Installation system

Abstract

An installation system for installing panels that constitute space structures in outer space includes multiple installation robots, each installation robot having a running section that travels along rails formed on already installed panels, a gripping section that grasps uninstalled panels, and a control unit that controls the running section and the gripping section, and the control unit controls the running section and the gripping section in conjunction with other installation robots.

Description

Technical Field

[0001] The present invention relates to an installation system.

Background Art

[0002] As a method of assembling a structure in space, a method of transporting members of the structure from the ground to space and assembling the members with a robotic arm in space is common.

[0003] For example, Japanese Patent Application Laid-Open No. 2004-196080 discloses the following invention. A hexagonal panel as an assembly member is stably held by a coupling structure within the main structure of an assembly member storage device. The main structure includes an opening / closing door structure for accommodating and taking out the hexagonal panel. The robotic arm can be engaged with a main gripper to transport the main structure as a whole, and can be fixed to the structure at the transport destination by operating a fixing mechanism via the main gripper. The robotic arm can also be engaged with a panel gripper of the hexagonal panel within the assembly member storage device to assemble the hexagonal panel.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the invention of Japanese Patent Application Laid-Open No. 2004-196080, the robotic arm arranges all the members in predetermined positions. Therefore, the size of the robotic arm also increases in proportion to the size of the structure. When the robotic arm becomes large, the size of the rocket for transporting from the ground to space also becomes large. That is, the equipment necessary for assembling the structure becomes large-sized.

[0005] An object of the present invention is to reduce the size of the equipment necessary for assembling the structure.

Means for Solving the Problems

[0006] One aspect of the present invention is An installation system for installing panels that constitute space structures in outer space, Includes multiple installed robots, Each installed robot is It has a running section that travels along rails formed on the installed panel, It is equipped with a gripping part for gripping the uninstalled panel, The system includes a control unit that controls the traveling section and the gripping section, The control unit controls the traveling unit and the gripping unit in conjunction with other installed robots. Installation system That is the case. [Brief explanation of the drawing]

[0007] [Figure 1] This diagram shows an overview of the space structure according to this embodiment. [Figure 2] Figure 1 is an external view of the panel. [Figure 3] This is a diagram showing the overall configuration of the installation system. [Figure 4] These are a front view and a side view of the installation robot of this embodiment. [Figure 5] Figure 4 is a top view of the installation robot. [Figure 6] Figure 4 is an explanatory diagram of the movement and gripping operations of the installed robot. [Figure 7] This is an explanatory diagram of the installation flow of the space structure according to this embodiment. [Figure 8] This is an explanatory diagram of the installation flow, following Figure 7. [Figure 9] This is an explanatory diagram of the installation flow, following Figure 8. [Figure 10] This is an explanatory diagram of the installation flow, following Figure 9. [Figure 11] This is an explanatory diagram of the transfer operation of the running section in this embodiment. [Figure 12] This is an explanatory diagram of the gripping operation of the gripping part in this embodiment. [Figure 13] This is an explanatory diagram of the transfer operation of the running gear in Modification 1. [Figure 14]It is an explanatory diagram of the boarding operation of the traveling unit of Modification 2. [Figure 15] It is an explanatory diagram of the engagement mechanism of the drive wheel and the non-drive wheel of Modification 3. [Figure 16] It is an explanatory diagram of the engagement mechanism of the stopper of Modification 3.

Mode for Carrying Out the Invention

[0008] Hereinafter, an embodiment of the present invention will be described in detail based on the drawings. In the drawings for explaining the embodiment, the same components are generally denoted by the same reference numerals, and repeated explanations thereof are omitted.

[0009] (0) Definition of Terms The definitions of the terms used in this embodiment will be described.

