Combined with the liberating agency

Abstract

To eliminate need for a motor and achieve weight saving.SOLUTION: A connection holding release mechanism comprises: a first component; a second component separate from the first component; a holding mechanism for holding the first component and the second component; a guide member in which the holding mechanism is built and in which a first hole and a second hole communicating with each other are formed; and a first elastic body which applies elastic force to the second component. The holding mechanism comprises: an engagement member which is located in the first hole and is movable along the first hole; a second elastic body which applies elastic force to the engagement member; a support member for supporting the second elastic body; and a pressing member which is located in the second hole and is movable along the second hole. A groove, which opens so that a tip of the engagement member can fit therein, is formed in the first component, and the first component and the second component can be coupled to and can be released from each other by force acting from the exterior.SELECTED DRAWING: Figure 23

Description

[Technical Field]

[0001] The present invention relates to a coupling retention and release mechanism. [Background technology]

[0002] Satellite docking has been known since the docking between the International Space Station (ISS) and the Space Shuttle, and is now known to be mounted on large satellites. For example, methods for docking satellites include using thrusters to perform highly accurate and precise six-degree-of-freedom control using complex control laws to recognize a satellite already in orbit (target satellite), and using a ball screw mechanism to retract and capture the satellite. For example, Patent Document 1 discloses a satellite docking mechanism provided on a spacecraft. In order to reduce weight and computational resources, small satellites, including ultra-small ones, need to avoid complex control and autonomously reach a position and attitude that allows them to be aligned in a straight line before docking. For example, a mechanism is installed in a cup-shaped housing that pulls a probe with a cone-shaped tip in a straight line to force the probe to maintain its attitude. For example, Patent Document 2 discloses an autonomous satellite docking system for spacecraft docking. For example, Patent Document 3 discloses a mechanism for docking a satellite using a magnetic field, in which a docking component of the mechanism on a host vehicle includes a magnet for inducing a coupling magnetic field with a docking component of the mechanism on a satellite. Even smaller microsatellites are known that use electromagnets and have cup-and-cone type coupling mechanisms. For example, Non-Patent Document 1 discloses the concept and technological development for autonomous assembly and reconfiguration of modular space systems. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-330943 [Patent Document 2] US Patent Application Publication No. 2003 / 0192995 [Patent Document 3] U.S. Patent No. 7,815,149 [Non-patent literature]

[0004] [Non-Patent Document 1] Concepts and Technology Development for the Autonomous Assembly and Reconfiguration of Modular Space Systems by Lennon Patrick RodgersB.S. Mechanical Engineering University of Illinois at Urbana-Champaign, 2003Submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering at the Massachusetts Institute of Technology February 2006 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1 uses a motor to connect and hold a large satellite, which poses a weight issue. The technologies of Patent Document 2, Patent Document 3, and Non-Patent Document 1, although they are for small satellites, still use a motor to hold them, which leaves weight issues. Therefore, there is room for improvement in eliminating the need for a motor and achieving weight reduction.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a coupling holding / releasing mechanism that does not require a motor and can be made lighter in weight. [Means for solving the problem]

[0007] A coupling holding and releasing mechanism according to one aspect of the present invention comprises a first member, a second member separate from the first member, a holding mechanism that holds the first member and the second member, a guide member that incorporates the holding mechanism and has a first hole and a second hole that communicate with each other, and a first elastic body that applies an elastic force to the second member, wherein the holding mechanism comprises an engaging member that is disposed in the first hole and is movable along the first hole, a second elastic body that applies an elastic force to the engaging member, a support member that supports the second elastic body, and a pressing member that is disposed in the second hole and is movable along the second hole, wherein a groove that opens so that a tip end of the engaging member can fit into the groove is formed in the first member, and the first member and the second member are configured to be able to couple and release each other by an external force. The coupling and the release are performed in a linear arrangement state in which the first member and the second member are aligned on a first straight line, and in the linear arrangement state, the first member has a first surface inclined with respect to the first straight line, and is movable in a first direction along the first straight line and a second direction opposite to the first direction by a force acting from the outside, and is sized to fit within a cubic space with a side length of 100 mm. . [Effects of the Invention]

[0008] According to the above aspect, a motor is not required, and weight reduction can be achieved. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view of a small satellite according to a first embodiment. [Figure 2] FIG. 2 is a perspective view showing a part of FIG. 1 and a cubic space with a side length of 100 mm. [Figure 3] FIG. 2 is a perspective view showing a coupling retention release mechanism mounted on a part of FIG. 1; [Figure 4] FIG. 2 is an explanatory diagram of a first structure including a first electromagnet and a second structure including a second electromagnet according to the first embodiment. [Figure 5] FIG. 2 is a perspective view showing an example in which the first structure and the second structure according to the first embodiment are mounted on a satellite. [Figure 6] FIG. 2 is a perspective view of a coupling holding and releasing mechanism according to the first embodiment. [Figure 7] FIG. 2 is a perspective view of a first structure according to the first embodiment. [Figure 8] FIG. 2 is a plan view of a first member according to the first embodiment. [Figure 9] FIG. 3 is a side view of the first member according to the first embodiment. [Figure 10] Cross-sectional view taken along line XX in Figure 9. [Figure 11] FIG. 2 is a perspective view of a cylinder according to the first embodiment. [Figure 12] FIG. 2 is a perspective view of a first elastic body according to the first embodiment. [Figure 13] FIG. 1 is a perspective view of a bearing according to a first embodiment. [Figure 14] FIG. 3 is a perspective view of a second member according to the first embodiment. [Figure 15] FIG. 4 is a plan view of a second member according to the first embodiment. [Figure 16] FIG. 4 is a side view of a second member according to the first embodiment. [Figure 17] FIG. 2 is a perspective view of a guide member according to the first embodiment. [Figure 18] FIG. 3 is a plan view of one portion of the guide member according to the first embodiment. [Figure 19] FIG. 3 is a side view of one portion of the guide member according to the first embodiment. [Figure 20] FIG. 6 is a plan view of the other part of the guide member according to the first embodiment. [Figure 21] FIG. 6 is a side view of the other portion of the guide member according to the first embodiment. [Figure 22] FIG. 4 is a perspective view showing a state in which the second member according to the first embodiment presses the pressing member. [Figure 23] FIG. 4 is a perspective view showing a holding mechanism built into the guide member according to the first embodiment, illustrating a retracted state of an engaging member. [Figure 24] FIG. 3 is a perspective view showing a holding mechanism built into the guide member according to the first embodiment, illustrating a protruding state of an engagement member. [Figure 25] FIG. 2 is a perspective view of an engaging member according to the first embodiment. [Figure 26] FIG. 2 is a perspective view of a support member according to the first embodiment. [Figure 27] FIG. 2 is a perspective view of a pressing member according to the first embodiment. [Figure 28] 5A to 5C are explanatory views of the operation of the engaging member according to the first embodiment. [Figure 29]FIG. 3 is a schematic view showing the engagement between an engaging member and a supporting member according to the first embodiment. [Figure 30] 5A to 5C are explanatory views of the operation of the holding mechanism according to the first embodiment. [Figure 31] FIG. 3 is a perspective view showing an example of the coupling holding and releasing mechanism according to the first embodiment before coupling is started. [Figure 32] FIG. 4 is a perspective view showing an example of the start of coupling of the coupling hold release mechanism according to the first embodiment. [Figure 33] FIG. 4 is a perspective view showing an example in which the first member pushes the second member in the coupling phase according to the first embodiment. [Figure 34] FIG. 10 is a perspective view showing an example in which the second member rotates due to the first member being pushed in during the coupling phase according to the first embodiment. [Figure 35] FIG. 4 is a perspective view showing an example of a completed coupling of the coupling holding and releasing mechanism according to the first embodiment. [Figure 36] FIG. 4 is a perspective view showing an example in which the first member pushes the second member in the release phase according to the first embodiment. [Figure 37] FIG. 10 is a perspective view showing an example in which the second member rotates due to the first member being pushed in during the release phase according to the first embodiment. [Figure 38] FIG. 10 is a perspective view showing an example of a state in which the coupling holding and releasing mechanism according to the first embodiment has been released. [Figure 39] FIG. 2 is an enlarged side view of a portion of the coupling hold release mechanism according to the first embodiment, illustrating the operation in a coupling phase. [Figure 40] 39 is a diagram illustrating the operation of the binding phase. [Figure 41] 40 is a diagram illustrating the operation of the binding phase. [Figure 42] 41 , followed by a diagram for explaining the operation of the binding phase. [Figure 43] 43 is a diagram illustrating the operation of the binding phase, following FIG. 42. [Figure 44] 43, followed by an explanatory diagram of the completed coupling (holding state). [Figure 45] FIG. 2 is an enlarged side view of a portion of the coupling holding and release mechanism according to the first embodiment, illustrating the operation in a release phase. [Figure 46]45, followed by an explanatory diagram of the operation in the release phase. [Figure 47] 46, followed by an explanatory diagram of the operation in the release phase. [Figure 48] 47 is a diagram illustrating the operation of the release phase. [Figure 49] 48 is a diagram illustrating the operation of the release phase. [Figure 50] An explanatory diagram of release completion, following Figure 49. [Figure 51] FIG. 10 is a perspective view showing a holding mechanism built into a guide member according to a second embodiment, showing a retracted state of an engaging member. [Figure 52] FIG. 10 is a perspective view showing a holding mechanism built into a guide member according to a second embodiment, showing a state in which a pressing member is pressed in. [Figure 53] FIG. 10 is a perspective view showing a holding mechanism built into a guide member according to a second embodiment, showing a protruding state of an engagement member. [Figure 54] FIG. 10 is a plan view showing a holding mechanism built into a guide member according to a second embodiment, illustrating a protruding state of an engagement member. [Figure 55] 10A and 10B are explanatory views of the operation of the engaging member according to the second embodiment. [Figure 56] FIG. 11 is a perspective view of a second member according to a third embodiment. [Figure 57] FIG. 10 is a perspective view of a guide member according to a third embodiment. [Figure 58] FIG. 11 is a side view of a second member and a guide member according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the embodiment, an example of a coupling / holding / releasing mechanism will be described, taking as an example a mechanism that enables coupling, holding, and releasing of two satellites (an example of two objects that are separate from each other) that are separated from each other.

[0011] In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," do not only mean such arrangements or states in the strict sense, but also include arrangements or states in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. In the drawings used in the following description, the scale of each component may be changed as appropriate to make each component recognizable.

