JP4247004B2 - Space transportation equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a space transport device that performs transport work of a transported object in outer space.
[0002]
[Prior art]
For example, as described in Non-Patent Document 1 below, development of a solar power generation satellite that receives solar energy to generate electric power and transmits the electric power using electromagnetic waves has been studied. If this type of large space structure is to be constructed manually, astronauts of several hundreds of levels are required, so attempts have been made to unmanned with dedicated machines and robots. By using such dedicated equipment and robots, it is possible to perform advanced work such as coupling between floating modules, reciprocating long distances, and collecting scattered members. It is possible to substitute the work to be performed by mounting the astronaut, and to remarkably reduce the burden on the astronaut.
[0003]
[Non-Patent Document 1]
Kazuo Machida, “Robotics in Solar Power Satellite”, June 7, 1992, Robotics Mechatronics Lecture (ROBOMEC92)
[0004]
[Problems to be solved by the invention]
When constructing such large structures in outer space, for example, how to transfer materials between floating modules without human intervention is one of the major issues in improving work efficiency. There was a need to develop means.
[0005]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a space transport device that can autonomously carry a work to transport a transported object.
[0006]
[Means for Solving the Problems]
The present invention employs the following means in order to solve the above problems.
In other words, the space transportation device according to claim 1 is a device that performs the work of transporting the object to be transported in outer space, and includes a propulsion device in a container that can be moved with a tether or cable installed as a track , A laser beam ranging sensor, an optical sensor, or a magnetic displacement meter is used as a measuring unit that includes a plurality of the containers and measures an interval between the containers. Based on the detection result of the measuring unit, the containers Feedback means for controlling the propulsive force of the propulsion device so that the distance between them is constant, maintaining the distance between these containers constant, and simultaneously moving along the tether or cable To do.
A space transportation device according to a second aspect is the space transportation device according to the first aspect, wherein a plurality of the tethers or cables are provided and moved along these.
The space transportation device according to claim 3 is the space transportation device according to claim 1 or 2, wherein the space arm is disposed in the container and performs a work of unloading and unloading the object to be transported; And a control means for controlling the movement of the container.
[0007]
The space transportation device according to claim 4 is the space transportation device according to any one of claims 1 to 3, wherein the propulsive force when moving to the container along the tether or cable. A thruster is provided as a propulsion mechanism that gives the power to itself.
The space transportation device according to claim 5 is the space transportation device according to any one of claims 1 to 3, wherein the propulsive force when moving to the container along the tether or cable. A linear motor is provided as a propulsion mechanism that gives the power to itself.
The space transportation device according to claim 6 is the space transportation device according to any one of claims 1 to 3, wherein the space transportation device provides the propulsive force when moving along the tether or the cable to itself. As the propulsion mechanism, a mechanism for rotating a wheel by a rotary actuator is provided.
[0008]
The space transportation device according to claim 7 is the space transportation device according to any one of claims 1 to 6, wherein the tether or the cable generates a magnetic force to generate the tether. Alternatively, suspension means for suspending the container in a non-contact state with respect to the cable is further provided.
The space transportation device according to claim 8 is the space transportation device according to any one of claims 1 to 6, wherein the wheel that is prevented from being derailed by being fitted to the tether or the cable is provided. And a suspension means for suspending the container with respect to the tether or the cable .
[0009]
A space transportation device according to claim 9 is the space transportation device according to any one of claims 1 to 8 , wherein a plurality of orbits comprising the tether or the cable are spanned. The moving direction of the container is changed in an arbitrary direction with an intersection as a branch point.
[0010]
The space transportation device according to claim 10 is the space transportation device according to any one of claims 1 to 9 , wherein the center of gravity of the container in the empty state and the loaded state is set on the container. The center-of-gravity position detection sensor to be obtained, and the center-of-gravity position adjustment means for adjusting its own center-of-gravity position to a predetermined position based on the center-of-gravity position obtained by the center-of-gravity position detection sensor.