[0010] X, Y, and Z are panel coordinate systems. The panel coordinate system is a coordinate system based on the panel 30. The "X-axis" and the "Y-axis" are the axes of the plane of the panel 30. When the panel 30 has a curvature, the X-axis and the Y-axis are the axes orthogonal to the normal line of the panel 30. The "Z-axis" is the axis along the normal line of the panel 30.

[0011] Xr, Yr, and Zr are robot coordinate systems. The robot coordinate system is a coordinate system based on the installation robot 10. The "Xr-axis" and the "Yr-axis" are the axes that define the plane along the traveling direction of the installation robot 10. The "Xr-axis" is the axis along the arrangement direction of the wheels (drive wheels 111 and non-drive wheels 113) of the installation robot 10. The "Yr-axis" is the axis along the rotation axis of the wheels. The "Zr-axis" is the axis along the normal line of the XrYr plane.

[0012] The "adjacent panel" means a panel 30 that has already been installed and is adjacent to the installation position of the panel 30.

[0013] The "installation preparation position" is the position where the installation robot 10 should be stationary relative to the already installed panels 30a to 30d when performing the operation to lower the panel 30e to be installed to a predetermined position.

[0014] (1) Space structure The space structure of this embodiment will be described. Figure 1 is a diagram showing an overview of the space structure according to this embodiment.

[0015] As shown in Figure 1, the space structure S includes multiple panels 30. The cosmic structure S is, for example, at least one of the following: • Space Station • Solar power satellite ·Space telescope ·antenna ·Reflector

[0016] (1-1) Panel The panel of this embodiment will now be described. Figure 2 is an external view of the panel shown in Figure 1.

[0017] As shown in Figure 2, the panel 30 has, for example, a hexagonal shape (Figure 2A). A rail 31 is formed on panel 30 along the contour of panel 30. The rail 31 is, for example, a physical rail. The rail 31 protrudes, for example, from the surface of the panel 30 in the Z+ direction (Figure 2B).

[0018] Reference markers (not shown) are formed on the physical rail to indicate the reference position for preparing the installation robot 10.

[0019] (2) Installation system The installation system of this embodiment will now be described.

[0020] (2-1) Overall configuration of the installation system The overall configuration of the installation system of this embodiment will be described. Figure 3 is a view of the overall configuration of the installation system.

[0021] As shown in Figure 3, the installation system 1 comprises a main controller 1a and a plurality of installation robots 10.

[0022] The main controller 1a is configured to determine the number of operating robots 10 and to instruct the operating robots 10 of that number to start working. The number of operational units refers to the number of installation robots 10 that need to be deployed to install a particular panel 30. In this embodiment, the number of operational units depends on the number of vertices in adjacent panels. In other words, the number of operational units varies depending on the installation position of panel 30. Therefore, the main controller 1a determines the number of units to operate each time panel 30 is installed.

[0023] Each installation robot 10 is configured to install panels 30 that constitute the space structure S in outer space. The number of installed robots 10 is 2 or more.

[0024] (2-2) Installation robot The installation robot 10 of this embodiment will now be described. Figure 4 shows a front view and a side view of the installation robot according to this embodiment. Figure 5 is a top view of the installation robot shown in Figure 4. Figure 4A is a front view of the installation robot 10. Figure 4B is a side view of the installation robot 10.

[0025] As shown in Figures 4 and 5, the installation robot 10 comprises a travel unit, a gripping unit, a central unit 13, and a control unit (not shown).

[0026] The running section is connected to the central section 13. The running unit is configured to travel along the rails 31 formed on the installed panel 30 in the XY plane.

[0027] The gripping portion is connected to the central portion 13. The gripping portion is configured to grip the panel 30e by engaging with a rail 31 formed on the panel 30 to be installed.

[0028] The control unit is configured to control the travel unit and the gripping unit in conjunction with the control units of other installed robots 10.

[0029] (2-2-1) Running section The running gear of this embodiment will now be described.

[0030] The running section comprises a drive wheel 111, a stopper 112, and a plurality of non-drive wheels 113a to 113b.

