Controlling institutions

Abstract

This invention provides a gripping mechanism that enables the gripping of an object with a simple structure by using an approach different from existing mechanisms. [Solution] A gripping mechanism 5 for capturing an object in outer space, comprising a magnetic force generating unit 10 having a first permanent magnet 10b and a magnet support member 10a that supports the first permanent magnet 10b, and a magnetic shutter 20 having an opening 21 and a closed magnetic path 22 that is positioned opposite the first permanent magnet 10b, wherein the magnetic force generating unit 10 and the magnetic shutter 20 are configured to be able to rotate or translate relative to each other.

Description

Technical Field

[0001] The present invention relates to a gripping mechanism for capturing an object in space.

Background Art

[0002] As shown in Patent Document 1, a spacecraft that adsorbs an object in space by the magnetic force of a permanent magnet is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the method of gripping an object using a permanent magnet, in order to release the object, it is necessary to apply a force greater than the adsorption force of the permanent magnet to peel the permanent magnet from the object. Therefore, for releasing the object, a mechanism for generating a force greater than the adsorption force is required, and this mechanism causes the spacecraft to become larger and more complex, and there is room for further improvement in this regard.

[0005] Therefore, an object of the present invention is to provide a gripping mechanism that can grip and release an object with a simple structure by an approach different from the existing mechanism.

Means for Solving the Problems

[0006] A gripping mechanism according to an aspect of the present invention is a gripping mechanism for capturing an object in space, comprising a magnetic force generating unit including a first permanent magnet and a magnet support member that supports the first permanent magnet, and a magnetic shutter including an opening portion and a closed magnetic path portion, which is disposed opposite to the first permanent magnet, wherein the magnetic force generating unit and the magnetic shutter are configured to be relatively rotatable or translatable.

[0007] In this embodiment, the magnetic force generating unit and the magnetic shutter move relative to each other so that the first permanent magnet faces the opening, the closed magnetic circuit, or the region between them. This allows the gripping mechanism according to the present disclosure to control the magnetic flux generated externally. That is, the gripping mechanism according to the present disclosure achieves the gripping and release of an object by the relative movement of the magnetic force generating unit and the magnetic shutter. Specifically, when the permanent magnet faces the opening, the magnetic force from the permanent magnet acts on the object through the opening, causing the object to be gripped by the gripping mechanism. When the permanent magnet faces the closed magnetic circuit, the magnetic force from the permanent magnet is blocked by the closed magnetic circuit, causing the object to be released from the gripping mechanism. When releasing an object, the gripping mechanism according to the present disclosure only operates by blocking the magnetic field between the object and the permanent magnet through the relative movement of the magnetic force generating unit and the magnetic shutter. Therefore, the force required for the release operation in the gripping mechanism according to this disclosure can be made significantly smaller than the force required to simply detach the permanent magnet from the object, thereby enabling miniaturization and simplification of the release mechanism.

[0008] In the above embodiment, the magnetic force generating unit and the magnetic shutter may be provided with a structure that locks them in place at a predetermined position when they rotate or translate relative to each other.

[0009] In the above embodiment, the magnetic force generating unit and the magnetic shutter may further include a second permanent magnet attached to the magnet support member and a coil positioned opposite the second permanent magnet, wherein the magnetic force generating unit and the magnetic shutter may rotate or translate relative to each other by energizing the coil.

[0010] In the above embodiment, the coil may be wound around a core made of a magnetic material.

[0011] In the above embodiment, the opening of the magnetic shutter may be configured to expose more than half of the first permanent magnet when capturing an object.

[0012] In the above embodiment, the closed magnetic circuit portion of the magnetic shutter may be configured to cover more than half of the first permanent magnet when the object is released.

[0013] In the above embodiment, the opening of the magnetic shutter may be configured to expose all of the first permanent magnet when capturing an object.

[0014] In the above embodiment, the closed magnetic circuit portion of the magnetic shutter may be configured to cover all of the first permanent magnets when the object is released.

[0015] In the above embodiment, there may be multiple and even-numbered first permanent magnets, which may be arranged on the magnet support member in pairs such that first permanent magnets with different magnetic poles and the same magnetic force are adjacent to each other.