[0012] First Embodiment <Coupling retention and release mechanism> FIG. 1 is a perspective view of a small satellite according to the first embodiment. FIG. 2 is a perspective view showing a cubic space with a side length of 100 mm together with a part of FIG. 1. FIG. 3 is a perspective view showing a coupling hold release mechanism 1 mounted on a part of FIG. 1. FIG. 4 is an explanatory diagram of a first structure 3A including a first electromagnet 2A and a second structure 3B including a second electromagnet 2B according to the first embodiment. FIG. 5 is a perspective view showing an example of mounting the first structure 3A and the second structure 3B according to the first embodiment on a satellite. FIG. 6 is a perspective view of the coupling hold release mechanism 1 according to the first embodiment. 1 to 6, the coupling hold release mechanism 1 may be mounted on a part of a small satellite. Note that the object on which the coupling hold release mechanism 1 is mounted is not limited to the above and can be changed according to design specifications.

[0013] The coupling holding and release mechanism 1 comprises a first structure 3A having a first electromagnet 2A, a second structure 3B provided separately from the first structure 3A and having a second electromagnet 2B, and a holding mechanism 4 that holds the first structure 3A and the second structure 3B. The first structure 3A and the second structure 3B are configured so that they can be coupled to and released from each other by the electromagnetic forces generated by the first electromagnet 2A and the second electromagnet 2B.

[0014] One core rod 5A of the first electromagnet 2A and the second electromagnet 2B has a cone-shaped protrusion 6. The other core rod 5B of the first electromagnet 2A and the second electromagnet 2B has a recess 7 shaped to fit the protrusion 6. In the example shown in the figure, each core rod 5A, 5B has the protrusion 6 and the recess 7 formed so that they can fit together.

[0015] For example, even if the first structure 3A and the second structure 3B are inserted at an angle when being joined to each other, the cone-shaped protrusion 6 moves along the recess 7, so they can be automatically aligned on a straight line. In this embodiment, the first structure 3A and the second structure 3B are joined and released in a linear arrangement state in which they are aligned on the first straight line L1.

[0016] In the illustrated example, the electromagnets 2A and 2B have the coils 8 on the outside of the core rods 5A and 5B, but this is not limiting. For example, the electromagnets 2A and 2B may have the coils 8 on the inside of the core rods 5A and 5B. For example, the arrangement of the coils 8 relative to the core rods 5A and 5B can be changed according to design specifications.

[0017] In this embodiment, the coupling holding and releasing mechanism 1 is sized to fit into a cubic space with a side length of 100 mm. In Fig. 2, the cubic space with a side length of 100 mm is indicated by a two-dot chain line.

[0018] One of the first structure 3A and the second structure 3B is mounted on a first satellite 100A. The other of the first structure 3A and the second structure 3B is mounted on a second satellite 100B that is separate from the first satellite 100A. In the example shown in the figure, the structures 3A and 3B are mounted on each of the satellites 100A and 100B, but this is not limited to this. For example, the structures 3A and 3B may be mounted on a third satellite that is separate from the satellites 100A and 100B. For example, the mounting manner of the structures 3A and 3B can be changed according to design specifications.

[0019] 5, for example, the coupling hold release mechanism 1 may be mounted on a satellite equipped with a solar cell panel 110. This allows the electromagnets 2A and 2B to use the solar cell panel 110 mounted on the satellite for power. Note that the coupling hold release mechanism 1 is not limited to the above, and may also be mounted on a satellite that does not have a solar cell panel 110. For example, the mode of the satellite on which the coupling hold release mechanism 1 is mounted can be changed according to design specifications.

[0020] For example, it is preferable that the maximum value of the current used in the electromagnets 2A and 2B mounted on the micro-satellites 100A and 100B is approximately 2.0 A. For example, it is preferable to construct a system that controls the current value flowing through the two electromagnets 2A and 2B mounted on the first satellite 100A and the second satellite 100B so that it does not exceed 2.0 A.

[0021] <1st structure> Fig. 7 is a perspective view of a first structure 3A according to the first embodiment. Fig. 8 is a plan view of a first member 10 according to the first embodiment. Fig. 9 is a side view of the first member 10 according to the first embodiment. Fig. 10 is a cross-sectional view taken along line XX in Fig. 9. 7 to 10, the first structure 3A includes a first member 10 that serves as the main body of the first structure 3A.

[0022] The roles of the first member 10 constituting the first structure 3A are as follows (1-1) to (1-3). (1-1) When joining, the second member 30 constituting the second structure 3B is pushed in and rotated. (1-2) A gap (groove 15) is formed in which the tip of the engaging member 50 fits, thereby completing the connection and maintaining the connected state. (1-3) When released, the second member 30 and the engaging member 50 are pushed in, and the second member 30 is rotated.

[0023] FIG. 7 shows a linear arrangement state in which the first structures 3A are aligned on the first straight line L1. In the linear arrangement state, the first member 10 has a first surface 11 that is inclined with respect to a first straight line L1. The first member 10 is configured to be movable by electromagnetic force in a first direction V1 along the first straight line L1 and in a second direction V2 opposite to the first direction V1.

[0024] In the linear arrangement state, the first member 10 includes a cylindrical first body 12 centered on a first straight line L1, and a plurality of first protrusions 13 protruding in a first direction V1 from the first body 12 and having a first surface 11. The plurality of first protrusions 13 are arranged at equal intervals in the circumferential direction around the first straight line L1.

[0025] FIG. 8 corresponds to a plan view of the first members in the linear arrangement state as viewed from the first direction V1 side (first projection 13 side). In the illustrated example, six first protrusions 13 are arranged at equal intervals in the circumferential direction around the first straight line L1. The number of first protrusions 13 is not limited to the above, and may be five or less, or seven or more. For example, the number and arrangement of the first protrusions 13 can be changed according to design specifications.

[0026] In the linear arrangement state, the first member 10 has a plurality of protrusions 14 that protrude radially outward from the first body 12 in a radial direction perpendicular to the first straight line L1. In the example shown in the figure, three protrusions 14 are arranged at equal intervals in the circumferential direction around the first straight line L1. In the example shown in the figure, each protrusion 14 is arranged from the base end to the tip end of the first member 10. Note that the number of protrusions 14 is not limited to the above, and may be two or less, or four or more. For example, the number and arrangement of the protrusions 14 can be changed according to design specifications.

[0027] The first body 12 is formed with a groove 15 that opens so that the tip of the engaging member 50 can fit into it. In the example shown in the figure, in a linear arrangement state, the groove 15 is arranged between the plurality of protruding portions 14 in the circumferential direction around the first straight line L1. In the example shown in the figure, the groove 15 is arranged on the tip side (first protrusion 13 side) of the first member 10. Note that the arrangement of the groove 15 is not limited to the above and can be changed according to design specifications.

[0028] In the illustrated example, the groove 15 is formed by a plane including a portion that is along a plane perpendicular to the first straight line L1 and a portion that diagonally intersects with the first straight line L1. In the illustrated example, the portion where the groove 15 is formed has a portion that is along a plane perpendicular to the first straight line L1 on the tip side of the first member 10. Note that the formation mode of the groove 15 is not limited to the above and can be changed according to design specifications.

[0029] For example, the components of the first member 10 (first main body 12, first protrusion 13, and protruding portion 14) are integrally formed from the same material. For example, the first member 10 is manufactured using a 3D printer. Note that the components of the first member 10 are not limited to the above, and may be integrally formed from different materials. For example, the method and formation mode of the first member 10 are not limited to the above, and can be changed according to design specifications.

[0030] <Second structure> 6, the second structure 3B includes a cylinder 20, a first elastic body 21, a bearing 22, a second member 30, and a guide member 40. In FIG. 6, the cylinder 20 is indicated by a two-dot chain line. The roles of the cylinder 20 constituting the second structure 3B are as follows (2-1) and (2-2). (2-1) This is the general framework of the second structure 3B. (2-2) Fix the guide member 40.

[0031] Fig. 11 is a perspective view of the cylinder 20 according to the first embodiment. Fig. 11 shows a linear arrangement state in which the cylinder 20 is aligned on the first straight line L1. 6 and 11, in the linear arrangement state, the cylinder 20 is formed into a bottomed cylindrical shape centered on the first straight line L1. In the example shown in the figure, the cylinder 20 is formed into a bottomed cylindrical shape. Note that the shape of the cylinder 20 is not limited to the above and can be changed according to design specifications.

[0032] The roles of the first elastic body 21 constituting the second structure 3B are as follows (3-1) to (3-4). (3-1) Hold the second member 30 when not joined. (3-2) When coupled, the second member 30 is rotated along the slopes of the first member 10 and the guide member 40, and a force is applied to press the pressing member 53 on the slope of the guide member 40. (3-3) Generates a force to maintain the bond. (3-4) When released, a force is applied to rotate the second member 30 along the slopes of the first member 10 and the guide member 40, returning the second member 30 to the position when uncoupled.

[0033] Fig. 12 is a perspective view of the first elastic body 21 according to the first embodiment. Fig. 12 shows a linear arrangement state in which the first elastic body 21 is aligned on the first straight line L1. 6 and 12, the first elastic body 21 applies an elastic force to the second member 30. For example, the first elastic body 21 is a coil spring. However, the first elastic body 21 is not limited to the above, and may be configured to include a spring other than a coil spring. For example, the configuration of the first elastic body 21 can be changed according to design specifications.

[0034] The bearing 22 constituting the second structure 3B is as follows (4-1). (4-1) It assists the second member 30 when it rotates along the slopes of the first member 10 and the guide member 40 during coupling and release.

[0035] Fig. 13 is a perspective view of the bearing 22 according to the first embodiment. Fig. 13 shows a linear arrangement state in which the bearing 22 is aligned on the first straight line L1. 6 and 13, in the linear arrangement state, the bearing 22 is formed in an annular shape centered on the first straight line L1. In the example shown in the figures, the bearing 22 is arranged at the bottom of the cylinder 20.

[0036] In the illustrated example, the bearing 22 includes a pair of annular members (e.g., raceways) and a plurality of spherical members (e.g., rolling elements) disposed between the pair of annular members. For example, the bearing 22 is a thrust ball bearing (an example of a ball bearing). However, the bearing 22 is not limited to the above, and may include a bearing other than a ball bearing. For example, the configuration of the bearing 22 can be changed according to design specifications.

[0037] The role of the second member 30 constituting the second structure 3B is as follows (5-1) and (5-2). (5-1) When connecting, the pressing member 53 is pressed. (5-2) To maintain the connected state, the pressing member 53 is maintained in a pressed state.