The space transportation device according to claim 11 is the space transportation device according to any one of claims 1 to 10 , wherein the container has a gyro sensor for posture control, and the posture. It is characterized in that posture control means for controlling posture so as not to rotate during movement based on the detection result of the control gyro sensor is provided.
The space transportation device according to claim 12 is the space transportation device according to any one of claims 1 to 11 , wherein the container includes an acceleration sensor capable of measuring acceleration with a plurality of degrees of freedom. And it is characterized by the attitude | position control means which controls attitude | position so that it may not autorotate at the time of a movement based on the detection result of this acceleration sensor.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
The space transport device of the present invention is a device for transporting materials (conveyed objects) in outer space, and an embodiment thereof will be described below with reference to the drawings. Of course, it is not intended to be limited.
The space transportation device of the present embodiment includes a transportation container (container; hereinafter referred to as transportation container 1) on which the goods are mounted, a trajectory on which the transportation container moves, and a base-side control device that controls the transportation container. And is schematically configured. In the following description, a case where a tether is used as the track will be described as an example. However, the present invention is not limited to this, and a cable constructed using a tether may be used as the track.
[0012]
As shown in FIG. 1 and FIG. 2, the transport container 1 is a self-propelled vehicle that travels along a vehicle body 3 having mounting parts 2 for mounting the above-mentioned supplies at two upper and lower positions, and a tether T that forms part of the track. Based on the mechanism 5, a gravity center position detection sensor (not shown) that obtains its gravity center position in an empty state and a loaded state, and a predetermined gravity center position based on the gravity center position obtained by the gravity center position detection sensor A balancer 6 (center of gravity position adjusting means) that adjusts to the position of the vehicle, a vehicle-mounted side control device (control means; not shown) that receives a control signal from the control device and controls its own operation, and power to each part An in-vehicle battery that supplies power (not shown) is provided. Reference numeral H denotes a robot arm that is attached to the space station side and that unloads and unloads materials from and to the transport container 1.
[0013]
The vehicle body 3 includes a pair of housings 3a and 3b arranged at positions sandwiching the tether T, and a connecting portion 3c that connects the housings 3a and 3b while avoiding interference with the tether T. Has been. Doors 3a1 and 3b1 are attached to the side surfaces of the housings 3a and 3b so as to be openable and closable, and the inside of the mounting portion 2 can be accessed by opening the doors 3a1 and 3b1. The doors 3a1 and 3b1 are opened and closed by a vehicle-mounted actuator (not shown) based on an instruction from the vehicle-mounted control device.
[0014]
The robot arm H includes a multi-joint arm Ha that bends at a plurality of joints, a robot hand Hb that is attached to the tip of the multi-joint arm Ha and holds the material, and a swiveling operation and folding of the multi-joint arm Ha. And a driving unit (not shown) that performs a bending operation and a holding operation of the robot hand Hb. The drive unit includes a plurality of electric motors, actuators, and the like, and performs unloading and unloading work based on a request from the in-vehicle control device or an instruction from the base control device.
[0015]
The self-propelled mechanism 5 includes two drive wheels 5a attached to the upper surface on one housing 3b side, an electric motor (not shown) that rotationally drives these drive wheels 5a, and the other housing 3a side. Two driven wheels 5b attached to the lower surface and an actuator (not shown) for retracting or driving these driven wheels 5b toward the respective drive wheels 5a are configured. Each driven wheel 5b has a holding state in which each tether T is sandwiched between each driving wheel 5a and a released state in which the holding of the tether T is released as shown in FIGS. Either of these can be selected. Each drive wheel 5a and each driven wheel 5b has a recess formed on the surface in contact with the tether T, and the tether T is fitted into the recess to prevent the wheel from being removed.
The operation of each actuator is performed by the vehicle-mounted control device.
[0016]
The center-of-gravity position detection sensor uses, for example, a gyro sensor, and can detect the center-of-gravity position of the transport container 1 quickly and with high accuracy by detecting a moment acting on the transport container 1 when the transport container 1 starts to travel. It is possible. And the calculated | required gravity center position is transmitted to the said vehicle-mounted side control apparatus.