[0016] In the above embodiment, when the coil is not energized, the opening of the magnetic shutter may be configured to expose more than half of the first permanent magnet.

[0017] In the above embodiment, when the coil is not energized, the closed magnetic circuit portion of the magnetic shutter may be configured to cover more than half of the first permanent magnet.

[0018] In the above embodiment, when the coil is energized, the opening of the magnetic shutter may be configured to expose more than half of the first permanent magnet.

[0019] In the above embodiment, when the coil is energized, the closed magnetic circuit portion of the magnetic shutter may be configured to cover more than half of the first permanent magnet.

[0020] In the above embodiment, a ball screw mechanism connecting the magnetic force generating unit and the magnetic shutter may be further provided. [Effects of the Invention]

[0021] According to the present invention, it is possible to provide a gripping mechanism that enables gripping and releasing of an object in space with a simple structure.

Brief Description of the Drawings

[0022] [Figure 1] It is an explanatory diagram for explaining the configuration etc. of a capture system according to an embodiment of the present invention, where (A) is a diagram showing a state in which a spacecraft approaches an object, (B) is a diagram showing a state in which an adsorption region of a magnetic force generation part of the spacecraft is adsorbed to a plate-like body attached to the object, and (C) is a diagram showing a state in which the object is moved and fixed to the spacecraft side. [Figure 2] It is a perspective view showing an example of the gripping mechanism. [Figure 3] It is an exploded view regarding an example of the gripping mechanism. [Figure 4] It is a diagram showing an example of a first permanent magnet. [Figure 5] It is a diagram showing an example of a magnetic shutter. [Figure 6] It is a diagram showing an example of the operation of the gripping mechanism, where (a) shows a state in which all of the first permanent magnets are exposed from the magnetic shutter, and (b) shows a state in which all of the first permanent magnets are covered by the magnetic shutter.

Modes for Carrying Out the Invention

[0023] Hereinafter, each embodiment of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or similar elements are denoted by the same reference numerals, and redundant explanations are omitted. The dimensional ratios in the drawings do not represent actual ratios, and the actual ratios are not limited to the ratios shown. In each drawing, the x-axis and the y-axis may be in the horizontal direction, the z-axis may be in the vertical direction, the positive direction of the z-axis is also referred to as "up" and "above", and the negative direction of the z-axis is also referred to as "down" and "below". Also, the plane composed of the x- and y-axes is referred to as the horizontal plane.

[0024] <Capture System> The configuration of the capture system S according to an embodiment of the present invention will be explained using Figure 1. The capture system S is configured to capture an object T in outer space, and as shown in Figure 1(A), it comprises a spacecraft 1 and a plate-shaped body 2 that is attached to the object T and attracted by magnetic force.

[0025] The plate-like body 2 is a plate-shaped member having a predetermined planar shape (e.g., circular or rectangular) and a predetermined thickness, and is pre-attached to a predetermined part (e.g., a flat part) of the object T. At least a portion of the plate-like body 2 is made of a ferromagnetic material (e.g., iron, nickel, permalloy, steel, etc.) and is designed to be attracted to the gripping mechanism 5 (described later) of the spacecraft 1. A marker for approach navigation of the spacecraft 1 may be provided on the surface of the plate-like body 2 (the surface facing the spacecraft 1).

[0026] <Spacecraft 1> The spacecraft 1 is configured to capture an object T by magnetically attracting a plate-shaped body 2, and comprises a main body 3 and a gripping mechanism 5 attached to the end of the main body 3.

[0027] The main body 3 of the spacecraft 1 is a housing-like member that has a space inside for housing various components. The three-dimensional shape of the main body 3 is not particularly limited, and can be cylindrical, rectangular, rectangular, cuboid, etc. The size of the main body 3 is not particularly limited as long as it is large enough to be attached to a rocket and launched into space. The spacecraft 1 is configured to separate from the rocket after being launched into space and move autonomously in space.

[0028] The gripping mechanism 5 is configured to be coupled to the object T. The gripping mechanism 5 is configured to grip and release the plate-like body 2 by controlling the magnetic flux, as detailed below. The gripping mechanism 5 is attached to the main body 3 via a buffer elastic body 6. The buffer elastic body 6 is an elastic member (e.g., a coil spring). This configuration allows the gripping mechanism 5 to suppress the transmission of the shock load generated when the object T is captured to the spacecraft 1, and also allows for changes in position and attitude.