[0038] Fig. 14 is a perspective view of the second member 30 according to the first embodiment. Fig. 15 is a plan view of the second member 30 according to the first embodiment. Fig. 16 is a side view of the second member 30 according to the first embodiment. Fig. 14 shows a linear arrangement state in which the second member 30 is aligned on the first straight line L1. 6 and 14 to 16, in the linear arrangement state, the second member 30 has a second surface 31 that is inclined with respect to the first straight line L1.

[0039] In the linear arrangement state, the second member 30 includes an annular second main body 32 centered on the first straight line L1, and a plurality of second protrusions 33 protruding from the second main body 32 in the second direction V2 and having second surfaces 31. The plurality of second protrusions 33 are arranged at equal intervals in the circumferential direction.

[0040] In the illustrated example, three second protrusions 33 are arranged at equal intervals in the circumferential direction. In the illustrated example, each second protrusion 33 is arranged from the inner peripheral edge to the outer peripheral edge of the annular second main body 32. The number of second protrusions 33 is not limited to the above, and may be two or less, or four or more. For example, the number and arrangement of the second protrusions 33 can be changed according to design specifications.

[0041] For example, the components of the second member 30 (the second main body 32 and the second protrusion 33) are integrally formed from the same material. For example, the second member 30 is manufactured using a 3D printer. Note that the components of the second member 30 are not limited to the above, and may be integrally formed from different materials. For example, the method and formation mode of the second member 30 are not limited to the above, and can be changed according to design specifications.

[0042] The roles of the guide member 40 constituting the second structure 3B are as follows (6-1) to (6-3). (6-1) The holding mechanism 4 is built in. (6-2) When connecting, the second member 30 is rotated to push the pressing member 53 in. (6-3) When releasing, the second member 30 is rotated and returned to the position before coupling.

[0043] Fig. 17 is a perspective view of guide member 40 according to the first embodiment. Fig. 18 is a plan view of one portion of guide member 40 according to the first embodiment. Fig. 19 is a side view of one portion of guide member 40 according to the first embodiment. Fig. 20 is a plan view of the other portion of guide member 40 according to the first embodiment. Fig. 21 is a side view of the other portion of guide member 40 according to the first embodiment. Fig. 17 shows a linear arrangement state in which guide member 40 is aligned on the first straight line L1. 6 and 17 to 21, in the linear arrangement state, the guide member 40 has a guide surface 41 that is inclined with respect to the first straight line L1.

[0044] In the linear arrangement state, the guide member 40 includes an arc-shaped guide body 42 centered on the first straight line L1, and a plurality of guide protrusions 43 protruding in the first direction V1 from the guide body 42 and having guide surfaces 41. The guide members 40 are arranged at equal intervals in the circumferential direction.

[0045] In the illustrated example, three guide members 40 are arranged at equal intervals in the circumferential direction. In FIG. 6, one of the three guide members 40 is indicated by a two-dot chain line. Each guide member 40 is fixed to a portion of the tip side of the cylinder 20. The number of guide members 40 is not limited to the above, and may be two or less, or four or more. For example, the number and arrangement of the guide members 40 can be changed according to design specifications.

[0046] In the illustrated example, two guide protrusions 43 are arranged per guide member 40. The number of guide protrusions 43 is not limited to the above, and may be one, three or more per guide member 40. For example, the number and arrangement of the guide protrusions 43 can be changed according to design specifications.

[0047] In this embodiment, of the first surface 11, the second surface 31, and the guide surface 41, at least the first surface 11 is curved. In the illustrated example, in the linear arrangement state, the first surface 11 is curved toward the first direction V1 (see FIG. 7). For example, in addition to the first surface 11, the second surface 31 and the guide surface 41 may also be curved. For example, the first surface 11 and the second surface 31 may be curved so as to form the same curve. For example, only the first surface 11 may be curved, and the second surface 31 and the guide surface 41 may be flat. For example, the configuration of the second surface 31 and the guide surface 41 can be changed according to design specifications.

[0048] For example, the components of the guide member 40 (the guide main body 42 and the guide protrusions 43) are integrally formed from the same material. For example, the guide member 40 is manufactured using a 3D printer. The components of the guide member 40 are not limited to the above, and may be integrally formed from different materials. For example, the method and formation mode of the guide member 40 are not limited to the above, and can be changed according to design specifications.

[0049] In the illustrated example, guide member 40 is configured by combining one portion having guide protrusions 43 with another portion having guide main body 42. In the illustrated example, one portion and the other portion of guide member 40 are connected to each other by a concave-convex structure. In the illustrated example, one portion has a plurality of recesses 46 (two circular holes in the illustrated example) formed therein, and a plurality of protrusions 47 (two cylindrical protrusions in the illustrated example) formed on the other portion fit into each other, thereby connecting one portion and the other portion to each other.

[0050] The one portion and the other portion of the guide member 40 may be connected to each other by a fastening member such as a bolt, without being limited to the above. For example, the manner in which the one portion and the other portion of the guide member 40 are connected to each other can be changed according to design specifications.

[0051] For example, the guide member 40 is not limited to the above, and may be configured as a single member having the guide protrusion 43 and the guide main body 42. For example, the configuration of the guide member 40 can be changed according to design specifications.

[0052] <Retention mechanism> FIG. 22 is a perspective view showing a state in which the second member 30 according to the first embodiment presses the pressing member 53. FIG. 23 is a perspective view showing the holding mechanism 4 built into the guide member 40 according to the first embodiment, and is a diagram showing a retracted state of the engaging member 50. FIG. 24 is a perspective view showing the holding mechanism 4 built into the guide member 40 according to the first embodiment, and is a diagram showing a protruding state of the engaging member 50. FIG. 25 is a perspective view of the engaging member 50 according to the first embodiment. FIG. 26 is a perspective view of the support member 52 according to the first embodiment. FIG. 27 is a perspective view of the pressing member 53 according to the first embodiment. FIG. 22 shows a linear arrangement state in which the guide member 40 and the second member 30 are aligned on the first straight line L1. 22 to 27, the holding mechanism 4 is built into the guide member 40.

[0053] In the illustrated example, the holding mechanism 4 is built into each of the three guide members 40. However, the holding mechanism 4 is not limited to the above, and may be built into one or two guide members 40. For example, the holding mechanism 4 may be built into some of the multiple guide members 40. For example, the manner in which the holding mechanism 4 is built into can be changed depending on the design specifications.

[0054] Before describing the role of the holding mechanism 4, the configurations of the guide member 40 and the holding mechanism 4 will be described. 23 and 24, the guide member 40 is indicated by a two-dot chain line. The guide member 40 is formed with a first hole 45A that opens along a second straight line L2 different from the first straight line L1, and a second hole 45B that communicates with the first hole 45A and opens along a third straight line L3 that intersects with the second straight line L2. The holding mechanism 4 is disposed in the first hole 45A and the second hole 45B.

[0055] The holding mechanism 4 is configured to include an engaging member 50, a second elastic body 51, a support member 52, and a pressing member 53. The holding mechanism 4 is provided with the engaging member 50 that is disposed in the first hole 45A and is movable along the first hole 45A, the second elastic body 51 that applies an elastic force to the engaging member 50, the support member 52 that supports the second elastic body 51, and the pressing member 53 that is disposed in the second hole 45B and is movable along the second hole 45B.

[0056] The first hole 45A opens along a plane perpendicular to the first straight line L1. The second hole 45B opens along a direction parallel to the first straight line L1. In the example shown in the figure, the combined shape of the first hole 45A and the second hole 45B forms an L-shape. Note that the combined shape of the first hole 45A and the second hole 45B is not limited to the above and can be changed according to design specifications.

[0057] Figure 28 is an explanatory view of the operation of the engaging member 50 according to the first embodiment. Figure 29 is a schematic view showing the engagement between the engaging member 50 according to the first embodiment and the support member 52. Figure 30 is an explanatory view of the operation of the holding mechanism 4 according to the first embodiment. 28 to 30, the engaging member 50 includes a portion that extends along a plane perpendicular to the first straight line L1 and a portion that intersects the first straight line L1 at an angle. In the example shown in the figures, the engaging member 50 has a portion that extends along the groove 15 formed in the first member 10. Note that the configuration of the engaging member 50 is not limited to the above and can be changed according to design specifications.

[0058] For example, the second elastic body 51 is a coil spring. Note that the second elastic body 51 is not limited to the above, and may be configured to include a spring other than a coil spring. For example, the configuration of the second elastic body 51 can be changed according to design specifications.

[0059] Although not shown, the holding mechanism 4 may be configured to further include a string-like member (for example, a string) that connects the engaging member 50 and the supporting member 52. For example, the string may limit the range of motion of the engaging member 50 and the supporting member 52. This makes it possible to prevent the pressing member 53 from protruding too far outside the guide member 40 when the pressing member 53 is not pressed, that is, when the engaging member 50 is not pressed.

[0060] For example, an engagement groove for engaging the engagement member 50 may be formed inside the guide member 40. This makes it possible to prevent the engagement member 50 from coming off the guide member 40 due to, for example, an external impact.

[0061] The support member 52 includes a portion that extends along a plane perpendicular to the first straight line L1, and a portion that faces the pressing member 53 and diagonally intersects with the first straight line L1. In the example shown in the figure, the support member 52 has a portion that extends along a slope formed on the pressing member 53. Note that the configuration of the support member 52 is not limited to the above and can be changed according to design specifications.

[0062] Although not shown, a first connection hole for connecting one end of the second elastic body 51 may be formed in a portion of the engaging member 50 opposite the tip end. For example, a second connection hole for connecting the other end of the second elastic body 51 may be formed in a portion of the support member 52 facing the engaging member 50. For example, the formation mode of the connection hole (the connection mode of the second elastic body 51) is not limited to the above and can be changed according to design specifications.

[0063] The pressing member 53 includes a portion that extends along a plane parallel to the first straight line L1, and a portion that intersects the first straight line L1 at an angle in a portion that faces the support member 52. In the example shown in the figure, the pressing member 53 has a portion that extends along a slope formed on the support member 52. Note that the configuration of the pressing member 53 is not limited to the above and can be changed according to design specifications.

[0064] For example, when the pressing member 53 is pressed in at the initial state, the engaging member 50 pops out. While the pressing member 53 continues to be pressed in, the second elastic body 51 maintains the engaging member 50 in the protruding state. The reason for this is that the pressing member 53 is pressed in when the first member 10 and the second member 30 are joined, and the pressing member 53 continues to be pressed in at the holding state.

[0065] On the other hand, by pushing in the engaging member 50 with the pressing member 53 released, the engaging member 50 can be stored and the pressing member 53 can be returned to the protruding state. When the connection between the first member 10 and the second member 30 is released, the pressing member 53 is released and the engaging member 50 is pushed in at the same time, so that the engaging member 50 can be stored and the first member 10 can be released.