[0031] The drive wheel 111 is connected to a drive mechanism (e.g., a motor) and rotates in accordance with the operation of the drive mechanism. The drive wheel 111 is configured to engage with the rail 31.

[0032] The stopper 112 is configured to fix the installation robot 10 in place so that the relative position between the installation robot and the panels 30a to 30b does not shift when the robot moves from the rail 31a of panel 30a, which has the drive wheels 111 and non-drive wheels 113a to 113b, to the rail 31b of another panel 30b. Specifically, the stopper 112 is fixed in place by one of the following methods to prevent the relative positions of the installation robot 10 and panels 30a to 30b from shifting. The stopper 112 is fixed by bringing it into contact with the rail 31a or 31b. The stopper 112 is fixed by gripping it onto the rail 31a or 31b.

[0033] The non-driven wheels 113a to 113b are not connected to the drive mechanism. The non-driven wheels 113a to 113b are configured to engage with the rail 31.

[0034] (2-2-2) Grip part The gripping portion of this embodiment will now be described.

[0035] The gripping section comprises a first grip 121, a second grip 122, an arm 123, an arm support 124, and a plurality of slide rails 125a to 125b.

[0036] The first grip 121 and the second grip 122 are configured to hold the panel 30. Specifically, an engaging portion (e.g., a rotating body) is positioned at the tip of the first grip 121. An engaging portion (e.g., a rotating body) is positioned at the tip of the second grip 122. The rotating bodies of the first grip 121 and the second grip 122 grip the panel 30 by engaging with the rails 31 formed on the panel 30.

[0037] Arm 123 connects the first grip 121, the second grip 122, and the arm support 124. The arm 123 is movable or extendable along the Zr axis. As the arm 123 moves or extends along the Zr axis, the panel 30, which is held between the first grip 121 and the second grip 122, is displaced along the Zr axis. The arm 123 is configured to rotate in direction ROTaxxr, with the rotation axis AXxr of the arm support 124 as its axis of rotation. As the arm 123 rotates, the positions of the first grip 121 and the second grip 122 are displaced. As a result, the position (i.e., the XrYrZr coordinates) of the panel 30, which is held between the first grip 121 and the second grip 122, is also displaced.

[0038] The arm support section 124 supports the arm 123 so that it can rotate around the AXxr axis as the axis of rotation. The arm support portion 124 engages with multiple slide rails 125a to 125b. The slide rails 125a to 125b extend along the Yr axis. The arm support portion 124 is configured to slide along the slide rails 125a to 125b (i.e., the Yr axis). As the arm support portion 124 slides, the panel 30, which is held between the first grip 121 and the second grip 122, moves along the Yr axis.

[0039] The arm support section 124 may be equipped with a passive mechanism. This passive mechanism is configured to be switchable between on and off.

[0040] Multiple slide rails 125a to 125b are configured to rotate by more than 180 degrees with respect to a rotation axis AXzr along the Zr axis. Therefore, while maintaining the orientation of the arm 123 (i.e., the gripping part that grips the uninstalled panel 30), the orientation of the drive wheel 111, the stopper 112, and the non-drive wheel 113 (i.e., the running part that engages with the installed panel 30) can be changed. As a result, while maintaining the orientation of the gripping part, the running part can switch from one installed panel 30a to another installed panel 30b. As the multiple slide rails 125a to 125b rotate, the Xr and Yr coordinates of the panel 30 gripped by the arm 123 change.

[0041] Multiple slide rails 125a to 125b may be equipped with a passive mechanism.

[0042] The sliding of the arm support 124 and the rotation of the slide rails 125a to 125b cause displacement of the Xr and Yr coordinates. This enables the offset function. The offset function is a function that, in a plan view, ensures the amount of displacement necessary to change the relative positions of each installation robot 10 while gripping the panel 30 when the state changes from being aligned in a straight line to being not aligned in a straight line. The offset function can also be described as a function that ensures the amount of displacement necessary for the installation robot 10 to turn the corner of the rail 31 formed on the panel 30.

