JP3981727B2 - Assembly member storage device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an assembly member storage device that stores a plurality of assembly members in a removable manner.
[0002]
[Prior art]
Conventionally, when one or a plurality of structures are constructed by assembling a plurality of assembly members, when the assembly work is in a remote place, the assembly members are transported in a state of being accommodated in a storage device such as a container. Is common. Nowadays, there is an increasing need to construct large structures in space such as solar power generation satellites and platforms in outer space such as earth orbit. As one method of constructing such a large structure, the large structure is assembled into a truss structure or panel structure, folded and mounted on a rocket or spacecraft, and the folded structure is placed in outer space. There is a method to expand in. This folding and unfolding method is advantageous in that it does not require assembling work in outer space because it is pre-assembled, but it requires special ingenuity for folding, and is efficient in rockets and spacecrafts. There is a limit to folding, and technical problems remain in terms of stable deployment.
[0003]
As another construction method of such a large structure, there is a method in which an assembly member constituting the large structure is mounted on a rocket or a spacecraft and transported, and the assembly member is assembled in space. When astronauts assemble in the field, there is a danger of being exposed to electromagnetic waves or radiation harmful to the human body or colliding with space debris etc. if they are working for a long time. Therefore, research and development is also underway for robot work, but robots are required to perform sophisticated and complex work according to the situation at the time, such as transporting and assembling assembly members, and assembling work without failure. There are still many technical challenges in developing a robot that can be realized.
[0004]
As an example of a method for constructing such a large space structure, a panel laminated body in which a large number of panels are stacked in a stacked state is transported to the outer space by a rocket, and after pushing up the uppermost panel in outer space, A method has been proposed in which a panel is slid by a transfer robot, the panels are engaged with each other in the same plane, and then a structure is constructed in which the panel is pushed up and slid repeatedly to develop a flat structure (Patent Document). 1). A guide rail is disposed on one surface of the panel, and wheels that can be fitted to the guide rail are disposed on the other surface. When the panels are arranged, the guide rails of adjacent panels can be connected via a groove, and the transfer robot can also move along the guide rails.
[0005]
However, in the construction method of the large space structure described in Patent Document 1, the panel stack is disclosed in the storage state in the rocket and the deployment / assembly from the stack state. There is no disclosure about transporting the panel stack stored after transport to the assembly position, and the robot is limited to a transport robot that travels on the panel by running on a groove formed in the guide rail. Since it is only possible to move individual panels, it is desired to have more versatility and applicability for the operation of the robot.
[0006]
As described above, when the surrounding environment for assembling is in an extreme state such as outer space, there are technical problems peculiar to the surrounding environment in order to transport and assemble the assembly member by the robot. The structure of the robot itself, that is, the structure and function of the robot arm and end effector, has been researched and developed. However, in the situation where the work tools are limited, the assembly member is taken out from the storage device containing the assembly member. In order to perform efficient work at each stage until the assembly work is started, there are not only problems on the robot side but also problems related to the storage device and the relationship between the storage device and the robot.
[0007]
[Patent Document 1]
JP-A-5-278695 (page 3, FIG. 3, FIG. 9)
[0008]
[Problems to be solved by the invention]
Therefore, the assembly member can be stably stored in the storage device and can be transported in such a storage state, and the assembly member is stored even in a situation where the working means is limited to a specific means such as a robot arm. There is a problem to be solved in terms of further improving the efficiency of the handling of the storage device and the handling of the individual assembly members.
[0009]
An object of the present invention is to stably store an assembly member in a storage device even in a harsh transport state, and to transport and fix the storage device storing the assembly member to the outside and handle each assembly member by a robot arm. It is an object of the present invention to provide an assembly member storage device that can be operated easily and efficiently.
[0010]
[Means for Solving the Problems]
  In order to solve the above-described problems, an assembly member storage device according to the present invention is an assembly member storage device that stores an assembly member of a space structure assembled in space, and includes a main structure that stores a plurality of assembly members therein, The assembly member housed in a structure is held coupled to the main structure.Has a coupled partA coupling structure, a main handle with which a robot arm provided in the main structure can be engaged, andCan be fixed or released by operating a robot arm that engages the main handleA fixing mechanism for fixing to the outside provided in the main structure.It is characterized by having.
