JPH0281799A - Holding and stabilizing device - 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] [Industrial Application Field] This invention relates to 1) maintaining the posture of a working machine when handling large objects such as setting up a lunar base in a low-gravity space such as the lunar surface; 1) stabilizing the working environment; It is about transformation.

[Conventional technology]

In recent years, as the capabilities of rocket launchers such as the Space Shuttle and Ariane rocket have improved, momentum for constructing a January space base has been increasing. In this context, the concept of constructing a base on the January surface is being actively researched in various countries.

Traditional human activities in space include observation using unmanned and manned spacecraft, sample collection, and installation of observation equipment.

An example of equipment used in such work is a sample collection manipulator as shown in FIG. The manipulator shown in FIG.
c Therefore, extend the arm (9) and press the end effector (81).
K therefore performs work such as collecting soil samples from around the exploration mechanism.

[Problem to be solved by the invention]

In conventional work in space, there is only work that involves handling small-mass objects such as collecting samples and installing observation instruments, and the internal force generated by the work does not cause disturbance to work equipment or probes. It wasn't there. However, in the work involved in the construction of a lunar base, which is currently under consideration, one work object has a large mass and the work environment is a low gravity environment, so the internal force generated by the work is applied to the work equipment and the spacecraft. This poses the problem of creating a sufficiently large disturbance.

This invention was made to solve these problems, and it is necessary to maintain a sufficient posture and stabilize the working environment when handling large-mass workpieces for working equipment and probes under low gravity. It is possible to hold the robot, has a small number of parts, and is relatively easy to assemble and adjust, and when it becomes necessary to move the work equipment or probe, it can be immediately released from the restraints and moved. The purpose of this is to obtain a holding and stabilizing device @L that has features that do not exist.

1) 5 [Solving the Problem #; 7 Means for Sharing] The holding and stabilizing device according to the present invention includes a nozzle for spraying a liquid, a shaft having a built-in heater, and a shaft to which the nozzle is attached. It consists of a skirt that can be rotated around the shaft in a set direction by a drive device.

[For production]

The holding and stabilizing device in this invention has 1
At the tip of the leg of a working machine, a shaft with a built-in heater is grounded in a working environment such as the moon surface, and a skirt that is rotatably moved by a drive device connects the shaft to the working environment. The shaft part is cooled by radiation cooling into outer space by blocking direct sunlight irradiation to the part, and then the liquid that freezes at the low temperature part of the shaft part is cooled by multiple nozzles installed on the skirt. By spraying, it is possible to restrain the shaft part of a working machine, etc., from the work environment such as the moon surface, and also to invert the skirt so that the shaft part is irradiated with sunlight, or to make the shaft part built in the shaft part By energizing the heater, the freeze in the low-temperature area can be thawed and the restraint can be released.

〔Example〕

FIG. 1 is a diagram showing an embodiment of a lunar surface work machine incorporating a holding and stabilizing device according to the present invention. In Figure 1, α2Fi is composed of three fingers and digs the ground,
The end effector α3 capable of holding an object is connected to the first arm (lSy-connector) of the end effector α.

End effector aX5''Ik: A drive device that can rotate about a rotation axis perpendicular to the paper surface of Figure 1, (
141 is coaxially incorporated into the first arm fIs and the end effector a'a@the first arm US
A drive device that can rotate around the shaft of α61
are the first arm +is and the second arm tty+'6
a drive device capable of rotating a portion at the tip of the first arm +is (including the drive device α4) about a rotation axis perpendicular to the paper surface of the first drawing; Ql is the second arm;
Connect the arm length and pace @, and connect the second arm (1
α9 is a drive device capable of rotating the tip portion of the tip about the rotation axis in the direction perpendicular to the plane of the first drawing. 3't-connection, the above pace ■
A drive device capable of rotating the entire arm at the tip of the horizontal axis about a rotation axis perpendicular to the work machine body within the WI1 drawing plane; The thruster used to change the attitude, C2υ is a visual device used to monitor the direction of movement of the work machine and the state of the end effector, @ is the control/power unit that houses the unit that controls and supplies power to this work machine. The source device, @, @ is used to easily identify the lunar surface working machine consisting of the above-mentioned parts in a working environment such as the lunar surface in a low gravity field environment, and also to easily identify it when moving is necessary. There is a holding and stabilizing device that can release the restraint.

FIG. 4, FIG. 5, and FIG. 6 are diagrams showing an embodiment of the holding and stabilizing device according to the present invention.

(1) in Figures 4, 5, and 6 is a shaft that connects the tip of the leg of a working machine to the working environment such as the lunar surface; +
21 is attached to the shaft (1), and 31 is attached to the shaft (1) to stabilize the shaft when it touches the ground.
1), the driving device [(41i) is attached to the skirt so that it can rotate freely once and is set to block sunlight.