[0029] Next, the operation of the spacecraft 1 when capturing an object T according to this embodiment will be described. First, the spacecraft 1 is moved toward the object T. At this time, the spacecraft 1 searches for the plate-like body 2 attached to the object T while performing sensing by an object detection unit (not shown). The method for searching for the plate-like body 2 is not particularly limited, but for example, it can be achieved by reflecting light emitted from a projector attached to the spacecraft 1 off the surface of multiple markers attached to the surface of the plate-like body 2, capturing that light with the object detection unit, and recognizing it with the calculation unit. By recognizing the relative position and relative attitude of the object T based on information obtained from recognizing the pattern of multiple markers on the surface of the plate-like body 2, the spacecraft 1 can move toward the object T.

[0030] When the distance between the object T and the spacecraft 1 falls below a predetermined value, the spacecraft 1 moves the gripping mechanism 5 closer to the plate-like body 2 of the object T, as shown in Figure 1(A). At this time, even if the plate-like body 2 is not parallel to the gripping mechanism 5 as shown in Figure 1(A), the cushioning elastic body 6 of the spacecraft 1 can change the gripping mechanism 5 to be parallel to the plate-like body 2, as shown in Figure 1(B). As a result, the gripping mechanism 5 attracts the object T. Subsequently, as shown in Figure 1(C), the spacecraft 1 moves the plate-like body 2 and the object T, which are attracted to the gripping mechanism 5, closer to the main body 3.

[0031] The gripping mechanism 5 will be described in detail below using Figures 2-5.

[0032] <Overall configuration of gripping mechanism 5> As shown in Figure 2, the gripping mechanism 5 comprises a magnetic force generating unit 10 and a magnetic shutter 20. The gripping mechanism 5 may also further include a coil unit 30. For example, the gripping mechanism 5 comprises, from top to bottom, a magnetic shutter 20, a magnetic force generating unit 10, and a coil unit 30. In the gripping mechanism 5, as will be described later, the magnetic force generating unit 10 and the magnetic shutter 20 are configured to be relatively rotatable. In this embodiment, an example is shown in which the magnetic force generating unit 10 and the magnetic shutter 20 are configured to be relatively rotatable, but the magnetic force generating unit 10 and the magnetic shutter 20 may also be configured to be relatively translationally rotatable. Also, as will be described later, in this embodiment, the relative rotation of the magnetic force generating unit 10 and the magnetic shutter 20 can be controlled by the coil unit 30, but instead of the coil unit 30, it may be controlled by, for example, a motor. The same applies when the magnetic force generating unit 10 and the magnetic shutter 20 are configured to be relatively translationally rotatable. Furthermore, the gripping mechanism 5 may further include a ball screw mechanism (not shown) that connects the magnetic force generating unit 10 and the magnetic shutter 20.

[0033] <Magnetic force generating unit 10> As shown in Figures 3 and 4, the magnetic field generating unit 10 comprises a first permanent magnet 10b and a magnet support member 10a. The first permanent magnet 10b may be, for example, an Alnico magnet, a ferrite magnet, and / or a rare earth magnet, and may be a neodymium magnet or a samarium cobalt magnet. The N pole and S pole of the first permanent magnet 10b are made of the same material, only the direction of magnetization differs. The magnet support member 10a may be made of, for example, low-carbon steel which is a soft magnetic material. A soft magnetic material is a type of ferromagnetic material that generally allows magnetic flux generated from a magnet to pass through easily. In addition, the magnet support member 10a may be made of, for example, CFRP (Carbon Fiber Reinforced Plastics) or aluminum, for the purpose of weight reduction, as long as the first permanent magnet 10b can be attached to it. The magnet support member 10a may be disc-shaped and have a circular hole in its center.

[0034] The first permanent magnet 10b is attached to the front surface of the magnet support member 10a. This front surface is the surface facing the magnetic shutter 20. Multiple, even-numbered, first permanent magnets 10b are provided and are arranged at equal intervals along the radial direction r1 of the magnet support member 10a.