[0066] The roles of the holding mechanism 4 are as follows (7-1) to (7-3). (7-1) At the time of coupling, the pressing member 53 is pressed to actuate the engaging member 50, which is inserted into the groove 15 of the first member 10, thereby completing the coupling. (7-2) The coupling state is maintained by the engaging member 50. (7-3) When releasing, the engaging member 50 is stored and the first member 10 is released.

[0067] For example, the components of the holding mechanism 4 (the engaging member 50, the support member 52, and the pressing member 53 other than the second elastic body 51) are manufactured using a 3D printer. Note that the components of the holding mechanism 4 are not limited to the above and may be manufactured by other methods. For example, the manufacturing method and configuration of the holding mechanism 4 are not limited to the above and can be changed according to design specifications.

[0068] <Before entering the bonding phase> The control before entering the coupling phase will be explained. FIG. 31 is a perspective view showing an example of the coupling hold release mechanism 1 according to the first embodiment before coupling begins. 31, before entering the binding phase, the relative position and relative attitude of the satellites 100A and 100B, each carrying a first structure 3A and a second structure 3B, are controlled. The binding phase begins after necessary control is performed in advance so that the two satellites 100A and 100B (an example of two objects) are positioned on a straight line. In this embodiment, binding and release are performed in a linear arrangement state in which the first structure 3A and the second structure 3B are aligned on the first straight line L1.

[0069] Until just before the start of the coupling phase, the internal components of the cylinder 20 (guide member 40, second member 30, holding mechanism 4, first elastic body 21, and bearing 22) do not move. In other words, the components interfere with each other due to the combination and engagement of the components, maintaining a constant relative positional relationship. In Figure 31, the first elastic body 21, bearing 22, etc. are not shown.

[0070] <Example of operation in each phase> An example of the operation of each phase will be described. FIG. 32 is a perspective view showing an example of the start of coupling of the coupling hold release mechanism 1 according to the first embodiment. FIG. 33 is a perspective view showing an example of the first member 10 pushing the second member 30 in the coupling phase according to the first embodiment. FIG. 34 is a perspective view showing an example of the second member 30 rotating due to the pushing of the first member 10 in the coupling phase according to the first embodiment. FIG. 35 is a perspective view showing an example of the completion of coupling of the coupling hold release mechanism 1 according to the first embodiment. FIG. 36 is a perspective view showing an example of the first member 10 pushing the second member 30 in the release phase according to the first embodiment. FIG. 37 is a perspective view showing an example of the second member 30 rotating due to the pushing of the first member 10 in the release phase according to the first embodiment. FIG. 38 is a perspective view showing an example of the completion of release of the coupling hold release mechanism 1 according to the first embodiment. FIG. 39 is an enlarged side view of a portion of the coupling hold release mechanism 1 according to the first embodiment, and is an explanatory diagram of the operation in the coupling phase. FIG. 40 is an explanatory diagram of the operation in the coupling phase, following FIG. 39. FIG. 41 is an explanatory diagram of the operation in the coupling phase, following FIG. 40. FIG. 42 is a diagram illustrating the operation of the coupling phase, following FIG. 41. FIG. 43 is a diagram illustrating the operation of the coupling phase, following FIG. 42. FIG. 44 is a diagram illustrating the completion of coupling (holding state), following FIG. 43. FIG. 45 is an enlarged side view of a portion of the coupling holding release mechanism 1 according to the first embodiment, illustrating the operation of the release phase. FIG. 46 is a diagram illustrating the operation of the release phase, following FIG. 45. FIG. 47 is a diagram illustrating the operation of the release phase, following FIG. 46. FIG. 48 is a diagram illustrating the operation of the release phase, following FIG. 47. FIG. 49 is a diagram illustrating the operation of the release phase, following FIG. 48. FIG. 50 is a diagram illustrating the completion of release, following FIG. 49. In FIGS. 32 to 49, the cylinder 20, the first elastic body 21, the bearing 22, etc. are omitted from illustration.

[0071] <Combination Phase> The movement of each part in the joining phase will be explained in detail. 32 to 35 and 39 to 44, from the state in Fig. 39 (a state in which the relative positional relationship is kept constant), the first member 10, which is a component of the first structure 3A, is guided into the cylinder 20 by the attractive force of the electromagnetic force. As a result, the components inside the cylinder 20 also receive force from the first member 10 and operate.

[0072] First, the first member 10 pushes the second member 30 in the first direction V1 (see FIGS. 33 and 40, etc.). When the slopes of the protrusions of the first member 10 and the second member 30 are curved so as to form the same curve, the protrusion of the first member 10 slides smoothly against the protrusion of the second member 30.

[0073] While the first member 10 is pushing the second member 30, the protrusion 14 of the first member 10 is disposed between the side surfaces of the guide members 40 in the circumferential direction (see FIGS. 33 and 40, etc.). This makes it possible to prevent the first member 10 from rotating relatively to the second structure 3B while the first member 10 is pushing the second member 30. In other words, because the protrusion 14 of the first member 10 gets between the two guide members 40, the first member 10 can push the second member 30 without rotating relatively to the first member 10.

[0074] When the first member 10 presses the second member 30 by a predetermined amount, the first elastic body 21 is compressed, and a reaction force is applied to the second member 30. At this time, the compression energy stored in the first elastic body 21 is partially released as the second member 30 slides on the guide surface 41 of the guide member 40 due to the engagement between the first member 10 and the second member 30 (see FIG. 41, etc.).

[0075] For example, when the first member 10 presses the second member 30 by more than a predetermined amount, the second protrusion 33 of the second member 30 slides along the first surface 11 of the first member 10, causing the second member 30 to rotate in the direction of arrow R (see FIG. 34, etc.). The second member 30 slides on the guide surface 41 while rotating in the direction of arrow R (see FIG. 42, etc.). When the second member 30 finishes sliding on the guide surface 41, the second surface 31 of the second member 30 comes into contact with the guide surface 41 of the guide member 40. At this time, the second member 30 presses the pressing member 53 of the holding mechanism 4 and stops (see FIG. 43, etc.).

[0076] When the pressing member 53 is pressed, compression energy is temporarily stored in the second elastic body 51 that constitutes the holding mechanism 4. This compression energy is used to push out the engagement member 50, which acts as a latch to secure the first structure 3A (first member 10) and the second structure 3B. This secures the first satellite 100A and the second satellite 100B to each other, completing the coupling (see Figures 35 and 44, etc.). The operation of the latch completes the coupling phase.

[0077] <Keep> When the coupling is complete, the engaging member 50, which was housed in the guide member 40, protrudes from the guide member 40 (see Figures 35 and 44, etc.). When the coupling is complete, the engaging member 50 can be held without electromagnetic force unless an external force of a predetermined magnitude or greater is applied. In the held state, the engaging member 50 generates a reaction force against a force in the pull-out direction.

[0078] In this embodiment, in the linear arrangement state, when the first member 10 is moved in the first direction V1 by electromagnetic force to press the second member 30 by a predetermined amount or more, and then the first member 10 is moved in the second direction V2, the elastic force of the first elastic body 21 causes the second surface 31 to slide from the first surface 11 along the guide surface 41, and the second member 30 moves in the second direction V2 while rotating around the first straight line L1 (see FIG. 34, etc.). When the second member 30 moves in the second direction V2 by a predetermined amount or more, the holding mechanism 4 is activated and holds the second member 30 (see FIGS. 35 and 44, etc.).

[0079] In this embodiment, when the second member 30 moves in the second direction V2 by more than a predetermined distance, the second member 30 pushes the pressing member 53 into the second hole 45B, and the pushing force of the pressing member 53 moves the engaging member 50 along the first hole 45A via the support member 52 and the second elastic body 51, and the elastic force of the second elastic body 51 causes the tip of the engaging member 50 to come out of the first hole 45A and fit into the groove 15 of the first member 10, thereby holding the engaging member 50 in place.

[0080] <Release Phase> The movement of each part in the release phase is explained in detail. 36 to 38 and 45 to 50, the release operation is possible by again using the attractive force of the electromagnetic force to push the first member 10 further toward the second member 30. The release operation is performed by generating an electromagnetic force of a predetermined magnitude or greater and pushing the first member 10 in the first direction V1 (see FIGS. 36, 45, etc.). When the second member 30 is pushed in by the first member 10, the engaging member 50 is pushed back into the first hole 45A and stored. This releases the connection between the first structure 3A and the second structure 3B.

[0081] In this embodiment, when the first member 10 is moved by electromagnetic force in the first direction V1 by a predetermined distance or more while held, the tip of the engaging member 50 comes out of the groove 15 and the entire engaging member 50 is stored in the first hole 45A. After the entire engaging member 50 is stored in the first hole 45A, when the first member 10 is moved in the first direction V1 by electromagnetic force and the second member 30 is pressed in by a predetermined distance or more, the holding by the holding mechanism 4 is released.

[0082] When the pushed second member 30 is pushed in by a predetermined amount, it slides on the guide surface 41 of the guide member 40 with the assistance of the first member 10 (see FIG. 46, etc.). Subsequently, the second member 30 unloads the first member 10 and simultaneously slides on the guide surface 41 (see FIG. 47, etc.).

[0083] For example, when the first member 10 presses the second member 30 by a predetermined amount or more, the second protrusion 33 of the second member 30 slides along the guide surface 41 of the guide member 40, causing the second member 30 to rotate in the direction of arrow R (see FIG. 37, etc.). The second member 30 slides on the guide surface 41 while rotating in the direction of arrow R (see FIG. 47, etc.).

[0084] After the second member 30 has finished sliding on the guide surfaces 41, the second protrusions 33 of the second member 30 are positioned between the side surfaces of the guide members 40 in the circumferential direction (see FIG. 48, etc.). The second member 30 then returns to the state before coupling (see FIG. 49, etc.). When the first member 10 separates from the second structure 3B, the release is complete (see FIGS. 38 and 50, etc.). All of the internal components of the second structure 3B return to the state before coupling, completing the release phase.

[0085] In this embodiment, when the first member 10 is moved in the first direction V1 by electromagnetic force and the second member 30 is pressed in by a predetermined amount or more, and then the first member 10 is moved in the second direction V2, the elastic force of the first elastic body 21 causes the second surface 31 to slide from the first surface 11 along the guide surface 41, and the second member 30 moves in the second direction V2 while rotating about the first straight line L1 (see FIG. 37, etc.). The elastic force of the first elastic body 21 pushes the second member 30 in the second direction V2, and the second member 30 pushes the first member 10 back in the second direction V2, thereby releasing the first member 10 (see FIGS. 38 and 50, etc.).