[0011]
According to this assembly member storage device, the main structure can efficiently accommodate a plurality of assembly members inside, and the plurality of assembly members are held in a coupled state inside the main structure. Therefore, even if the assembly member storage device is transported in a state in which vibration occurs at the time of launch or the like, the coupled state is maintained, and the position and posture are not changed inside the main structure. In addition, since the main structure is provided with a main handle that can be engaged with the robot arm, the robot arm is engaged with the main handle to collect the assembly member storage apparatus in a state where the assembly member is stored. Can be transported. Further, since the main structure is provided with a fixing mechanism for fixing to the outside, the assembly member storage device can be fixed to a fixing place such as an external structure by the fixing mechanism at the transport destination. As described above, according to the assembly member storage device, the assembly member storage device includes holding the plurality of assembly members in a coupled state, transporting the assembly member storage device by the robot arm, and fixing the assembly member storage device by the fixing mechanism. Can be realized efficiently.
[0012]
In this assembly member storage device, the assembly member is a plurality of panel members that can be stacked in the main structure, and the coupling structure can hold the panel members with respect to the main structure. When the assembly member is a panel member, the storage efficiency of the panel member can be improved by storing the assembly member in a stacked state in the main structure. At this time, each panel member accommodated in the laminated state is held by the coupling structure with respect to the main structure, and the laminated state of the panel member can be held even when an external force or vibration is applied.
[0013]
In the assembly member storage device in which the assembly member is a panel member, the panel member can be a panel member that can be assembled to a space structure. Examples of space structures include solar panels used for photovoltaic power generation satellites, electromagnetic wave focusing panels used for communication satellites and observation satellites, platforms equipped with various space equipment, wall panels for space laboratories, etc. It is done. By stacking a large number of panels for these space structures, they can be stored and held in the assembly member storage device collectively and efficiently when launched by a rocket or spacecraft, transported to the space section, and in orbit. Thus, the robot can be stored in a state where it is stored in the assembly member storage device, and can be efficiently transported to a predetermined assembly position of the space structure by the robot arm.
[0014]
In this assembly member storage device, the assembly member can be provided with an assembly handle that can be engaged with the robot arm. By providing an assembly handle that can engage the robot arm on the assembly member, the assembly or disassembly of the assembly member can be efficiently performed by the robot arm by engaging the robot arm with the assembly handle provided on the assembly member. be able to. By making the assembly handle common with the main handle provided in the main structure, not only the manufacturing cost can be reduced, but also the operation by the same robot arm is possible.
[0015]
In this assembly member storage device, the main structure may be a substantially hexagonal cylindrical panel structure provided with an opening / closing door structure that enables loading and unloading of the assembly member. By making the main structure a substantially hexagonal cylindrical panel structure, a large number of hexagonal panels can be stacked and efficiently stored in a substantially hexagonal columnar space formed inside the main structure. The hexagonal panel can be expanded in order by arranging the hexagonal panels on each side so as to face each other. Since a part of the main structure is configured as an open / close door structure, the hexagonal panel can be loaded into and removed from the main structure by opening the open / close door structure.
[0016]
In the assembly member storage device in which the main structure is a substantially hexagonal cylindrical panel structure, the opening / closing door structure may include a door handle with which the robot arm can be engaged. By providing the door handle in the door structure and engaging the robot arm with the door handle, the door structure can be opened and closed by operating the robot arm.
[0017]
In this assembly member storage device, the fixing mechanism can be fixed or released by the robot arm engaged with the main handle provided in the main structure. By operating the robot arm with the robot arm engaged with the main handle provided in the main structure, the fixing mechanism can be fixed to or released from the structure having a handle such as an external structure. Therefore, it is possible to continuously perform gripping / conveying of the assembly member storage device and fixing or release of the assembly member storage device by the fixing mechanism by the same robot arm.