[0035] As shown in Figure 4, multiple first permanent magnets 10b are arranged along the radial direction r1. In this embodiment, the first permanent magnets 10b include permanent magnets 10b1, 10b3, and 10b5 (hereinafter referred to as "N-pole permanent magnets") whose upper surface is the N pole, and permanent magnets 10b2, 10b4, and 10b6 (hereinafter referred to as "S-pole permanent magnets") whose upper surface is the S pole. In this embodiment, the first permanent magnets 10b1 and 10b2, 10b3 and 10b4, and 10b5 and 10b6, which have the same shape but different magnetic poles, are arranged in pairs adjacent to each other on the magnet support member 10a. This reduces the magnetic flux emitted from the magnetic field generating unit 10 to the external atmosphere other than the object T (more specifically, the plate-like body 2 of the object T), and reduces the influence of the magnetic flux emitted to the external atmosphere on other equipment of the spacecraft 1.

[0036] As shown in Figure 3, the magnetic field generating unit 10 further includes a second permanent magnet 10c. The second permanent magnet 10c is configured to interfere with the magnetic flux generated from the coil unit 30, which will be described later. In this embodiment, the second permanent magnet 10c is attached to the back surface of the magnet support member 10a. The back surface of the magnet support member 10a is the surface facing the coil unit 30. In this embodiment, the second permanent magnet 10c faces the first permanent magnet 10b via the magnet support member 10a. The second permanent magnet 10c is also attached directly above the coil 30b of the coil unit 30, which will be described later. In other embodiments, the second permanent magnet 10c may be arranged so as not to face the first permanent magnet 10b via the magnet support member 10a. The second permanent magnet 10c may be, for example, an alnico magnet, a ferrite magnet, and / or a rare earth magnet, such as a neodymium magnet or a samarium cobalt magnet.

[0037] <Magnetic shutter 20> The magnetic shutter 20 is positioned opposite the first permanent magnet 10b. As shown in Figure 5, the magnetic shutter 20 comprises an opening 21, a closed magnetic path section 22, an outer edge section 23 supporting them outward, and an inner edge section 24 supporting them inward. The magnetic shutter 20 can be made of any material capable of blocking magnetic flux, such as a soft magnetic material, and can be made of iron, nickel, permalloy, or stainless steel. The outer edge section 23 and the inner edge section 24 are disc-shaped and have a circular hole in their center. The outer and inner diameters of the outer edge section 23 are longer than those of the inner edge section 24. The outer edge section 23 is fixed to the inner edge section 24 via the closed magnetic path section 22. The opening 21 and the closed magnetic path section 22 are positioned adjacent to each other in the circumferential direction of the magnetic shutter 20.

[0038] The opening 21 is configured to expose the first permanent magnet 10b from the magnetic shutter 20 when capturing an object T. The opening 21 exposes the first permanent magnet 10b as the magnetic force generating unit 10 and the magnetic shutter 20 rotate relative to each other. In one embodiment of the present invention, the opening 21 exposes more than half of the first permanent magnet 10b. In another embodiment, the opening 21 exposes the entire first permanent magnet 10b. "Exposed" refers to the state in which the first permanent magnet 10b is visible from the opening 21 when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5). "Exposing the entire first permanent magnet 10b" refers to the state in which the entire upper surface (the surface facing the opening 21) of the first permanent magnet 10b is visible from the opening 21 when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5). "Exposing the majority of the first permanent magnet 10b" means that, when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5), more than 60% of the upper surface of the first permanent magnet 10b (the surface facing the opening 21) is visible from the opening 21.

[0039] The closed magnetic circuit section 22 is configured to cover the first permanent magnet 10b with the magnetic shutter 20 when the object T is released. The closed magnetic circuit section 22 covers the first permanent magnet 10b by the relative rotation of the magnetic force generating section 10 and the magnetic shutter 20. According to one aspect of the present invention, the closed magnetic circuit section 22 covers more than half of the first permanent magnet 10b. According to another aspect, the closed magnetic circuit section 22 covers the entire first permanent magnet 10b. "Covered" means that, when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5), the first permanent magnet 10b is hidden by the closed magnetic circuit section 22 and is not visible from the opening 21. "The entire first permanent magnet 10b is covered" means that, when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5), the closed magnetic circuit section 22 hides the entire upper surface (the surface facing the opening 21) of the first permanent magnet 10b. "Covering more than half of the first permanent magnet 10b" means that, when viewed from a direction perpendicular to the surface of the magnetic shutter 20 (the Z direction in Figure 5), the closed magnetic path portion 22 covers more than 60% of the upper surface of the first permanent magnet 10b (the surface facing the opening 21).