[0043] The arm support section 124 may be equipped with a self-locking mechanism. A self-locking mechanism is, for example, a worm gear. The self-locking mechanism reduces power consumption caused by energizing the motor for the arm support 124, and also enables the implementation of a fail-safe function.

[0044] The arm 123 may include a passive mechanism. The passive mechanism is configured to act passively in response to an external force. This makes it possible to mitigate the effects of external forces applied to arm 123 by at least one of the following: • Extendable arm 123 • Rotation of Arm 123 • Slide provided by the arm support part 124

[0045] (2-2-3) Control Unit The control unit of this embodiment will now be described. Figure 6 is an explanatory diagram of the movement and gripping operations of the robot installed in Figure 4. Figure 6A is a side view of the installation robot 10 that grips the panel 30. Figure 6B shows the installation robot 10 traveling along the rail 31a formed on panel 30a.

[0046] As shown in Figure 6A, the drive wheel 111 engages with the rail 31a formed on the panel 30a. The second grip 122 contacts the rail 31a, thereby fixing the relative position of the installation robot 10 and the panel 30.

[0047] The control unit drives the drive wheels 111 by transmitting a drive signal to a motor (not shown) connected to the drive wheels 111, and when the installation robot 10 reaches a predetermined standby position (hereinafter referred to as the "installation standby position"), it transmits a stop signal to the motor to stop the installation robot 10 at the predetermined position.

[0048] The control unit transmits a drive signal to a motor (not shown) connected to the first grip 121, causing the panel 30e to be clamped between the first grip 121 and the second grip 122.

[0049] As shown in Figure 6B, the installation robot 10 moves along the rail 31b formed on the panel 30a while gripping the panel 30e.

[0050] The control unit includes a marker detection unit (not shown). The marker detection unit detects the reference marker formed on the panel 30. The marker detection unit is, for example, an optical sensor (one example being an infrared sensor or an image sensor).

[0051] When the marker detection unit detects a reference marker, the control unit stops the installation robot 10.

[0052] (3) Flowchart for setting up space structures The installation flow of the space structure in this embodiment will be described.

[0053] (3-1) Operation of the installed robot The operation of the installation robot 10 in this embodiment will now be described. Figure 7 is an explanatory diagram of the installation flow of the space structure in this embodiment. Figure 8 is an explanatory diagram of the installation flow following Figure 7. Figure 9 is an explanatory diagram of the installation flow following Figure 8. Figure 10 is an explanatory diagram of the installation flow following Figure 9.

[0054] The following explanation assumes the following: Panels 30a to 30d are panels that have been installed. Panel 30e is the panel to be installed. The dashed line P indicates the installation position of panel 30e. The main controller determines that three installation robots 10a to 10c, whose number of vertices matches that of adjacent panels 30b to 30c adjacent to the installation position P, will be the target of operation. Multiple installation robots (for example, three robots) 10a to 10c each grip one panel 30e and travel along rails 31a to 31d formed on panels 30a to 30d. The control units of each installation robot 10a to 10c work in coordination with each other to execute the installation flow. When the control unit of each installed robot 10a to 10c detects a reference marker formed on the rails 31a to 31d, it stops at the position of the stop marker.

[0055] Specifically, as shown in Figures 7A to 7B, the installation robots 10a to 10c move along the rail 31a of panel 30a while gripping panel 30e, and stop at a position opposite panel 30b (on the same side of the rail 31a of panel 30a). When the installation robots 10a to 10c pass the vertex of the rail 31a, each control unit activates the offset function by controlling the arm support 124 and the arm 123.

[0056] Next, as shown in Figure 8A, the installation robots 10a to 10c move from the rail 31a of panel 30a to the rail 31b of the adjacent panel 30b, and stop on the same side of the rail 31b of panel 30b. The process of switching from rail 31a to rail 31b will be described later.