[0018]
Further, the plurality of assembly member storage devices can be held in a connected state by coupling the fixing mechanism and the main handle. The plurality of assembly member storage devices can be held in the space structure in such a connected state by sequentially connecting, for example, one assembly member storage device held in the space structure.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of an assembly member storage device according to the present invention will be described with reference to the accompanying drawings. FIG. 1 is a view showing an embodiment of an assembly member storage device according to the present invention in a state in which an assembly member is not stored, (A) is a plan view thereof, and (B) is a side view thereof. 2A and 2B are views showing the assembly member storage device shown in FIG. 1 in a state in which the assembly members are stored. FIG. 2A is a plan view thereof, and FIG. 2B is a side view thereof.
[0020]
The assembly member storage device according to the present invention (hereinafter, abbreviated as “storage device” for simplicity), for example, connects assembly members such as a substantially hexagonal curved surface or a flat panel to each other by a robot arm on an orbit around the earth. Thus, when assembling the space structure, the storage device is suitable for storing such an assembly member. As an example of the space structure, there is an assembly type reflecting mirror shown in FIG. FIGS. 11A and 11B are diagrams showing an assembling type reflecting mirror having a reflecting segment as an assembling member, in which FIG. 11A is a front view thereof and FIG. 11B is a side view thereof. The assembling-type reflecting mirror 50 lays a plurality of hexagonal panels 2 that are reflective segments, for example, on the earth orbit, with the adjacent hexagonal panel 2 and side surfaces 2a and 2a (only a part of the symbols are attached) facing each other. It is constituted by. Each hexagonal panel 2 is formed in a flat plate shape, but in the assembled state, as shown in FIG. Electromagnetic waves such as light and radio waves reflected by each reflective segment are focused on a concentrator 51 standing at a central position, and the collected energy and signals are processed by a device (not shown).
[0021]
The hexagonal panel 2 is stored and transported with high storage efficiency because it is stored in a stacked state in a storage device having a hexagonal cylindrical shape when launched into orbit by a rocket or spacecraft. As will be described in detail later, after the robot arm is placed on the track, the robot arm performs an operation of individually grasping and taking out the hexagonal panel 2 from the storage device and laying it in a planar shape. In order to facilitate the gripping and laying work of the hexagonal panel 2 by the robot arm, the hexagonal panel 2 has a panel handle 3 (FIG. 3) that can be engaged with an end effector provided at the tip of the robot arm as an assembly handle. 1, 2, 4, and 6).
[0022]
A storage device 1 shown in FIG. 1 is a storage container suitable for stacking and storing a plurality of hexagonal panels 2 which are reflection segments obtained by disassembling the assembly-type reflecting mirror 50, and is a general hexagonal cylinder made of a thin wall as a whole. It has a shape panel structure. The storage device 1 includes a main structure 10 as a hexagonal cylinder structure including an open / close door structure 20 that is partially opened and closed, and a first handle as a main handle that can be gripped by a robot to convey the entire storage device 1. The handle 30 and a fixing mechanism 35 for fixing the handle 30 to a handle or the like on an external structure being assembled. The main structure 10 functions to firmly maintain the hexagonal cylindrical panel structure when the door structure 20 is closed.
[0023]
In the main structure 10, the main body structure portion other than the open / close door structure 20 has a central side wall 10a and outer wing side walls 10b, 10b, and constitutes a half of the hexagonal cylinder panel structure. The main structure 10 includes a connecting structure 11 for connecting the plurality of hexagonal panels 2 to the central side wall 10 a, and each of the plurality of hexagonal panels 2 can be held by the main structure 10 by the connecting structure 11. Further, guide rails 12 are provided on the inner sides of both blade side walls 10 b and 10 b, respectively, and the guide rails 12 support a plurality of hexagonal panels 2 in a coupled state in cooperation with the coupling structure 11. A specific structure of the guide rail 12 includes a groove-shaped recess 79b into which the protrusion 79a shown in FIG. 10 can enter.
[0024]
The open / close door structure 20 has a structure of a pair of open / close doors 20a and 20b attached to the front end portions of the blade side walls 10b and 10b via a rotatable hinge 21 in the main structure 10. The open / close doors 20a and 20b can be opened and closed in a manner indicated by arrows with the hinge 21 as a pivot. A door handle 22 is attached to the joint ends of the open / close doors 20a and 20b, and the open / close door structure 20 is brought into a closed state by being engaged with the door handle 22 by the holding mechanisms 23 and 23.