[0040] The number and shape of the openings 21 and closed magnetic path sections 22 can be changed as appropriate. The shape of the openings 21 and closed magnetic path sections 22 when viewed from above may be selected from, for example, polygons, star shapes, circles, ellipses, sectors, or other shapes composed of four or more lines.

[0041] <Coil section 30> As shown in Figure 3, the coil section 30 comprises a coil support section 30a having a core C and a coil 30b. The coil support section 30a is made of a magnetic material, such as a ferromagnetic material. The coil support section 30a may include, for example, iron, nickel, permalloy, or steel. The coil 30b is made of a metal wire, such as enameled wire. The coil support section 30a is disc-shaped and has a circular hole in its center.

[0042] The coil support portion 30a has a core C protruding from its front surface. The front surface of the coil support portion 30a is the surface facing the second permanent magnet 10c. The core C extends circumferentially on the coil support portion 30a. The core C comprises a plurality of annular core element portions C1 when viewed from above, and the core C extends circumferentially on the coil support portion 30a by connecting these portions. The coil 30b is provided wound around the core C. The coil 30b comprises a plurality of coil element portions 30b1, each consisting of a coil wound around the core element portion C1.

[0043] In the gripping mechanism 5, the coil 30b is configured to be energized from a power source (not shown). When energized, the coil 30b generates a magnetic flux. Depending on the direction of energization, the coil 30b functions as either a north pole or a south pole relative to the opposing second permanent magnet 10c. The generated magnetic flux interferes with the second permanent magnet 10c of the magnetic force generating unit 10. This causes the magnetic force generating unit 10 and the magnetic shutter 20 to rotate relative to each other. According to one embodiment of this disclosure, when the coil 30b is energized, the closed magnetic path portion 22 of the magnetic shutter 20 is configured to cover more than half of the first permanent magnet 10b. Also, when the coil 30b is not energized, the opening 21 of the magnetic shutter 20 is configured to expose more than half of the first permanent magnet 10b. According to another embodiment, when the coil 30b is energized, the opening 21 of the magnetic shutter 20 is configured to expose more than half of the first permanent magnet 10b. Furthermore, when the coil 30b is de-energized, the closed magnetic circuit portion 22 of the magnetic shutter 20 is configured to cover more than half of the first permanent magnet 10b. These configurations are achieved based on the polarity and arrangement of the second permanent magnet 10c, as well as the arrangement of the core C and the coil 30b.

[0044] According to one aspect of this disclosure, the coil support portion 30a is provided with a buffer elastic body 6 on its back surface, thereby connecting it to the main body 3 (see Figure 1).

[0045] <Operation of gripping mechanism 5> As shown in Figures 6(a) and (b), the magnetic force generating unit 10 and the magnetic shutter 20 rotate relative to each other. In this embodiment, the magnetic force generating unit 10 rotates clockwise in direction r2 relative to the magnetic shutter 20. As a result, the first permanent magnet 10b, which was exposed from the opening 21 in Figure 6(a), is covered by the closed magnetic circuit 22, as shown in Figure 6(b). In other words, the relative movement of the magnetic force generating unit 10 and the magnetic shutter 20 controls the magnetic flux emitted to the outside by the gripping mechanism 5. Note that r2 may also be in the counterclockwise direction.

[0046] The magnetic force generating unit 10 and the magnetic shutter 20 are provided with a structure that locks them in a predetermined position when they rotate or translate relative to each other. This structure is, for example, a stopper (not shown) that connects the magnetic force generating unit 10 and the magnetic shutter 20. The stopper is, for example, a mechanical stopper including a sensor. The sensor detects the movement of the magnetic force generating unit 10 and the magnetic shutter 20, and based on the detection result, the mechanical stopper stops the relative rotation of the magnetic force generating unit 10 and the magnetic shutter 20. The stopper locks the first permanent magnet 10b at location P2 when the first permanent magnet 10b at location P1 rotates relative to the magnetic shutter 20 in direction r2.