(5) is built in the shaft (1) and the shaft (1)
A heater that can be filled with gold, (61, (7) is a nozzle attached to the skirt (3) and sprays all of the liquid,
@ is an insulation that wraps each of the above components and insulates them from the external thermal environment, @ is the nozzle + 6
1. (This is a supply pipe that supplies liquid to 7+.

Next, the operation will be explained.

When the lunar surface work machine shown in Figure 1 carries out work such as the construction of a base on the January surface, the expected work is leveling the ground at the planned construction site.

Possible tasks include transporting construction materials, assembling construction materials, and other tasks that involve handling heavy objects or requiring large outputs. As examples, Figure 2 shows the ground leveling work, and Figure 3 shows the transportation of KIA investment materials.

As shown in Figures 2 and 3, when a surface work machine performs work that requires a high-output cover such as grading the ground or transporting materials, it is sure to receive anti-chip from the work object. Receive your mouth. Space equipment is manufactured to be as light as possible due to weight restrictions at the time of launch, so it can be considered that its own weight is much lighter than similar ground equipment. As its own weight becomes lighter and lighter, there is a possibility that the lunar surface work machine itself may skid or roll over due to the reaction force when performing one task.

For this reason, it is absolutely necessary to securely fix the lunar surface work equipment to the lunar surface or other working environment in order to carry out 1 work 1+. However, in the case of construction of a base on the January surface, etc., the scope of work is extremely wide, so when it becomes necessary to move, it must be possible to simply release the fixed VH for one work environment. In order to meet these requirements, 1
As shown in Figures 1, 2, and 3, in lunar surface work machines, holding and stabilizing felts are installed on the underside of each work machine so that the work environment, such as the lunar surface, can be easily fixed and released. ), four items are required.

The specific operation of the holding and stabilizing device will be explained.

FIG. 4 shows an overview of the holding and stabilizing device before it is grounded in the working environment and an overview of its components. FIG. 5 shows a state in which the holding and stabilizing device is grounded to the zero working environment. Said (3
) is installed in the direction in which sunlight is irradiated by the sliding device (III (41) that rotates around the shaft of (1) in response to a signal from the drive control device t (not shown). The entire area around the shaft (11, support (2) is cooled by radiation cooling. Nozzle +61 installed on the skirt (3). 2) Condensation forms around the area.

FIG. 6 shows a state in which the sprayed liquid 2 changes to solid E and the work environment and the holding and stabilizing device are completely restrained when the state shown in FIG. 5 is continued.

To release the restraint, the drive unit & (4) is reversely rotated by a drive control device (not shown), and the scar
(31t-reverse, said shaft 7H1), support (2
) The solid body is thawed and released from restraint by directly irradiating the surrounding area with sunlight and passing through the heater (5) to heat it.

〔Effect of the invention〕

As described above, according to the present invention, the above-mentioned holding and stabilizing device can be easily configured without requiring a complicated mechanism or a large-scale work environment.

Moreover, the holding and stabilizing device can be easily fixed and released when moving around the work area.

[Brief explanation of the drawing]

Figures 1, 2, and 3 are diagrams showing an embodiment of the lunar surface working machine in which the holding and stabilizing FE system of the present invention is fully incorporated. A diagram explaining the components,
Figure 2 shows the state in which the lunar surface work machine is performing all the work, and Figure 3 shows the state in which the lunar surface work machine is handling large objects such as construction materials. , Figure 4, Figure i5, Figure 6
The figures show an embodiment of the holding and stabilizing f, lil according to the present invention, in which Fig. 4 shows the state before contact with the ground, Fig. 5 shows the state of contact with the work environment, and Fig. 6 shows the state of the work restraint state. The figure shown in FIG. 7 is a diagram showing an example of equipment conventionally used in work in outer space. In the figure, α2 is the end effector, Q3. α41
゜ne, α11. (19 is the drive device, cJJ is the thruster, +29 is the visual device, Co., Ltd. is the control/power source device, (to) is the work equipment body, Q4. (c) is the holding and stabilizing device, ta is the base, 19 is The first arm, aη, is the second arm, (
1) is shaft, (2) is support, (3) is skirt, (4) is drive device, +5) Vi upper heater +61
．． (7) is a nozzle, (8) is an end effector, (9
) is the arm, α1 is the driving wJ device, and αυ is the exploration mechanism. Note that the same reference numerals in Figure 1 indicate the same or corresponding parts.

Claims (1)

[Claims] In a holding and stabilizing device for a working machine that performs a predetermined work while moving in a low gravity environment such as the moon surface or an asteroid, the device includes: a shaft in contact with the ground; a skirt that rotates around the shaft;
a nozzle that is attached to the skirt and sprays a liquid around the shaft that is in contact with the ground; a heater that heats the shaft; and a heater that positions the skirt in the direction of sunlight irradiation when the working machine is fixed to the ground. A holding and stabilizing device comprising means for rotating the nozzle and operating the nozzle so as to rotate the skirt in a direction opposite to that when the work machine is fixed and driving the heater when the working machine is unfixed.