[0025]
As shown in FIG. 2, when the hexagonal panel 2, which is an assembly member, is stored in a stacked state in the storage device 1, the hexagonal panel 2 is coupled to the main structure 10 by the coupling structure 11 and contacts the guide rail 12. It will be in contact. When the door structure 20 is placed in the closed state, the plurality of hexagonal panels 2 are surrounded by the main structure 10 including the door structure 20 and stored in the storage device 1, so that they are launched by a rocket, a space shuttle, or the like. It is able to withstand acceleration and vibration during times. Even after launching, the storage device 1 can be maintained in a storage state in which the hexagonal panel 2 is stored on the track. The open / close door structure 20 is opened by holding a door handle 22 provided on the upper part thereof with a robot arm and releasing the holding mechanism 23 by driving a socket wrench of an end effector of the robot arm. It can be closed by closing.
[0026]
As shown in FIGS. 1 and 2, the main structure 10 is provided with a first handle 30 as a main handle on the upper side of the central side wall 10 a, and the lower side of the central side wall 10 a corresponding to the first handle 30. A first fixing mechanism 35 is provided. Further, the open / close door structure 20 is provided with a second handle 31 as a main handle on the upper side in the door structure portions 20 a and 20 b, and a second fixing mechanism 36 on the lower side corresponding to the second handle 31. Is provided. Each of the first handle 30 and the second handle 31 is a main handle that can be gripped by an end effector provided at the tip of the robot arm, and the robot arm grips the first handle 30 or the second handle 31. Thus, the storage device 1 can be transported regardless of whether or not the hexagonal panel 2 is held. The first fixing mechanism 35 and the second fixing mechanism 36 are devices that fix the storage device 1 to a satellite or a space structure being assembled, and are linked to the first handle 30 or the second handle 31, respectively. When the robot arm outputs rotational power by the electric socket wrench mechanism built in the end effector in a state where the robot arm is engaged with the first handle 30 or the second handle 31 by the end effector, the first handle 30 or the second handle 31 is output. The first fixing mechanism 35 or the second fixing mechanism 36 is operated via the screw mechanisms 30a and 31a incorporated in the satellite to fix or release the handle structure of the satellite, space structure, or other storage device. The action can be performed. In this way, the storage device 1 can be fixed or released via the first handle 30 or the second handle 31 by operating the robot arm.
[0027]
The form which hold | maintains the some storage apparatus 1 in a connection state is demonstrated based on FIG. FIG. 3 is a side view showing a plurality of storage devices held in a connected state. When launching a plurality of storage devices 1 in orbit, it is necessary to efficiently mount the plurality of storage devices 1 on the satellite body structure 38. By operating the first handle 30 and the second handle 31 of another storage device 1b with respect to the storage device 1a fixed to the satellite body structure 38 by the first and second fixing mechanisms 35 and 36. The first and second fixing mechanisms 35 and 36 are fixed to the first handle 30 and the second handle 31 of the storage device 1a via the screw mechanisms 30a and 31a, respectively. By doing so, the storage device 1a and the storage device 1b can be held in a compact connected state. It is also possible to hold the storage device 1b in a connected state by adding another storage device to the storage device 1b.
[0028]
Hereinafter, with reference to FIG. 4 to FIG. 7, some basic operations when taking out and assembling the assembly member stored in the storage device according to the present invention by the robot arm will be described. FIG. 4 is a schematic diagram for explaining the operation of the robot arm that moves the storage device in a state in which the assembly member is stored, FIG. 5 is a schematic diagram for explaining the walking movement of the robot arm, and FIG. FIG. 7 is a schematic diagram for explaining an assembling operation of a robot arm for attaching an assembly member to a structure. FIG. 8 shows an assembly work flow using the storage device and the robot arm according to the present invention.