[0047] As described above, the gripping mechanism 5 of this embodiment is a gripping mechanism 5 for capturing an object in outer space, and is characterized in that it comprises a magnetic force generating unit 10 having a first permanent magnet 10b and a magnet support member 10a that supports the first permanent magnet 10b, and a magnetic shutter 20 having an opening 21 and a closed magnetic path 22 that is positioned opposite the first permanent magnet 10b, and the magnetic force generating unit 10 and the magnetic shutter 20 are configured to be able to rotate or translate relative to each other.

[0048] In this embodiment, the gripping mechanism 5 according to the present disclosure achieves gripping and releasing of the object T by the relative movement of the magnetic force generating unit 10 and the magnetic shutter 20. When releasing the object, the gripping mechanism 5 according to the present disclosure only operates to block the magnetic field between the object T and the first permanent magnet 10b by the relative movement of the magnetic force generating unit 10 and the magnetic shutter 20. Therefore, the force required for the release operation (relative movement of the magnetic force generating unit 10 and the magnetic shutter 20) in the gripping mechanism 5 according to the present disclosure can be made significantly smaller than the force required to simply detach the permanent magnet from the object T, and the mechanism related to the release can be made smaller and simpler. This also leads to a reduction in the cost of the entire capture system.

[0049] The gripping mechanism in this disclosure is not limited to the above. For example, the magnetic force generating unit 10 may be fixed to the coil unit 30 in the gripping mechanism 5 to rotate the magnetic shutter 20. Furthermore, the shapes of the magnetic force generating unit 10, the magnetic shutter 20, and the coil unit 30 are not limited to the above. For example, the magnet support member 10a, the inner edge 24, and / or the coil support unit 30a may be simply plate-shaped and not disc-shaped, and they may not have a hole in the center.

[0050] Furthermore, the arrangement of the first and second permanent magnets 10b and 10c on the magnet support member 10a is not limited to the above. For example, the first permanent magnets 10b may be arranged at equal intervals in the circumferential direction of the magnet support member 10a, and there may be an odd number of first permanent magnets 10b. There may be one second permanent magnet 10c or multiple second permanent magnets 10c. Also, the second permanent magnets 10c may be placed above the coil 30b but not directly above it, or they may be placed on the front surface or side of the magnet support member 10a. In addition, the first and second permanent magnets 10b and 10c may be north poles or south poles, or a combination thereof.

[0051] The embodiments described above are provided to facilitate understanding of the present invention and are not intended to limit its interpretation. The elements, arrangement, materials, conditions, shapes, and sizes of the embodiments are not limited to those exemplified and can be modified as appropriate. Furthermore, it is possible to partially substitute or combine the configurations shown in different embodiments.

[0052] [Note] Embodiments of this disclosure further include the following embodiments:

[0053] (Note 1) A grasping mechanism for capturing an object in outer space, A magnetic force generating unit comprising a first permanent magnet and a magnet support member for supporting the first permanent magnet, The device comprises a magnetic shutter having an opening and a closed magnetic path, which is positioned opposite the first permanent magnet. A gripping mechanism characterized in that the magnetic force generating unit and the magnetic shutter are configured to be able to rotate or translate relative to each other.

[0054] (Note 2) The gripping mechanism according to Appendix 1, comprising a structure for locking the magnetic force generating unit and the magnetic shutter in a predetermined position when they rotate or translate relative to each other.

[0055] (Note 3) A second permanent magnet attached to the magnet support member, The present invention further comprises a coil positioned opposite the second permanent magnet, The gripping mechanism according to Appendix 1 or 2, wherein the magnetic force generating unit and the magnetic shutter rotate or translate relative to each other when current is applied to the coil.

[0056] (Note 4) The gripping mechanism described in Appendix 3, wherein the coil is wound around a core made of a magnetic material.

[0057] (Note 5) The gripping mechanism according to any one of the appendices 1 to 4, wherein the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet when capturing the object.

[0058] (Note 6) The gripping mechanism according to any one of the appendices 1 to 5, wherein the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet when the object is released.