[0086] According to this embodiment, by installing the above-described coupling holding and release mechanism 1 on the microsatellites 100A and 100B, they can be operated using only the electromagnetic force generated by the electromagnets 2A and 2B installed on each of the satellites 100A and 100B. For example, in order to save resources, it is possible to make it so that electromagnetic force is not required to maintain the coupled state. As described above, the coupled state can be maintained by the holding mechanism 4 built into the guide member 40. Therefore, the coupled state can be maintained without consuming power, thereby saving resources.

[0087] In addition, by pressing again in the held state, the first member 10 is released from the holding mechanism 4, and the electromagnetic force is released, completing the release. At the time of release, the force stored in the first elastic body 21 is released, thereby providing an initial velocity at the time of release. This eliminates the need for assistance from a thruster at the time of release.

[0088] <Action and effect> As described above, the coupling holding and releasing mechanism 1 of this embodiment includes a first member 10, a second member 30 separate from the first member 10, a holding mechanism 4 that holds the first member 10 and the second member 30, a guide member 40 that incorporates the holding mechanism 4 and has a first hole 45A and a second hole 45B that communicate with each other, and a first elastic body 21 that applies an elastic force to the second member 30. The holding mechanism 4 includes an engaging member 50 that is disposed in the first hole 45A and movable along the first hole 45A, a second elastic body 51 that applies an elastic force to the engaging member 50, a support member 52 that supports the second elastic body 51, and a pressing member 53 that is disposed in the second hole 45B and movable along the second hole 45B. The first member 10 has a groove 15 that opens so that the tip of the engaging member 50 can fit into it. The first member 10 and the second member 30 are configured to be coupled and released from each other by an external force. According to this configuration, the first member 10 and the second member 30 can be coupled and released from each other by an external force, so coupling and release can be performed without the need for a power source such as a motor. In addition, since the holding mechanism 4 is provided, holding can be performed without using electromagnetic force. Therefore, a motor is not required, and weight can be reduced.

[0089] In this embodiment, the coupling holding and releasing mechanism 1 includes a first structure 3A including a first electromagnet 2A, a second structure 3B provided separately from the first structure 3A and including a second electromagnet 2B, and a holding mechanism 4 that holds the first structure 3A and the second structure 3B. The first structure 3A and the second structure 3B are configured to be able to be coupled to and released from each other by the electromagnetic forces generated by the first electromagnet 2A and the second electromagnet 2B. According to this configuration, the first structure 3A and the second structure 3B are configured to be able to couple and release with each other by electromagnetic force, so coupling and release can be performed without the need for a power source such as a motor. In addition, since the holding mechanism 4 is provided, holding can be performed without using electromagnetic force. Therefore, a motor is not required, and weight can be reduced.

[0090] In this embodiment, one core rod 5A of the first electromagnet 2A and the second electromagnet 2B has a cone-shaped protrusion 6. The other core rod 5B of the first electromagnet 2A and the second electromagnet 2B has a recess 7 shaped to fit the protrusion 6. With this configuration, even if the first structure 3A and the second structure 3B are inserted at an angle when being joined to each other, the conical convex portion 6 moves along the concave portion 7, so they can be automatically aligned in a straight line. Therefore, the position and orientation immediately before joining can be aligned by autonomous attitude control.

[0091] In this embodiment, the first structural body 3A and the second structural body 3B are coupled and released in a linear arrangement state in which they are aligned on the first straight line L1. According to this configuration, the positions and orientations of the first structure 3A and the second structure 3B are aligned on a straight line, so that coupling and release can be performed smoothly.

[0092] In this embodiment, in a linear arrangement state, the first structure 3A has a first surface 11 inclined with respect to a first straight line L1, and is equipped with a first member 10 that can be moved by electromagnetic force in a first direction V1 along the first straight line L1 and in a second direction V2 opposite to the first direction V1. With this configuration, the role of the first member 10 constituting the first structure 3A (for example, pushing and rotating the second member 30 constituting the second structure 3B when connecting and disconnecting) can be achieved with a simple configuration.

[0093] In this embodiment, in a linear arrangement state, the second structure 3B comprises a second member 30 having a second surface 31 inclined with respect to the first straight line L1, a guide member 40 having a guide surface 41 inclined with respect to the first straight line L1, and a first elastic body 21 that applies an elastic force to the second member 30. With this configuration, the role of the second structure 3B (for example, holding the second member 30 when not coupled, and rotating the second member 30 along the slope when coupled and released) can be achieved with a simple configuration.

[0094] In this embodiment, in the linear arrangement state, when the first member 10 is moved in the first direction V1 by electromagnetic force to press the second member 30 by a predetermined amount or more, and then the first member 10 is moved in the second direction V2, the elastic force of the first elastic body 21 causes the second surface 31 to slide from the first surface 11 along the guide surface 41, and the second member 30 moves in the second direction V2 while rotating around the first straight line L1. When the second member 30 moves in the second direction V2 by a predetermined amount or more, the holding mechanism 4 is activated and holds the second member 30. According to this configuration, when the second member 30 moves in the second direction V2 by more than a predetermined distance, the holding mechanism 4 is activated to hold the second member 30, thereby enabling smooth holding. Additionally, the first elastic body 21 not only applies a rotational force to the first member 10 along the slope, but also functions as a damper, making it possible to mitigate collisions during coupling. Furthermore, the energy stored by the pushing of the first elastic force can be converted into an initial velocity Δv (delta buoy) upon release. This eliminates the need for a thruster to impart the initial velocity upon release, allowing for weight reduction.

[0095] In this embodiment, in the linear arrangement state, the first member 10 includes a cylindrical first body 12 centered on a first straight line L1, and a plurality of first protrusions 13 protruding from the first body 12 in a first direction V1 and having a first surface 11. The plurality of first protrusions 13 are arranged at equal intervals in the circumferential direction around the first straight line L1. According to this configuration, the plurality of first protrusions 13 allows for smoother and more stable coupling and release.

[0096] In this embodiment, in the linear arrangement state, the second member 30 includes an annular second main body 32 centered on the first straight line L1, and a plurality of second protrusions 33 protruding from the second main body 32 in the second direction V2 and having second surfaces 31. The plurality of second protrusions 33 are arranged at equal intervals in the circumferential direction. According to this configuration, the plurality of second protrusions 33 allows coupling and release to be performed more smoothly and stably.

[0097] In this embodiment, in the linear arrangement state, the guide member 40 includes an arc-shaped guide body 42 centered on the first straight line L1, and a plurality of guide protrusions 43 protruding from the guide body 42 in the first direction V1 and having guide surfaces 41. The plurality of guide members 40 are arranged at equal intervals in the circumferential direction. According to this configuration, the plurality of guide members 40 allows coupling and uncoupling to be performed more smoothly and stably.

[0098] In this embodiment, of the first surface 11, the second surface 31, and the guide surface 41, at least the first surface 11 is curved. With this configuration, coupling and disengagement can be performed more smoothly and stably than when the first surface 11, the second surface 31, and the guide surface 41 are all flat surfaces. In addition, the tolerance for disengagement can be increased, that is, a greater margin can be provided in the tolerance range for normal rotation of the second member 30 when disengaged. This makes it possible to avoid situations where disengagement problems occur.

[0099] In this embodiment, the holding mechanism 4 is built into the guide member 40. This configuration makes it easier to reduce the size of the coupling hold release mechanism 1 compared to when the holding mechanism 4 is disposed outside the guide member 40. In addition, the holding mechanism 4 can be protected from external factors such as external impacts.

[0100] In this embodiment, the guide member 40 is formed with a first hole 45A that opens along a second straight line L2 different from the first straight line L1, and a second hole 45B that communicates with the first hole 45A and opens along a third straight line L3 that intersects with the second straight line L2. The holding mechanism 4 is disposed in the first hole 45A and the second hole 45B. According to this configuration, the guide member 40 incorporating the holding mechanism 4 can be realized with a simple configuration.

[0101] In this embodiment, the holding mechanism 4 includes an engaging member 50 that is disposed in the first hole 45A and is movable along the first hole 45A, a second elastic body 51 that applies an elastic force to the engaging member 50, a support member 52 that supports the second elastic body 51, and a pressing member 53 that is disposed in the second hole 45B and is movable along the second hole 45B. A groove 15 that opens so that the tip of the engaging member 50 can fit into it is formed in the first body 12. With this configuration, the role of the holding mechanism 4 (for example, when connecting, the pressing member 53 is pushed in to fit the tip of the engaging member 50 into the groove 15, the connecting state is maintained by the engaging member 50, and when releasing, the engaging member 50 is stored in the first hole 45A, etc.) can be achieved with a simple configuration.

[0102] In this embodiment, when the second member 30 moves in the second direction V2 by a predetermined distance or more, the second member 30 pushes the pressing member 53 into the second hole 45B, and the pushing force of the pressing member 53 moves the engaging member 50 along the first hole 45A via the support member 52 and the second elastic body 51, and the elastic force of the second elastic body 51 causes the tip of the engaging member 50 to come out of the first hole 45A and fit into the groove 15, thereby holding the engaging member 50 in place. According to this configuration, the elastic force of the second elastic body 51 causes the tip of the engaging member 50 to come out of the first hole 45A and fit into the groove 15, thereby achieving holding, and therefore does not require electromagnetic force or energy such as electricity, thereby contributing to energy savings.

[0103] In this embodiment, the first hole 45A opens along a plane perpendicular to the first straight line L1, and the second hole 45B opens along a direction parallel to the first straight line L1. According to this configuration, the line of action of force is aligned between the engaging member 50 and the pressing member 53, allowing for smoother and more stable engagement and release. In addition, the combined shape of the first hole 45A and the second hole 45B is L-shaped, so that the guide member 40 incorporating the holding mechanism 4 can be realized with a simpler configuration.

[0104] In this embodiment, when the first member 10 is moved in the first direction V1 by electromagnetic force by a predetermined distance or more while held in place, the tip of the engaging member 50 comes out of the groove 15 and the entire engaging member 50 is stored in the first hole 45A. This configuration allows for an initial velocity to be imparted upon release. Additionally, assistance by a thruster is not required. Furthermore, since the entire engaging member 50 is housed in the first hole 45A, the engaging member 50 can be protected from external factors such as external impacts.

[0105] In this embodiment, after the entire engaging member 50 is stored in the first hole 45A, the first member 10 is moved in the first direction V1 by electromagnetic force and the second member 30 is pushed in by a predetermined amount or more, whereby the holding mechanism 4 releases the holding. This configuration allows for an initial velocity at release, and also eliminates the need for thruster assistance.