[0029]
The robot arm 40 has an end handle 41 provided at one end thereof for an assembly handle provided in the existing space structure 50, that is, a panel handle provided in the hexagonal panel 2 a laid down to construct the space structure 50. By being engaged with 3a, the space structure 50 (hexagon panel 2a) is moored. The robot arm 40 can cause the other end effector 44 to perform various operations by a plurality of joints (three joints in the illustrated example) 42 disposed in the middle and a rod 43 connecting the joints 42. According to the operation of the robot arm shown in FIG. 4, the other end effector 44 is engaged with the first handle 30 or the second handle 31 of the storage device 1, thereby transporting the storage device 1 storing the hexagonal pallet 2. (Step S1 in the work flow of FIG. 8). The robot arm 40 adjusts the position of the storage device 1 with the end effector 44 and operates the first handle 30 or the second handle 31 to provide the first fixing mechanism 35 or the second fixing mechanism 36 on the hexagonal panel 2b. The storage device 1 is temporarily placed and fixed to the assembled space structure 50 by being attached to and detached from the handle 3b and fixed or released. By such a transfer / fixing operation, the robot arm 40 can take out the hexagonal panel 2 from the storage device 1 temporarily placed in the vicinity of the work place and perform assembly work without returning to the storage place of the hexagonal panel 2 one by one. .
[0030]
Next, the robot arm 40 moves with an inch worm (step S2 in the work flow of FIG. 8). As shown in FIG. 5, when the hexagonal panels 2a to 2c are already constructed as the space structure 50, the robot arm 40 is engaged with the end effector 41 in the panel handle 3a provided in the hexagonal panel 2a. The effector 44 is moved to the panel handle 3c of the adjacent hexagonal panel 2c with the hexagonal panel 2b interposed therebetween, and then the end effector 41 is moved from the panel handle 3a to the panel handle 3b provided in the hexagonal panel 2b. The robot arm 40 can accurately move on the space structure 50 by such a walking action like a scale insect.
[0031]
Next, the hexagon panel 2 can be taken out of the storage device 1 by operating the robot arm 40 (step S3 in the work flow of FIG. 8). As shown in FIG. 6, when the hexagonal panel 2 is taken out from the storage device 1 temporarily placed in the space structure 50, the end effector 44 of the robot arm 40 is removed from the first handle 30 or the second handle 31 and stored. The hexagonal panel 2 housed in the apparatus 1 is engaged with a panel handle 3d provided on the uppermost hexagonal panel 2d. When the end effector 44 holds the panel handle 3d of the hexagonal panel 2d, the hexagonal panel 2d can be released from the storage device 1 by releasing the coupled state with the main structure 10 by operating the robot arm 40. In this example, the hexagonal panel with which the end effector 41 is engaged is the hexagonal panel 2a. However, the hexagonal panel 2a is not limited to this, and may be any hexagonal panel that the robot arm 40 can move by walking. The range of hexagon panel assembly work can be expanded sequentially.
[0032]
Further, the hexagon panel is assembled by operating the robot arm 40 (step S4 in the work flow of FIG. 8). As shown in FIG. 7, when the space structure 50 is constructed by adding the hexagonal panel 2d to the existing hexagonal panel 2a, the robot arm is in a state where the end effector 44 holds the panel handle 3d of the hexagonal panel 2d. By the operation of 40, the end of the hexagonal panel 2a can be butted and spread. The assembly can be confirmed by applying a force to the hexagonal panel 2d by the robot arm 40 (step S5 in the work flow of FIG. 8). Thereafter, the carrying operation of the storage device 1 shown in FIG. 3 with respect to the robot arm 40, the walking action of the insect-like insect shown in FIG. 5, the attaching / detaching operation to the assembly member shown in FIG. 6, and the assembly operation of the assembly member shown in FIG. By combining them, the space structure 50 can be constructed by spreading the assembly members (hexagonal panels 2) one after another.