[0057] Next, as shown in Figure 8B, the installation robots 10a to 10c move along the rail 31b of panel 30b, switch to the rail 31c of panel 30c, and stop at a position adjacent to the installation position P (on the same side of the rail 31c of panel 30c). When the installation robots 10a to 10c pass the vertex of the rail 31b, each control unit activates the offset function by controlling the arm support 124 and the arm 123. The operation of switching from rail 31b to rail 31c is the same as the operation of switching from rail 31a to rail 31b.

[0058] Next, as shown in Figure 9A, the installation robots 10a to 10c reposition panel 30e so that the top surface of panel 30e and the top surfaces of panels 30a to 30d face the same direction. The procedure for switching the panel 30e will be described later.

[0059] Next, as shown in Figure 9B, the installation robots 10a to 10c each move to a predetermined installation preparation position on adjacent panels 30b to 30c. When the installation robot 10a moves to the rail 31c of the panel 30c, the control units of the installation robots 10a to 10c activate the offset function by controlling the arm support unit 124 and the arm 123.

[0060] Next, as shown in Figure 10, the installation robots 10a to 10c remain in their respective preparation positions and place the panel 30e at the installation position P.

[0061] (3-2) Rail transfer operation This section describes the operation of the installation robot 10 of this embodiment in which it moves from a rail formed on one panel to a rail formed on another panel. Figure 11 is an explanatory diagram of the transfer operation of the running section in this embodiment.

[0062] As shown in Figure 11A, the drive wheel 111 and the stopper 112 are positioned on the Yr+ side with respect to the rail 31a. The drive wheel 111 engages with the rail 31a. The stopper 112 contacts the Yr+ side surface of the rail 31a. The non-driven wheels 113a to 113b are located on the Yr- side with respect to the rail 31a and engage with the rail 31a. In other words, the combination of the drive wheel 111 and the stopper 112, and the non-drive wheels 113a to 113b are positioned opposite each other with respect to the rail 31a. This allows the installed robot 10 to travel stably on the rail 31a.

[0063] As shown in Figure 11B, after Figure 11A, the stopper 112 moves away from the rail 31a and contacts the Yr- side surface of the rail 31b, thereby applying a force in the Yr+ direction to the rail 31b. As a result, the installation robot 10 receives a force (i.e., a force in the Yr- direction) that reacts to the Yr+ force applied by the stopper 112. On the other hand, since the drive wheel 111 is in contact with the Yr+ side surface of the rail 31a, it applies a force in the Yr- direction to the rail 31a. As a result, the installation robot 10 receives a force that reacts to the Yr- direction force applied by the drive wheel 111 (i.e., a force in the Yr+ direction). As a result, the position of the installed robot 10 on the XrYr plane is fixed.

[0064] After Figure 11B, as shown in Figure 11C, the non-driven wheels 113a to 113b move away from the rail 31a and come into contact with the Yr+ side surface of the rail 31b. As a result, the stopper 112 and the non-driven wheels 113a to 113b grip the rail 31b.

[0065] After Figure 11C, as shown in Figure 11D, the drive wheel 111 moves away from the rail 31a and contacts the Yr-side surface of the rail 31b. The drive wheel 111 and stopper 112 are located on the Yr-side with respect to the rail 31b. The drive wheel 111 engages with the rail 31b. The stopper 112 abuts against the Yr-side surface of the rail 31b. The non-driven wheels 113a to 113b are located on the Yr+ side with respect to the rail 31b and engage with the rail 31b. In other words, the combination of the drive wheel 111 and the stopper 112, and the non-drive wheels 113a to 113b are positioned opposite each other with respect to the rail 31b. As a result, the installed robot 10 can switch from rail 31a to rail 31b and travel stably on rail 31b.