[0106] In this embodiment, in a state in which the holding is released, when the first member 10 is moved in the first direction V1 by electromagnetic force to push the second member 30 in by a predetermined amount or more, and then the first member 10 is moved in the second direction V2, the elastic force of the first elastic body 21 causes the second surface 31 to slide from the first surface 11 along the guide surface 41, and the second member 30 moves in the second direction V2 while rotating around the first straight line L1. The elastic force of the first elastic body 21 pushes the second member 30 in the second direction V2, and the second member 30 pushes the first member 10 back in the second direction V2, thereby releasing the first member 10. According to this configuration, the release is performed by the elastic force of the first elastic body 21, and therefore the release can be performed without requiring a power source such as a motor.

[0107] In this embodiment, the coupling holding and releasing mechanism 1 is sized to fit in a cubic space with a side length of 100 mm. According to this configuration, the coupling holding and releasing mechanism 1 can be made smaller.

[0108] In this embodiment, one of the first structure 3A and the second structure 3B is mounted on a first satellite 100A. The other of the first structure 3A and the second structure 3B is mounted on a second satellite 100B that is separate from the first satellite 100A. With this configuration, the first satellite 100A and the second satellite 100B can be coupled and released from each other by electromagnetic force, so coupling, holding, and release can be performed without the need for a power source such as a motor. Therefore, a motor is not required, and weight can be reduced. For example, by mounting the first structure 3A and the second structure 3B on the microsatellites 100A and 100B, a binding hold / release mechanism 1 can be realized that allows the microsatellites 100A and 100B to be permanently used and is suitable for environmental conservation and energy conservation. The binding hold / release mechanism 1 of this embodiment enables the microsatellites 100A and 100B to be coupled, enabling the construction of a system similar to that of a large satellite. In particular, this mechanism does not use thrusters that require toxic propellants such as hydrazine, but instead uses only electromagnets 2A and 2B, making it unaffected by the satellite's lifespan. For example, the electromagnets 2A and 2B are powered by solar panels 110 mounted on the satellites 100A and 100B, contributing to environmental conservation and energy conservation. Furthermore, the use of electromagnets 2A and 2B eliminates the need for precise and accurate control. The electromagnets 2A and 2B attract each other, aligning their magnetic fields in a straight line. Therefore, this mechanism is capable of autonomous docking to a certain extent by equipping it with electromagnets 2A and 2B. This mechanism allows the potential energy generated by the electromagnetic forces (attractive and repulsive forces) of electromagnets 2A and 2B, which have the above-mentioned advantages, to be stored in springs, realizing docking and holding that alleviates collisions, and also enabling the creation of a system that enables an increase in Δv (delta buoy) by releasing the energy.

[0109] Second Embodiment In the first embodiment, an example of a configuration in which the line of action of force is in a straight line between the engaging member 50 and the pressing member 53 has been described. In the second embodiment, the configuration of the holding mechanism 204 built into the guide member 240 differs from that of the first embodiment. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

[0110] FIG. 51 is a perspective view showing a retaining mechanism 204 built into a guide member 240 according to the second embodiment, illustrating a state in which an engaging member 250 is stored. FIG. 52 is a perspective view showing a retaining mechanism 204 built into a guide member 240 according to the second embodiment, illustrating a state in which a pressing member 253 is pressed in. FIG. 53 is a perspective view showing a retaining mechanism 204 built into a guide member 240 according to the second embodiment, illustrating a state in which an engaging member 250 is protruding. FIG. 54 is a plan view showing a retaining mechanism 204 built into a guide member 240 according to the second embodiment, illustrating a state in which an engaging member 250 is protruding. FIG. 55 is an explanatory diagram of the operation of an engaging member 250 according to the second embodiment. In FIGS. 51 to 54, a portion of a guide member 240 is indicated by a two-dot chain line.

[0111] 51 to 55, in the linear arrangement state, guide member 240 has guide surface 241 that is inclined with respect to first straight line L1. In the linear arrangement state, guide member 240 includes an arc-shaped guide main body 242 centered on first straight line L1, and a plurality of guide protrusions 243 that protrude from guide main body 242 in first direction V1 and have guide surfaces 241. A plurality of guide members 240 are arranged at equal intervals in the circumferential direction.

[0112] The guide member 240 is formed with a first hole 245A that opens along a second straight line L2 different from the first straight line L1, a second hole 245B that communicates with the first hole 245A and opens along a third straight line L3 that intersects with the second straight line L2, and a third hole 245C that communicates with the second hole 245B and opens along a fourth straight line L4 that intersects with the third straight line L3. The holding mechanisms 204 are disposed in the first hole 245A, the second hole 245B, and the third hole 245C.

[0113] The holding mechanism 204 includes an engaging member 250 that is arranged in the first hole 245A and the second hole 245B and is movable along the second hole 245B, a second elastic body 251 that applies an elastic force to the engaging member 250, a support member 252 that supports the second elastic body 251, and a pressing member 253 that is arranged in the third hole 245C and is movable along the third hole 245C.

[0114] In this embodiment, when the second member 30 moves in the second direction V2 by more than a predetermined distance, the second member 30 pushes the pressing member 253 into the third hole 245C, and the pushing force of the pressing member 253 moves the engaging member 250 along the second hole 245B via the support member 252 and the second elastic body 251, and the elastic force of the second elastic body 251 causes the tip of the engaging member 250 to come out of the first hole 245A and fit into the groove 15, thereby holding the engaging member 250 in place.

[0115] The first hole 245A extends in a direction parallel to the first straight line L1 and opens along a plane perpendicular to the first straight line L1. The second hole 245B extends perpendicular to the first hole 245A and opens along a plane perpendicular to the first straight line L1. The third hole 245C extends perpendicular to the second hole 245B and opens along a plane perpendicular to the first straight line L1.

[0116] In the illustrated example, the combined shape of first hole 245A and second hole 245B is an L-shape. In the illustrated example, the combined shape of second hole 245B and third hole 245C is an L-shape. Note that the combined shapes of first hole 245A and second hole 245B, and second hole 245B and third hole 245C are not limited to the above and can be changed according to design specifications.

[0117] In the illustrated example, the engaging member 250 is configured to include a portion that follows a plane perpendicular to the first straight line L1 and a portion that diagonally intersects with the first straight line L1. In the illustrated example, the engaging member 250 has a portion that follows the groove 15 formed in the first member 10. In the illustrated example, the engaging member 250 has a portion that follows the slope formed in the support member 252. In the illustrated example, the engaging member 250 has an L-shaped portion that follows the first hole 245A and the second hole 245B. Note that the configuration of the engaging member 250 is not limited to the above and can be changed according to design specifications.

[0118] For example, the second elastic body 251 is a coil spring. In the example shown in the figure, the second elastic body 251 is disposed between the support member 252 and the pressing member 253. Note that the second elastic body 251 is not limited to the above, and may be configured to include a spring other than a coil spring. For example, the configuration of the second elastic body 251 can be changed according to design specifications.

[0119] In the illustrated example, the support member 252 includes a portion that extends along a plane perpendicular to the first straight line L1, and a portion that faces the engaging member 250 and diagonally intersects with the third straight line L3. In the illustrated example, the support member 252 has a portion that extends along a slope formed on the engaging member 250. Note that the configuration of the support member 252 is not limited to the above and can be changed according to design specifications.

[0120] In the illustrated example, pressing member 253 includes a portion that fits along third hole 245C, and also includes a hemispherical portion on the opposite side to the portion that faces support member 252. In the illustrated example, the hemispherical portion of pressing member 253 is configured to be able to protrude outward from third hole 245C of guide member 240. Note that the configuration of pressing member 253 is not limited to the above and can be changed according to design specifications.

[0121] In this embodiment, when the first member 10 is moved by electromagnetic force in the first direction V1 by a predetermined distance or more while held, the tip of the engaging member 250 comes out of the groove 15 of the first member 10, and the engaging member 250 is entirely stored in the first hole 245A and the second hole 245B. After the engaging member 250 is entirely stored in the first hole 245A and the second hole 245B, the first member 10 is moved in the first direction V1 by electromagnetic force and the second member 30 is pressed in by a predetermined distance or more, and the holding by the holding mechanism 204 is released.

[0122] In the released state, when the first member 10 is moved in the first direction V1 by electromagnetic force to push the second member 30 in a predetermined amount or more, and then the first member 10 is moved in the second direction V2, the elastic force of the first elastic body 21 causes the second surface 31 to slide from the first surface 11 along the guide surface 241, and the second member 30 moves in the second direction V2 while rotating around the first straight line L1. The elastic force of the first elastic body 21 pushes the second member 30 in the second direction V2, and the second member 30 pushes the first member 10 back in the second direction V2, thereby releasing the first member 10.

[0123] <Third embodiment> In the first embodiment, an example was described in which the second member 30 and the guide member 40 each have a length equal to or greater than a predetermined length when arranged in a line. In the third embodiment, the sizes of the second member 330 and the guide member 340 differ from those in the first embodiment. In the following description, the same components as in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

[0124] Fig. 56 is a perspective view of a second member 330 according to the third embodiment. Fig. 57 is a perspective view of a guide member 340 according to the third embodiment. Fig. 58 is a side view of the second member 330 and the guide member 340 according to the third embodiment. 56 to 58, in the linear arrangement state, the second member 330 includes an annular second main body 332 centered on the first straight line L1, and a plurality of second protrusions 333 protruding in the second direction V2 from the second main body 332 and having second surfaces 331. The plurality of second protrusions 333 are arranged at equal intervals in the circumferential direction.

[0125] In the linear arrangement state, the guide member 340 has a guide surface 341 that is inclined with respect to the first straight line L1. In the linear arrangement state, the guide member 340 includes an arc-shaped guide main body 342 centered on the first straight line L1, and a plurality of guide protrusions 343 that protrude from the guide main body 342 in the first direction V1 and have the guide surface 341. The plurality of guide members 340 are arranged at equal intervals in the circumferential direction.

[0126] For example, the length of the second protrusions 333 in the direction along the first straight line L1 in the linear arrangement state (hereinafter also referred to as the "height of the second protrusions 333") may be set to a predetermined height or less. The height of the second protrusions 333 in this embodiment is shorter than the height of the second protrusions 33 in the first embodiment (see FIGS. 14 and 56, etc.).

[0127] For example, the length of the guide body 342 in the direction along the first straight line L1 in the linear arrangement state (hereinafter also referred to as the "height of the guide body 342") may be set to a predetermined height or less. The height of the guide body 342 in this embodiment is lower than the height of the guide body 42 in the first embodiment (see Figures 17 and 57, etc.).