[0033]
A specific example of the fixing mechanism will be described with reference to FIG. FIG. 9 is a cross-sectional view illustrating an example of a fixing mechanism used in the storage device illustrated in FIG. 1, and illustrates a case where the storage devices 1 are stacked. The screw mechanism 60 (30a, 31a) for operating the fixing mechanism 35 (36) includes a screw shaft 61 that is rotatably supported by bearings 66, 66 with respect to the main structure 10 of the storage device. A ball nut 62 is screwed into a screw portion 61 a formed on one end side of the screw shaft 61. The operation end portion 61 b on the other end side of the screw shaft 61 is located in the first handle 30 provided on one side of the main structure 10. The end effector 44 of the robot arm 40 can be engaged with the operation end 61b. In the main structure 10, a pair of fixing claws 64, 64 are opposed to each other at a position sandwiching the screw portion 61 a. Each fixing claw 64 is rotatable with respect to the main structure 10 by a hinge 67, but is biased toward the ball nut 62 by a spring 65, and is provided rotatably on the ball nut 62. The roller 63 is always pressed against the roller 63 without play. Each fixing claw 64 has a claw portion 64a at the tip, and the claw portion 64a is the handle 30, 31 of the storage device (or the panel handle 3 of the hexagonal panel as an assembly member, and the same in the description relating to FIG. 9 below). ) Can be engaged. The connector 68a attached to the ball nut 62 can be coupled to the connector 68b provided on the first handle 30 (31) of another main structure 10 for supplying power and sending / receiving various signals.
[0034]
The operation of the screw mechanism 60 (30a, 31a) and the fixing mechanism 35 (36) will be described. When the screw shaft 61 is rotated, the ball nut 62 moves in the axial direction of the screw shaft 61, and the rollers 63, 63 change their contact positions with the fixing claws 64, 64 as the ball nut 62 moves, thereby fixing the ball nut 62. The claws 64 and 64 rotate around the hinges 67 and 67 to open and close inside and outside. As each of the fixing claws 64 opens outward, the claw portions 64a engage with the handle 30 (31). By rotating the screw shaft 61 in the reverse direction, the fixing claw 64 can be detached from the handle 30 (31). Thus, the fixing mechanism 35 (36 located on the other side of the storage device 1 without turning around to the other side of the storage device 1 by the operation of the handle 30 (31) by the robot arm 40 from one side of the storage device 1. ) And the ease of handling and operability of the storage device 1 are greatly improved. Even when the storage device 1 is fixed to or released from the hexagonal panel 2 of an existing structure, the end effector 44 of the robot arm 40 holds the operation end 61b of the first handle 30 (31), and the end effector. By operating the fixing mechanism 35 (36) by the operation of 44, the fixing claws 64, 64 can be engaged with the panel handle 3 of the hexagonal panel 2.
[0035]
Next, a coupling mechanism for assembling the hexagonal panel 2 as an assembly member will be described with reference to FIG. 10A and 10B are diagrams showing an example of a coupling mechanism used at the time of assembling the hexagonal panel, where FIG. 10A is a plan view and FIG. 10B is a cross-sectional view thereof. As shown in FIG. 10 (A), the coupling portion 70a formed in the vicinity of the panel handle 3 of the hexagon panel 2 is coupled to the coupled portion 70b of the mating hexagon panel 2, so that the hexagon panel 2 is It will be assembled. The panel handle 3 is provided with an operation end which is an outer end of an operation shaft 71 extending in a direction perpendicular to the panel surface of the hexagonal panel 2, and the end effector 44 of the robot arm 40 is located with respect to the operation end. Engageable. A bevel gear 71 a is formed at the inner end of the operation shaft 71, and the bevel gear 71 a meshes with a bevel gear 73 a formed at the inner end of a screw shaft 73 extending in a direction parallel to the panel surface of the hexagonal panel 2. Yes. The operation shaft 71 and the screw shaft 73 are rotatably supported by the hexagonal panel 2 by bearings 72. A screw portion 73a is formed at the outer end portion of the screw shaft 73, and a nut 74 is screwed to the screw portion 73a. The hexagonal panel 2 has a pair of coupling claws 75, 75 facing each other at a position sandwiching the screw portion 73 a. Each coupling claw 75 is rotatable with respect to the hexagon panel 2 by a hinge 76. Further, the nut 74 and each coupling claw 75 are linked by a link 78. Each coupling claw 75 has a claw portion 75a at the tip, and the claw portion 75a can be engaged with a coupled portion 70b of another hexagon panel 2. Further, a connector 77a is attached to the nut 74, and can be coupled to the connector 77b provided in the coupled portion 70b when coupled. In the coupled state of the connectors 77a and 77b, power can be supplied from the power source to the robot arm 40 and various signals can be exchanged with the control device or the like.