The balancer 6 includes a plurality of weights 6a provided on the side surfaces of the housings 3a and 3b, and a weight driving mechanism (stepping motor or the like, for example) that adjusts the height position of the weights 6a with respect to the housings 3a and 3b. Z.).
[0017]
And these center-of-gravity position detection sensors and the balancer 6 enable the transport container 1 to return its center-of-gravity position, which has been distorted due to loading, to the original position. That is, when the transport container 1 starts to travel, the center of gravity position changed by the load is detected by the center of gravity position detection sensor. The detection result is immediately transmitted to the vehicle-mounted control device, and the vehicle-mounted control device calculates the optimal arrangement (height position) of each weight 6 for returning the center of gravity position to the original center of gravity position. . Then, the calculation result is sent to the weight driving mechanism, and the height position of each weight 6 is adjusted. With the new arrangement of the weights 6, the center of gravity of the transport container 1 is returned to the original position. In this way, the transport container 1 can ensure a stable travel along the tether T without causing a misalignment due to loading.
[0018]
Although not shown in the figure, the trajectory is constructed between the first space station unit on the starting point side where the transport container 1 loads goods and the second space station unit on the target destination side that is the destination thereof. The tether T and a tension adjusting mechanism that keeps the tension of the tether T constant are provided.
The base side control device is arranged in one or both of the first space station unit and the second space station unit, and communicates with the in-vehicle side control device of the transport container 1 to give instructions such as loading information. It is possible to give.
[0019]
According to the space transportation device of the present embodiment having the above-described configuration, in the transportation container 1 arranged in the first space station unit, based on an instruction from the vehicle-mounted side control device or the base side control device, the robot Arm H mounts the load on each mounting portion 2. At the time of this loading work, each mounting part 2 is accessed by opening each door 3a1, 3b1. When the loading is completed, the doors 3a1 and 3b1 are closed to prevent the cargo from being scattered when the transport container 1 is traveling.
Thereafter, the transport container 1 moves along the tether T. The transport container 1 arriving at the second space station unit is unloaded by the robot arm H based on an instruction from the in-vehicle control device or the base side control device. In this way, a series of operations from unloading to unloading are continuously performed.
[0020]
If there are a plurality of transport destinations of the transport container 1, for example, as shown in FIG. 3, a plurality of tracks traversing each transport destination are crossed, a relay station 11 is provided at the intersection of these tracks, and this is branched. This can be handled by allowing the transport container 1 to select an arbitrary trajectory as a point. The relay station 11 is connected to each space station unit, such as the first space station unit and the second space station unit, with which the transport container 1 reciprocates, by each tether T. The relay station 11 includes a base 11a to which each tether T is connected, a tether fixing portion 11c that connects the end of each tether T on the base 11a, and a transport container 1 disposed on the base 11a. And a base side robot arm 11b for changing the destination of the robot.
[0021]
When the transport container 1 reaches the relay station 11, it is first captured by the base side robot arm 11b. Thereafter, the transport container 1 stores each driven wheel 5b to release the holding of each tether T. Thereafter, the transport container 1 that has become free is moved to a new tether T by the base side robot arm 11b according to the destination (any one of R1 to R3). The transport container 1 after the movement is held by causing each driven wheel 5b to protrude again and sandwiching a new tether T between each driven wheel 5a. After that, by traveling along the tether T, it is possible to go to a desired transport destination.
[0022]
In the above embodiment, the case where one transport container 1 is driven has been described as an example. However, the present invention is not limited to this. For example, a plurality of transport containers 1 travel along the same tether T as shown in FIG. It is also possible to make it happen. In this case, each transport container 1 is provided with a relative position detection sensor (not shown), and based on the detection result, the self-propelled mechanism 5 is propelled so that the distance L between the transport containers 1 is always constant. It is preferable from the viewpoint of collision prevention or the like to cause the in-vehicle side control device to perform feedback control for controlling force. As the relative position detection sensor in this case, for example, a laser beam ranging sensor, an optical sensor, a magnetic displacement meter, an equidistant sensor, or the like can be suitably used.