[0128] According to this embodiment, the height of the second projection 333 and the height of the guide body 342 are each set to a predetermined height or less, thereby enabling further miniaturization.

[0129] <Modification> In the above-described embodiment, the coupling / holding / release mechanism further includes a first electromagnet and a second electromagnet separate from the first electromagnet, and the first member and the second member are configured to be coupled and released from each other by an externally acting force generated by the first electromagnet and the second electromagnet. However, this is not limiting. For example, the externally acting force is not limited to the attractive / repulsive force of electromagnets. For example, in the case of a space satellite, a thruster or a robot arm may be used. For example, the coupling / holding / release mechanism may not include an electromagnet if it is not intended for use in space. For example, the coupling / holding / release mechanism may be configured to couple, hold, and release two separated objects simply by pushing with a hand. For example, the externally acting force may be a force that presses two separated objects together from the outside, and various configurations may be adopted.

[0130] In the above-described embodiment, an example has been described in which one of the core rods of the first electromagnet and the second electromagnet has a conical protrusion, but this is not limited thereto. For example, one of the core rods of the first electromagnet and the second electromagnet does not have to have a conical protrusion. For example, one of the core rods of the first electromagnet and the second electromagnet may be cylindrical. For example, the configuration of one of the core rods of the first electromagnet and the second electromagnet can be changed according to design specifications.

[0131] In the above-described embodiment, an example has been described in which the other core rod of the first electromagnet and the second electromagnet has a recess shaped to fit the convex portion, but this is not limited to this. For example, the other core rod of the first electromagnet and the second electromagnet does not have to have a recess shaped to fit the convex portion. For example, the other core rod of the first electromagnet and the second electromagnet may be cylindrical. For example, the configuration of the other core rod of the first electromagnet and the second electromagnet can be changed according to design specifications.

[0132] In the above-described embodiment, an example has been described in which the first structure and the second structure are coupled and released in a linear arrangement state in which they are aligned on the first straight line, but this is not limiting. For example, the first structure and the second structure may be coupled and released without being aligned on the first straight line. For example, the manner in which the first structure and the second structure are coupled and released can be changed according to design specifications.

[0133] In the above-described embodiment, an example has been described in which, in the linear arrangement state, the first structure includes a first member having a first surface inclined with respect to a first straight line and movable by electromagnetic force in a first direction along the first straight line and a second direction opposite to the first direction. However, this is not limiting. For example, the first structure does not have to include a first member having a first surface inclined with respect to the first straight line. For example, the first member may be configured to be movable in the first direction or the second direction by a force other than electromagnetic force (e.g., elastic force). For example, the aspect of the first member constituting the first structure can be changed according to design specifications.

[0134] In the above-described embodiment, an example has been described in which, in the linear arrangement state, the second structure includes a second member having a second surface inclined with respect to the first straight line, a guide member having a guide surface inclined with respect to the first straight line, and a first elastic body that applies an elastic force to the second member. However, this is not limited to this. For example, the second structure may not include a second member having a second surface inclined with respect to the first straight line. For example, the second structure may not include a guide member having a guide surface inclined with respect to the first straight line. For example, the second structure may not include a first elastic body that applies an elastic force to the second member. For example, the configuration of the second structure may be changed according to design specifications.

[0135] In the above-described embodiment, in a linear arrangement state, when the first member is moved in a first direction by electromagnetic force to press the second member by a predetermined amount or more, and then the first member is moved in a second direction, the elastic force of the first elastic body causes the second surface to slide from the first surface along the guide surface, and the second member moves in the second direction while rotating around the first straight line. When the second member moves in the second direction by a predetermined amount or more, the holding mechanism is activated to hold the second member. However, this is not limited to this. For example, the holding mechanism may not be activated to hold the second member when the second member moves in the second direction by a predetermined amount or more. For example, the holding mechanism may be activated to hold the second member regardless of the second member moving in the second direction by a predetermined amount or more. For example, the manner in which the holding mechanism operates can be changed according to design specifications.

[0136] In the above-described embodiment, an example has been described in which, in the linear arrangement state, the first member includes a cylindrical first main body centered on the first straight line and a plurality of first protrusions each having a first surface and protruding in a first direction from the first main body, and the plurality of first protrusions are arranged at equal intervals in the circumferential direction around the first straight line. However, this is not limiting. For example, the first member does not necessarily have to include a cylindrical first main body centered on the first straight line. For example, the first member does not necessarily have to include a plurality of first protrusions each having a first surface and protruding in the first direction from the first main body. For example, the configuration of the first member can be changed according to design specifications.

[0137] In the above-described embodiment, an example was described in which, in the linear arrangement state, the second member includes an annular second main body centered on the first straight line and a plurality of second protrusions having second surfaces and protruding in a second direction from the second main body, and the plurality of second protrusions are arranged at equal intervals in the circumferential direction, but this is not limited to this. For example, the second member does not need to include an annular second main body centered on the first straight line. For example, the second member does not need to include a plurality of second protrusions having second surfaces and protruding in the second direction from the second main body. For example, the configuration of the second member can be changed according to design specifications.

[0138] In the above-described embodiment, in the linear arrangement state, the guide member includes an arc-shaped guide main body centered on the first straight line and multiple guide protrusions having guide surfaces protruding from the guide main body in the first direction, and the guide members are arranged at equal intervals in the circumferential direction. However, this is not limited to this. For example, the guide member does not need to include an arc-shaped guide main body centered on the first straight line. For example, the guide member does not need to include multiple guide protrusions having guide surfaces protruding from the guide main body in the first direction. For example, the configuration of the guide member can be changed depending on the design specifications.

[0139] In the above-described embodiment, at least the first surface of the first, second, and guide surfaces is curved, but this is not limiting. For example, the first, second, and guide surfaces may all be flat. For example, the configurations of the first, second, and guide surfaces may be changed depending on the design specifications.

[0140] In the above-described embodiment, the holding mechanism is described as being built into the guide member, but this is not limiting. For example, the holding mechanism does not have to be built into the guide member. For example, the holding mechanism may be disposed outside the guide member. For example, the arrangement of the holding mechanism can be changed depending on the design specifications.

[0141] In the above-described embodiment, the guide member is formed with a first hole that opens along a second straight line different from the first straight line, and a second hole that communicates with the first hole and opens along a third straight line that intersects with the second straight line, and the holding mechanism is disposed in the first hole and the second hole. However, this is not limited to this. For example, the holding mechanism does not have to be disposed in the first hole and the second hole. For example, the holding mechanism may be disposed in a hole other than the first hole and the second hole. For example, the arrangement of the holding mechanism can be changed depending on the design specifications.

[0142] In the above-described embodiment, an example has been described in which the holding mechanism includes an engaging member disposed in the first hole and movable along the first hole, a second elastic body that applies an elastic force to the engaging member, a support member that supports the second elastic body, and a pressing member disposed in the second hole and movable along the second hole, and the first body is formed with a groove that opens to allow the tip of the engaging member to fit therein. However, this is not limited to this. For example, the holding mechanism may not include an engaging member disposed in the first hole and movable along the first hole. For example, the holding mechanism may not include a second elastic body that applies an elastic force to the engaging member. For example, the holding mechanism may not include a pressing member disposed in the second hole and movable along the second hole. For example, the first body may not include a groove that opens to allow the tip of the engaging member to fit therein. For example, the holding mechanism may be configured to hold the first structure and the second structure by engaging with a portion of the first body. For example, the configuration of the holding mechanism may be changed according to design specifications.

[0143] In the above-described embodiment, an example was described in which, when the second member moves in the second direction by more than a predetermined distance, the second member pushes the pressing member into the second hole, and the pushing force of the pressing member moves the engaging member along the first hole via the support member and the second elastic body, and the elastic force of the second elastic body causes the tip of the engaging member to protrude from the first hole and fit into the groove, thereby achieving retention. However, this is not limited to this. For example, retention does not necessarily have to be achieved by the elastic force of the second elastic body causing the tip of the engaging member to protrude from the first hole and fit into the groove. For example, retention may also be achieved by a force other than the elastic force of the second elastic body (e.g., a force due to energy such as electromagnetic force or electrical power). For example, the aspect in which the tip of the engaging member protrudes from the first hole and fits into the groove, thereby achieving retention, can be modified according to design specifications.

[0144] In the above-described embodiment, the first hole is described as opening along a plane perpendicular to the first straight line, but this is not limiting. For example, the first hole does not have to open along a plane perpendicular to the first straight line. For example, the first hole may open along a plane that diagonally intersects with the first straight line. For example, the opening mode of the first hole can be changed according to design specifications.

[0145] In the above-described embodiment, the second holes are opened in a direction parallel to the first straight line, but this is not limiting. For example, the second holes do not have to be opened in a direction parallel to the first straight line. For example, the second holes may be opened in a direction that diagonally intersects the first straight line. For example, the opening pattern of the second holes can be changed according to design specifications.

[0146] In the above-described embodiment, an example has been described in which, when the first member is moved in the first direction by electromagnetic force by a predetermined distance or more in a held state, the tip of the engaging member disengages from the groove and the entire engaging member is stored in the first hole. However, this is not limiting. For example, when the first member is moved in the first direction by electromagnetic force by a predetermined distance or more in a held state, the tip of the engaging member does not have to disengage from the groove and the entire engaging member does not have to be stored in the first hole. For example, when the first member is moved in the first direction by a force other than electromagnetic force (e.g., elastic force) by a predetermined distance or more in a held state, the tip of the engaging member may disengage from the groove and the entire engaging member may be stored in the first hole. For example, the manner in which the tip of the engaging member disengages from the groove and the entire engaging member is stored in the first hole can be changed according to design specifications.

[0147] In the above-described embodiment, an example has been described in which the retention by the retention mechanism is released when the first member is moved in the first direction by electromagnetic force and the second member is pressed in by a predetermined amount or more after the engaging members are fully housed in the first holes, but this is not limiting. For example, the retention by the retention mechanism does not have to be released when the first member is moved in the first direction by electromagnetic force and the second member is pressed in by a predetermined amount or more after the engaging members are fully housed in the first holes. For example, the retention by the retention mechanism may be released when the first member is moved in the first direction by a force other than electromagnetic force (e.g., elastic force) and the second member is pressed in by a predetermined amount or more after the engaging members are fully housed in the first holes. For example, the manner in which the retention by the retention mechanism is released can be changed according to design specifications.