[0036]
The operation of the coupling mechanism will be described. When the operation shaft 71 of the panel handle 3 gripped by the end effector 44 is rotated by the operation of the end effector 44 of the robot arm 40, the screw shaft 73 is rotated via the bevel gears 71a and 73a. The nut 74 moves in the axial direction of the screw shaft 73. By changing the posture of the coupling claws 75, 75 via the link 78 in accordance with the movement of the nut 74, the coupling claws 75, 75 rotate around the hinges 76, 76 to open and close inside and outside. To do. When each coupling claw 75 opens outward, the claw portion 75a is coupled to the coupled claw 70c formed on the coupled portion 70b of the adjacent hexagon panel 2. By rotating the screw shaft 71 in the reverse direction, the coupling claw 75 can be detached from the coupled portion 70 b of the adjacent hexagonal panel 2. In this way, the operation through the panel handle 3 of the robot arm 40 from the front side of the hexagonal panel 2 can operate the coupling mechanism of the hexagonal panel 2 without going around the side surface of the hexagonal panel 2. The ease of handling and operability are greatly improved. In addition, each hexagon panel 2 is provided with projections 79a for coupling on three side surfaces on the side where the panel handle 3 is provided, and the panel handle 3 of each hexagon panel 2 on the mating side to be coupled is provided. A concavity 79b for coupling is formed on three side surfaces opposite to the side on which it is provided. When the hexagonal panels 2 and 2 are coupled, the projections 79a are fitted into the recesses 79b, so that the hexagonal panels 2 and 2 are accurately positioned and a sufficient coupling force is obtained. Each hexagonal panel 2 is assembled one after another as shown in the drawing or assembled into an existing structure. The above-described coupling mechanism between the hexagonal panels 2 can also be applied to the coupling of the hexagonal panel 2 to the main structure 10 of the storage device 1 as shown in FIGS. 1 and 2. Is used as the coupling structure 11. Further, the recess 79 b can be used as the guide rail 12 in the main structure 10 of the storage device 1.
[0037]
As described above, the large space structure 50 such as the photovoltaic power generation panel and the antenna has been described as an example of the assembly member storage device. However, the large space structure 50 is merely an example and is not limited thereto. Absent. The assembly member storage device 1 according to the present invention is not limited to space use, but under an acceleration motion such as vibration in which an inertial force is applied, in an environment where survival is severe or dangerous for a person such as deep sea, radiation, or extremely cold region. When it is required to perform assembly or disassembly work including various work contents with a small number of work tools, a safe and reliable work basis can be provided. The assembly member storage device 1 and the assembly member 2 are provided with various handles 3, 22, 30, 31. By sharing the specifications of all the handles, the parts can be shared and the manufacturing cost can be increased. In the case where the working means is limited in kind and number as in the case of the robot arm, it is possible to stabilize the engagement with the assembly member and further ensure the operation.
[0038]
【The invention's effect】
Since the assembly member storage device according to the present invention is configured as described above, when an assembly member such as a hexagonal panel constituting an assembly-type structure is launched by a rocket or a reciprocating feedback machine, or on an orbit after launch. When storing in the storage unit, the assembly members can be collectively and stably held in the assembly member storage device, and the work area on the structure can be transported while the assembly member storage device is gripped by the robot arm. At the same time, it can be temporarily fixed on the structure, and the assembly work of sequentially taking out the assembly members from the assembly member storage device and sequentially assembling the assembly members, or the opposite disassembly operation can be performed efficiently. In addition, the assembly member storage device for storing the assembly member is provided with a main handle for gripping and transporting, and the assembly handle storage device is configured by the same robot arm by forming the main handle in common with the assembly handle provided in the assembly member. It can be gripped and transported. As a result, the robot arm temporarily places the assembly member storage device in which the members are stored in the vicinity of the work place, and sequentially returns the assembly members from the assembly member storage device temporarily placed in the vicinity without returning to the member storage location. It can be taken out and assembled.
