 1/24 B64G 1/64-1/66 B25J 15/04 H01Q 15/14-15/16

Claims (1)

(57) [Claims] An assembly-type antenna mounting / removing device for assembling a divided mirror surface of a plurality of divided reflectors using a working manipulator, provided on a mounting-side mirror surface of the divided mirror surface, and holding the working manipulator. A manipulator holding portion, a rotating shaft member provided on one of the mounting-side mirror surface and the mounting-side mirror surface of the split mirror surface, and a rotating shaft member provided on one of the mounting-side mirror surface and the mounting-side mirror surface of the split mirror surface. Wherein the rotating shaft member is detachably mounted, and the rotating member is turned between a first position where the rotating member is detachable and a second position where mirror mounting is completed. A first support member rotatably supported on the mounting-side mirror surface, a ring-shaped first fitting portion formed on the mounting-side mirror surface and inclined in a direction in which the diameter decreases in the distal direction; Corresponding to the joint A ring-shaped second fitting portion which is provided on the mounting-side mirror surface of the split mirror surface and is formed to be inclined in a direction in which the diameter decreases in a base end direction in which the first fitting portion is fitted; The working manipulator holding the manipulator holding portion rotates the rotating shaft member from a first position detachable to the shaft support member to a second position to move the first fitting portion to the first fitting portion. Latching means for fixing the mounting-side mirror surface to the mounting-side mirror surface in a state fitted to the fitting portion of No. 2, and operation controlled via the working manipulator; A latch releasing means for releasing the engagement of the first and second fitting portions by the work manipulator;