[0148] In the above-described embodiment, in a released state, when the first member is moved in the first direction by electromagnetic force to push the second member in a predetermined amount or more, and then the first member is moved in the second direction, the elastic force of the first elastic body causes the second surface to slide from the first surface along the guide surface, and the second member moves in the second direction while rotating around the first straight line. The elastic force of the first elastic body pushes the second member in the second direction, and the second member pushes the first member back in the second direction, thereby achieving release. However, this is not limiting. For example, the second member does not necessarily have to be pushed in the second direction by the elastic force of the first elastic body, and the second member does not have to push the first member back in the second direction, thereby achieving release. For example, the second member may be pushed in the second direction by a force other than the elastic force of the first elastic body (e.g., a force due to energy such as electromagnetic force or electric power), and the second member may push the first member back in the second direction, thereby achieving release. For example, the manner in which the release is achieved by the second member pushing the first member back in the second direction can be changed depending on the design specifications.

[0149] In the above-described embodiment, the coupling hold release mechanism has been described as being sized to fit within the space of a cube with a side length of 100 mm, but this is not limiting. For example, the coupling hold release mechanism does not have to be sized to fit within the space of a cube with a side length of 100 mm. For example, the coupling hold release mechanism may be sized to fit within the space of a cube with a side length of more than 100 mm. For example, the size of the coupling hold release mechanism can be changed depending on the design specifications.

[0150] In the above-described embodiment, an example has been described in which one of the first structure and the second structure is mounted on the first satellite, but this is not limiting. For example, one of the first structure and the second structure does not have to be mounted on the first satellite. For example, one of the first structure and the second structure may be mounted on something other than a satellite. For example, the object on which one of the first structure and the second structure is mounted can be changed depending on the design specifications.

[0151] In the above-described embodiment, an example has been described in which the other of the first structure and the second structure is mounted on a second satellite separate from the first satellite, but this is not limiting. For example, the other of the first structure and the second structure does not have to be mounted on a second satellite separate from the first satellite. For example, the other of the first structure and the second structure may be mounted on something other than a satellite. For example, the object on which the other of the first structure and the second structure is mounted can be changed depending on the design specifications.

[0152] In the above-described embodiment, an example of a coupling / holding / release mechanism has been described in which a mechanism that enables coupling, holding, and release of two satellites that are spaced apart from each other is taken as an example. However, the coupling / holding / release mechanism is not limited to this. For example, the coupling / holding / release mechanism may be a mechanism that enables coupling, holding, and release of an object other than a satellite, that is, two objects that are spaced apart from each other. For example, the object to be coupled, held, and released may be changed depending on the design specifications.

[0153] <Computer configuration> The control device that makes up the system includes a processor, memory, auxiliary storage device (corresponding to a storage unit), etc., all connected via a bus. The control device functions as a control device that controls the components of the system by executing a program. Examples of processors include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor. The program may be recorded on a computer-readable recording medium, such as a storage device including a magnetic disk, a magneto-optical disk, an optical disk, or a semiconductor memory. The program may be transmitted via a telecommunications line.

[0154] For example, all or part of the functions of the control device may be implemented using a custom LSI (Large Scale Integrated Circuit) such as an ASIC (Application Specific Integrated Circuit) or a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). Such integrated circuits are also included in the scope of the processor.

[0155] Although the embodiments of the present invention have been described above, the present invention is not limited to these, and additions, omissions, substitutions, and other modifications to the configuration are possible within the scope of the spirit of the present invention, and the above-described embodiments can also be combined as appropriate.

[0156] (Appendix 1) A first member; a second member separate from the first member; a holding mechanism that holds the first member and the second member; a guide member incorporating the holding mechanism and having a first hole and a second hole communicating with each other; a first elastic body that applies an elastic force to the second member, The holding mechanism includes: an engaging member disposed in the first hole and movable along the first hole; a second elastic body that applies an elastic force to the engaging member; a support member that supports the second elastic body; a pressing member disposed in the second hole and movable along the second hole, The first member has a groove formed therein that opens so that the tip end of the engaging member can be fitted thereinto, The first member and the second member are configured to be able to be coupled and released from each other by an external force. Bond retention release mechanism.

[0157] (Appendix 2) The coupling and the release are performed in a linear arrangement state in which the first member and the second member are aligned on a first straight line. 2. The coupling retention and release mechanism of claim 1.

[0158] (Appendix 3) In the linear arrangement state, the first member has a first surface inclined with respect to the first straight line, The movable member is movable in a first direction along the first straight line and in a second direction opposite to the first direction by the external force. 10. The coupling retention and release mechanism of claim 2.

[0159] (Appendix 4) In the linear arrangement state, the second member has a second surface inclined with respect to the first straight line, and the guide member has a guide surface inclined with respect to the first straight line. 4. The coupling retention and release mechanism of claim 3.

[0160] (Appendix 5) In the linear arrangement state, when the first member is moved in the first direction by the external force to push the second member by a predetermined amount or more, and then the first member is moved in the second direction, the second surface slides from the first surface along the guide surface due to the elastic force of the first elastic body, and the second member moves in the second direction while rotating around the first straight line, When the second member moves in the second direction by a predetermined distance or more, the holding mechanism is activated to hold the second member. 5. The coupling retention and release mechanism of claim 4.

[0161] (Appendix 6) In the linear arrangement state, the first member includes a cylindrical first main body centered on the first straight line, and a plurality of first protrusions protruding from the first main body in the first direction and having the first surface, the plurality of first protrusions are arranged at equal intervals in the circumferential direction around the first straight line; 6. The coupling retention and release mechanism of claim 5.

[0162] (Appendix 7) In the linear arrangement state, the second member includes an annular second main body centered on the first straight line, and a plurality of second protrusions protruding from the second main body in the second direction and having the second surface, The plurality of second protrusions are arranged at equal intervals in the circumferential direction. 7. The coupling retention and release mechanism of claim 6.

[0163] (Appendix 8) In the linear arrangement state, the guide member includes a guide main body having an arc shape centered on the first straight line, and a plurality of guide protrusions protruding in the first direction from the guide main body and having the guide surface, The guide members are arranged at equal intervals in the circumferential direction. 8. The coupling retention and release mechanism of claim 7.

[0164] (Appendix 9) When the second member moves in the second direction by more than a predetermined distance, the second member pushes the pressing member into the second hole, and the pushing force of the pressing member moves the engaging member along the first hole via the support member and the second elastic body, and the elastic force of the second elastic body causes the tip of the engaging member to come out of the first hole and fit into the groove, thereby achieving the holding. 9. The coupling retention and release mechanism of claim 8.

[0165] (Appendix 10) A first electromagnet; a second electromagnet separate from the first electromagnet, The first member and the second member are configured to be capable of being coupled and released from each other by electromagnetic forces generated by the first electromagnet and the second electromagnet as the externally acting force. 10. The coupling retention and release mechanism of any one of clauses 1 to 9. [Explanation of symbols]

[0166] 1...coupling retention release mechanism, 2A...first electromagnet, 2B...second electromagnet, 3A...first structure, 3B...second structure, 4...retention mechanism, 5A...one core rod, 5B...other core rod, 6...convex portion, 7...concave portion, 10...first member, 11...first surface, 12...first main body, 13...first protrusion, 15...groove, 21...first elastic body, 30...second member, 31...second surface, 32...second main body, 33...second protrusion, 40...guide member, 41...guide surface, 42...guide main body, 43...guide protrusion, 45A...first hole, 45B...second hole, 50...engagement member, 51...second elastic body, 52...support member, 53...pressure member, 100A...first satellite, 100B...second satellite, L1...first straight line, L2...second straight line, L3...third straight line, V1...first direction, V2...second direction

Claims

1. A first member; a second member separate from the first member; a holding mechanism that holds the first member and the second member; a guide member incorporating the holding mechanism and having a first hole and a second hole communicating with each other; a first elastic body that applies an elastic force to the second member, The holding mechanism includes: an engaging member disposed in the first hole and movable along the first hole; a second elastic body that applies an elastic force to the engaging member; a support member that supports the second elastic body; a pressing member disposed in the second hole and movable along the second hole, The first member has a groove formed therein, the groove having an opening that allows the tip end of the engaging member to fit therein, The first member and the second member are configured to be capable of being coupled and released from each other by an external force, The coupling and the release are performed in a linear arrangement state in which the first member and the second member are aligned on a first straight line, In the linear arrangement state, the first member has a first surface inclined with respect to the first straight line, the movable member is movable in a first direction along the first straight line and in a second direction opposite to the first direction by the external force; It is assumed that the size will fit into a cubic space with a side length of 100 mm. Bond retention release mechanism.

2. In the linear arrangement state, the second member has a second surface inclined with respect to the first straight line, and the guide member has a guide surface inclined with respect to the first straight line. The coupling retention and release mechanism of claim 1 .

3. In the linear arrangement state, when the first member is moved in the first direction by the external force to push the second member by a predetermined amount or more, and then the first member is moved in the second direction, the second surface slides from the first surface along the guide surface due to the elastic force of the first elastic body, and the second member moves in the second direction while rotating around the first straight line, When the second member moves in the second direction by a predetermined distance or more, the holding mechanism is activated to hold the second member. The coupling retention and release mechanism of claim 2 .

4. In the linear arrangement state, the first member includes a cylindrical first main body having a center on the first straight line, and a plurality of first protrusions protruding from the first main body in the first direction and having the first surface, the plurality of first protrusions are disposed at equal intervals in a circumferential direction around the first straight line; The coupling retention and release mechanism of claim 3 .

5. In the linear arrangement state, the second member includes an annular second main body centered on the first straight line, and a plurality of second protrusions protruding from the second main body in the second direction and having the second surface, The plurality of second protrusions are disposed at equal intervals in the circumferential direction. The coupling retention and release mechanism of claim 4 .

6. In the linear arrangement state, the guide member includes a guide main body having an arc shape centered on the first straight line, and a plurality of guide protrusions protruding in the first direction from the guide main body and having the guide surface, The guide members are arranged at equal intervals in the circumferential direction. The coupling retention and release mechanism of claim 5 .

7. When the second member moves in the second direction by more than a predetermined distance, the second member pushes the pressing member into the second hole, and the pushing force of the pressing member moves the engaging member along the first hole via the support member and the second elastic body, and the elastic force of the second elastic body causes the tip of the engaging member to come out of the first hole and fit into the groove, thereby achieving the holding. The coupling retention and release mechanism of claim 6.

8. A first electromagnet; a second electromagnet separate from the first electromagnet, The first member and the second member are configured to be capable of being coupled to and released from each other by electromagnetic forces generated by the first electromagnet and the second electromagnet as the externally acting force. A coupling retention and release mechanism according to any one of claims 1 to 7.

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