[0039]
When a handle that can be engaged with the robot arm is provided on the assembly member that constitutes the structure, the robot arm can be moved in the form of a scale insect through the handle provided on the assembled structure. . In addition, since the fixing mechanism linked to the main handle is provided, the assembly member storage device can be temporarily placed and fixed to the handle on the assembled structure by the operation of the main handle. That is, by passing the power line and the signal line that electrically connect the end effector of the robot arm and the handle, the fixing and fixing operation of the fixing mechanism provided in the assembly member storage device can be quickly and easily performed through the handle. It can be done accurately.
[Brief description of the drawings]
FIG. 1 is a view showing an embodiment of an assembly member storage device according to the present invention in a state in which an assembly member is not stored, (A) is a plan view thereof, and (B) is a side view thereof.
2A and 2B are views showing the assembly member storage device shown in FIG. 1 in a state where the assembly member is stored, in which FIG. 2A is a plan view and FIG. 2B is a side view thereof.
FIG. 3 is a side view showing a state in which a plurality of assembly member storage devices shown in FIG. 1 are held in a connected state.
FIG. 4 is a schematic diagram for explaining the operation of the robot that moves the assembly member storage device in a state in which the assembly member is stored.
FIG. 5 is a schematic diagram for explaining a walking action of a scale insect-like robot.
FIG. 6 is a schematic diagram for explaining a take-out operation of a robot that takes out an assembly member from the assembly member storage device.
FIG. 7 is a schematic diagram illustrating an assembly operation of a robot that attaches an assembly member to a structure.
FIG. 8 is a diagram showing an assembly work flow of a structure using the assembly member storage device and the robot arm according to the present invention.
9 is a cross-sectional view showing an example of a fixing mechanism used in the storage device shown in FIG. 1. FIG.
10A and 10B are diagrams showing an example of a coupling mechanism between hexagon panels, where FIG. 10A is a plan view and FIG. 10B is a cross-sectional view thereof.
FIGS. 11A and 11B are diagrams showing an assembling-type reflecting mirror using a reflecting mirror panel as an assembling member, where FIG. 11A is a front view and FIG. 11B is a side view thereof;
[Explanation of symbols]
1, 1a, 1b Assembly member storage device
2,2a-2d Hex panel 3,3a-3d Panel handle
10 Main structure 10a Central side wall 10b Side wall
11 Coupling structure 12 Guide rail
20 Open / close door structure 20a, 20b Open / close door
21 Hinge
22 Door handle 23 Holding mechanism
30 First handle (main handle) 31 Second handle (main handle)
30a, 31a, 61 Screw mechanism
35 First fixing mechanism 36 Second fixing mechanism
38 Satellite structure
40 Robot arm 41, 44 End effector
42 joints 43 rods
50 Space Structure (Assembly-type Reflector) 51 Concentrator

Claims (7)

An assembly member storage device for storing an assembly member of a space structure assembled in space, wherein a main structure that houses a plurality of assembly members inside, and the assembly member that is housed in the main structure is coupled to the main structure It can be fixed or released by operation of a coupling structure having a coupled portion to be held in a state, a main handle that can be engaged with a robot arm provided in the main structure, and a robot arm that engages with the main handle An assembly member storage device comprising a fixing mechanism for fixing to the outside provided in the main structure.   The assembly member according to claim 1, wherein the assembly member is a plurality of panel members that can be accommodated in the main structure in a stacked state, and the coupling structure holds the panel members with respect to the main structure. Storage device.   The assembly member storage device according to claim 1, wherein the assembly member is provided with an assembly handle with which the robot arm can be engaged.   The assembly member storage device according to claim 1, wherein the main structure is a substantially hexagonal cylindrical panel structure having an opening / closing door structure that enables loading and unloading of the assembly member.   The assembly member storage device according to claim 5, wherein the opening / closing door structure includes a door handle with which the robot arm can be engaged.   The assembly member storage device according to claim 1, wherein the fixing mechanism is actuated for fixing or releasing by operation of the robot arm engaged with the main handle provided in the main structure.   The assembly member storage device according to claim 1, wherein a plurality of the assembly member storage devices can be held in a connected state by coupling the fixing mechanism and the main handle.

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