[0066] The operation of the installation robot 10 when it moves from the rail 31b formed on panel 30b to the rail 31 formed on another panel 30 (for example, panel 30c) (for example, the rail 31c formed on panel 30c) is the same as the operation shown in Figures 11A to 11D.

[0067] (3-3) Operation of the gripping part The operation by which the installation robot 10 of this embodiment changes its grip on the panel 30 will be described. Figure 12 is an explanatory diagram of the gripping operation of the gripping part in this embodiment.

[0068] As shown in Figure 12A, the rotating body 121a of the first grip 121 and the rotating body 122a of the second grip 122 clamp the rail 31e of the panel 30e from both sides in the Yr axis direction. When the rotating bodies 121a to 122a rotate, the contact points between the rotating bodies 121a to 122a and the rail 31e of panel 30e change. This allows the multiple installation robots 10a to 10c to change their relative positions to the panel 30e while gripping it. The rotating bodies 121a to 121b are equipped with a passive mechanism. The passive mechanism is configured to passively change the distance between them in response to external forces. As a result, even if the relative positions of the individual installation robots 10a to 10c change, the relative positions of each installation robot 10a to 10c and the panel 30e are maintained. Consequently, the gripping of the panel 30e by each installation robot 10a to 10c becomes stable.

[0069] As shown in Figure 12B, when the multiple installation robots 10a to 10c move to their respective installation preparation positions (i.e., become discrete), the rotating bodies 121a and 122a rotate, and the relative positions of the rotating bodies 121a and 122a and the panel 30e change along the rail 31e. As a result, as shown in Figure 9A, the position of the panel 30e to be installed is maintained even if the relative positions of the multiple installation robots 10a to 10c change.

[0070] As shown in Figure 12C, once the multiple installation robots 10a to 10c have completed the installation of the panel 30e, the rotating bodies 121a to 122a separate from each other in the Yr axis direction, thereby relieving the clamping of the rail 31e.

[0071] In other words, the rotating bodies 121a to 122a engage with or disengage from the rail 31e by moving closer to or further away from the rail 31e along the Yr axis, which is perpendicular to the direction in which the rail 31e extends.

[0072] (4) Summary of this embodiment According to this embodiment, the installation system 1 comprises a plurality of installation robots 10a to 10c. Each installation robot 10 works in conjunction with the other installation robots. This makes it possible to miniaturize the construction equipment needed to assemble the structure.

[0073] According to this embodiment, the installation system 1 may include a main controller 1a that determines the number of operating installation robots 10 according to the installation position P of the panel 30.

[0074] The main controller 1a may determine the number of operations based on the number of vertices of the adjacent panel adjacent to the installation position P.

[0075] The main controller 1a may determine the number of vertices as the number of active vertices.

[0076] The main controller 1a may determine the number of operations based on the number of vertices and the length of the edges, including the preparation positions for the adjacent panels. For example, if the length of the edge in question exceeds a predetermined threshold, the main controller 1a may determine the number of active controllers as the sum of a first number determined according to the number of vertices and a second number determined according to the difference between the length of the edge and the threshold.

[0077] The running section may include wheels (111, 113) that rotate while engaging with physical rails formed on panel 30, and a stopper 112 that contacts rail 31.

[0078] The control unit may move the wheels (111, 113) from the first rail (31a) formed on the first panel (30a) to the second rail (31b) formed on the second panel (30b) while the stopper 112 is in contact with or gripped by the rail 31.

[0079] When each of the multiple installation robots 10 reaches an adjacent panel adjacent to the installation position of panel 30, it may move to the installation preparation position of the adjacent panel and install the panel 30, which has been gripped by the gripping unit, at the installation position P.

[0080] When multiple installation robots reach an adjacent panel adjacent to the installation position P of panel 30, they may change the orientation of the panel to be installed before moving to the installation preparation position of the adjacent panel.

[0081] The wheels may include drive wheels 111 and non-drive wheels 113.