[0023]
The space transport device of the present embodiment described above has a transport container 1 having each mounting portion 2, a trajectory along which the transport container 1 moves, an unloading and unloading operation, and a vehicle-mounted vehicle that controls the transport of the transport container 1. A configuration including a side control device was adopted. According to this configuration, since the loading operation, the conveying operation, and the unloading operation can be performed continuously, it becomes possible to autonomously perform the conveying operation of the load.
[0024]
In the above embodiment, the transport container 1 is caused to travel by the rotation of each drive wheel 5a of the self-propelled mechanism 5. However, the present invention is not limited to this. For example, as shown in FIG. It is also possible to provide a thruster 21a (propulsion mechanism) that gives the propulsive force to itself. In this case, each driving wheel 5a is not necessary, and it is only necessary to provide the driven wheel 5b instead.
[0025]
In addition to this, for example, a traveling mechanism as shown in FIG. 6 can be employed. That is, two tethers T laid between the start point and the end point on which the track is stretched (this tether T is configured as an endless belt wound between a pair of rollers 31; , But there are substantially two tethers as the travel path.). The tether T travels in parallel with the guide tether T1 between the start point and the end point, and the guide tether T1 (guide string) for guiding the transport container 1 along the start point and the end point. The function is separated into the tether T2 (moving string), and the transport container 1 is fixed to the traveling tether T2 side by the fixing portion 32.
Similarly, for the purpose of simply improving the strength as a track, a plurality of tethers T (or cables) to be installed may be provided, and the transport container 1 may be moved along these.
[0026]
Further, as the travel drive source of the transport container 1, in addition to the above examples, a biasing force of a spring, gas pressure, oil pressure, linear motor propulsion force, a propulsion mechanism that propels a wheel by a rotary actuator, and the like may be adopted. good.
Moreover, in the said embodiment, although the structure which hold | grips this mechanically as a suspension means to the tether T was employ | adopted, as shown in FIG. 7, the structure hold | maintained in a non-contact state is also employable. It is. That is, a metal is used for the tether T, a cylindrical body 31 that wraps the tether T from the periphery is fixed to the transport container 1 side, and an electromagnet 32 that generates a magnetic force is annularly arranged in the cylindrical body 31. By energizing these electromagnets 32, a repulsive force is generated between them and the tether T, and the tether T is held in a non-contact state at the center position of the cylindrical body (in practice, the tether T On the other hand, the transport container 1 side is fixed.)
[0027]
In addition, the transport container 1 can make its own center of gravity position constant by the center-of-gravity position detection sensor and the balancer 6, but can further measure an attitude control gyro sensor or acceleration with multiple degrees of freedom. It is possible to secure a more stable movement by providing a simple acceleration sensor and a thruster for attitude control, starting each thruster based on the detection result of the acceleration sensor, and preventing rotation during movement. It becomes.
In the above-described embodiment, the case where the number of tethers T is one is illustrated and described. However, the present invention is not limited to this, and a plurality of tethers T may be used.
In the above-described embodiment, the configuration in which the robot arm H is provided on the space station side is adopted. However, the configuration is not limited to this, and a configuration in which one or a plurality are provided on the transport container 1 side and moved together with the transport container 1 is employed. May be. Even in this case, the robot arm performs the work of unloading and unloading the object to be conveyed.
[0028]
【The invention's effect】
The space transport device according to the present invention is a device that performs a work of transporting an object to be transported in outer space, and employs a configuration having a container and a propulsion device movable along a tether or a cable. According to this configuration, since the object to be transported can be loaded into the container and further transported to the transport destination by the propulsion mechanism, the transporting work of the object to be transported can be performed autonomously.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of a space transportation device according to the present invention, and is a front view showing a transportation container as one component thereof.