[0059] (Note 7) The gripping mechanism according to any one of the appendices 1 to 6, wherein the opening of the magnetic shutter is configured to expose all of the first permanent magnets when capturing the object.

[0060] (Note 8) The gripping mechanism according to any one of the appendices 1 to 7, wherein the closed magnetic path portion of the magnetic shutter is configured to cover all of the first permanent magnets when the object is released.

[0061] (Note 9) The gripping mechanism according to any one of the appendices 1 to 8, wherein there are multiple and even-numbered first permanent magnets, and the first permanent magnets having the same magnetic force but different magnetic poles are arranged in pairs on the magnet support member so that they are adjacent to each other.

[0062] (Note 10) The gripping mechanism according to Appendix 3 or 4, wherein when the coil is not energized, the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet.

[0063] (Note 11) The gripping mechanism according to Appendix 3 or 4, wherein, when the coil is not energized, the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet.

[0064] (Note 12) The gripping mechanism according to Appendix 3, 4, or 11, wherein when the coil is energized, the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet.

[0065] (Note 13) The gripping mechanism according to Appendix 3, 4, or 10, wherein, when the coil is energized, the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet.

[0066] (Note 14) A gripping mechanism according to any one of the appendices 1 to 13, further comprising a ball screw mechanism for connecting the magnetic force generating unit and the magnetic shutter. [Explanation of symbols]

[0067] 1...Spacecraft, 3...Main body, 5...Gripping mechanism, 6...Buffer elastic body, 10...Magnetic force generating part, 10a...Magnet support member, 10b, 10b1, 10b2, 10b3, 10b4, 10b5, 10b6,...First permanent magnet, 10c...Second permanent magnet, 20...Magnetic shutter, 21...Opening, 22...Closed magnetic circuit part, 23...Outer edge part, 24...Inner edge part, 30...Coil part, 30a...Coil support part, 30b...Coil, 30b1...Coil element part, T...Target object, S...Capture system, C...Core, r1...Radial direction, r2...Clockwise direction, P1, P2...Location

Claims

1. A grasping mechanism for capturing an object in outer space, A magnetic force generating unit comprising a first permanent magnet and a magnet support member that supports the first permanent magnet, The device comprises a magnetic shutter having an opening and a closed magnetic path portion, which is positioned opposite the first permanent magnet. A gripping mechanism characterized in that the magnetic force generating unit and the magnetic shutter are configured to be able to rotate or translate relative to each other.

2. The gripping mechanism according to claim 1, further comprising a structure for locking the magnetic force generating unit and the magnetic shutter in a predetermined position when they rotate or translate relative to each other.

3. A second permanent magnet attached to the magnet support member, The present invention further comprises a coil positioned opposite the second permanent magnet, The gripping mechanism according to claim 1, wherein the magnetic force generating unit and the magnetic shutter rotate or translate relative to each other when current is applied to the coil.

4. The gripping mechanism according to claim 3, wherein the coil is wound around a core made of a magnetic material.

5. The gripping mechanism according to claim 1, wherein the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet when capturing the object.

6. The gripping mechanism according to claim 1, wherein the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet when the object is released.

7. The gripping mechanism according to claim 1, wherein the opening of the magnetic shutter is configured to expose all of the first permanent magnet when capturing the object.

8. The gripping mechanism according to claim 1, wherein the closed magnetic path portion of the magnetic shutter is configured to cover all of the first permanent magnets when the object is released.

9. The gripping mechanism according to claim 1, wherein there are multiple and even-numbered first permanent magnets, and the first permanent magnets having different magnetic poles and the same magnetic force are arranged in pairs on the magnet support member so that they are adjacent to each other.

10. The gripping mechanism according to claim 3, wherein when the coil is not energized, the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet.

11. The gripping mechanism according to claim 3, wherein, when the coil is not energized, the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet.

12. The gripping mechanism according to claim 3, wherein when the coil is energized, the opening of the magnetic shutter is configured to expose more than half of the first permanent magnet.

13. The gripping mechanism according to claim 3, wherein, when the coil is energized, the closed magnetic path portion of the magnetic shutter is configured to cover more than half of the first permanent magnet.

14. The gripping mechanism according to claim 1, further comprising a ball screw mechanism for connecting the magnetic force generating unit and the magnetic shutter.

Images