FIG. 2 is a view showing the transport container of the space transport device, and is a side view seen from the direction A in FIG. 1;
FIG. 3 is a plan view showing a branch station of the space transportation device.
FIG. 4 is a side view for explaining the movement control of the transport container of the space transport device.
FIG. 5 is a view for explaining a modified example of a transport container moving mechanism of the space transport device, and is a view seen from the rear side in the moving direction;
FIG. 6 is a plan view for explaining another modification of the transport container moving mechanism of the space transport device.
FIGS. 7A and 7B are diagrams showing a modification of the tether holding mechanism of the transfer container of the space transfer device, where FIG. 7A is a side view, FIG. 7B is a front view, and FIG. 7C is a detail of the tether holding mechanism. The figure is shown.
[Explanation of symbols]
1 ... transport container (container)
2 ... Mounting part 21a ... Thruster (propulsion mechanism)
T ... tether
T1 ... Guide tether (guide string)
T2 ... Traveling tether (moving string)

Claims (12)

It is a device that carries transported objects in outer space, and is equipped with a propulsion device in a container that can be moved using a built-in tether or cable as a track ,
A plurality of the containers, as a measuring means for measuring the interval between the containers, a laser beam ranging sensor, or an optical sensor, or a magnetic displacement meter is used,
Feedback means for controlling the propulsive force of the propulsion device based on the detection result by the measuring means so that the interval between the containers is constant;
A space transportation device characterized in that the space between the containers is kept constant and is moved simultaneously along the tether or cable .   The space transportation device according to claim 1, wherein the space transportation device includes a plurality of the tethers or cables and moves along the tethers or cables.   3. The space transportation device according to claim 1, further comprising: a robot arm that is disposed in the container and performs unloading and unloading work of the transported object; and a control unit that controls movement of the container. A space transportation device characterized by the above.   The space transportation device according to any one of claims 1 to 3, wherein the container includes a thruster as a propulsion mechanism that gives the propulsion force to the container when moving along the tether or the cable. A space transportation device characterized by the above.   The space transportation device according to any one of claims 1 to 3, wherein the container includes a linear motor as a propulsion mechanism that imparts propulsive force when moving along the tether or the cable to the container. A space transportation device characterized by being provided.   The space transportation device according to any one of claims 1 to 3, wherein a mechanism that rotates a wheel by a rotary actuator is provided as a propulsion mechanism that gives the propulsion force when moving along the tether or the cable. A space transportation device comprising:   The space transportation device according to any one of claims 1 to 6, wherein the container is brought into a non-contact state with respect to the tether or the cable by generating a magnetic force with respect to the tether or the cable. A space transportation device further comprising suspension means for suspension.   The space transportation device according to any one of claims 1 to 6, wherein a wheel which is prevented from being derailed by being fitted to the tether or the cable is suspended from the container with respect to the tether or the cable. A space transportation device, further comprising suspension means for carrying out the operation. The space transportation device according to any one of claims 1 to 8 , wherein a plurality of orbits made of the tether or cable are spanned, the intersection of these orbits is a branch point, and the container is in an arbitrary direction. A space transportation device characterized by changing a moving direction. The space transportation device according to any one of claims 1 to 9 , wherein the container includes a center-of-gravity position detection sensor that obtains a center-of-gravity position in an empty state and a loaded state, and the center-of-gravity position detection. A space transportation device comprising: a center of gravity position adjusting means for adjusting the center of gravity of the vehicle to a predetermined position based on the position of the center of gravity obtained by a sensor. The space transportation device according to any one of claims 1 to 10 , wherein the container includes a posture control gyro sensor and moves based on a detection result of the posture control gyro sensor. A space transportation device comprising posture control means for controlling posture so as not to rotate at times. The space transportation device according to any one of claims 1 to 11 , wherein the container includes an acceleration sensor capable of measuring an acceleration having a plurality of degrees of freedom, and based on a detection result of the acceleration sensor. A space transportation device comprising posture control means for controlling posture so as not to rotate when moving.

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