[0082] The control unit may switch from the first rail (31a) to the second rail (31b) by bringing the stopper 112, which is in contact with the first rail (31a), into contact with the second rail (31b), engaging the non-drive wheel 113, which is engaged with the first rail (31a), with the second rail (31b), and engaging the drive wheel 111, which is engaged with the first rail (31a), with the second rail (31b).

[0083] The gripping part may grip the panel 30e to be installed while the traveling part is traveling on rails (31a to 31d) formed on the already installed panels (30a to 30d), and when the traveling part stops moving, the panel 30e to be installed may be placed in a predetermined installation position.

[0084] The gripping portion may grip the panel 30 by engaging with the rail 31 formed on the panel 30.

[0085] The gripping section may secure the necessary amount of displacement to change the relative positions of each of the installation robots 10a to 10c while gripping the panel 30 when the state changes from one where multiple installation robots 10a to 10c are aligned in a straight line to one where they are not aligned in a straight line.

[0086] (5) Variant A modified example of this embodiment will be described.

[0087] (5-1) Variation 1 A modified example of this embodiment, Part 1, will now be described. Modification 1 is a modification relating to the operation of changing rails.

[0088] Figure 13 is an explanatory diagram of the transfer operation of the running section in the modified example 1.

[0089] Figures 13A to 13B are the same as Figures 11A to 11B.

[0090] As shown in Figure 13C, after Figure 13B, the non-driven wheels 113a to 113b move away from the rail 31a and contact the Yr+ side surface of the rail 31b, while the driven wheel 111 moves away from the rail 31a and contacts the Yr- side surface of the rail 31b. As a result, the driven wheel 111, the stopper 112, and the non-driven wheels 113a to 113b grip the rail 31b.

[0091] In other words, in modification 1, the drive wheel 111 and the non-drive wheels 113a to 113b move from rail 31a to rail 31b simultaneously.

[0092] The operation when the installation robot 10 moves from the rail 31b formed on panel 30b to the rail 31 formed on another panel 30 (for example, panel 30c) (for example, the rail 31c formed on panel 30c) is the same as the operation shown in Figures 13A to 13C.

[0093] According to Modification 1, the control unit may switch from the first rail (31a) to the second rail (31b) by bringing the stopper 112, which is in contact with the first rail (31a), into contact with the second rail (31b), and simultaneously engaging the drive wheel 111 and the non-drive wheel 113, which are engaged with the first rail (31a), with the second rail (31b).

[0094] (5-2) Modification 2 A modified example of this embodiment, Part 2, will now be described. Modification 2 is a modification relating to the operation of changing rails.

[0095] Figure 14 is an explanatory diagram of a modified example 2 of the operation in which an installation robot moves from a rail formed on one panel to a rail formed on another panel.

[0096] Figure 14A is the same as Figure 11A.

[0097] As shown in Figure 14B, following Figure 14A, the non-driven wheels 113a to 113b move away from the rail 31a and contact the Yr+ side surface of the rail 31b, while the driven wheel 111 moves away from the rail 31a and contacts the Yr- side surface of the rail 31b. As a result, the driven wheel 111, the stopper 112, and the non-driven wheels 113a to 113b grip the rail 31b.

[0098] After Figure 14B, as shown in Figure 14C, the stopper 112 moves away from the rail 31a and contacts the Yr- side surface of the rail 31b, thereby applying a force in the Yr+ direction to the rail 31b.

[0099] In other words, in modification 2, the drive wheel 111 and the non-drive wheels 113a to 113b move from rail 31a to rail 31b before the stopper 112.

[0100] The operation of the installation robot 10 when it moves from the rail 31b formed on panel 30b to the rail 31 formed on another panel 30 (for example, panel 30c) (for example, the rail 31c formed on panel 30c) is the same as the operation shown in Figures 14A to 14C.

[0101] According to Modification 2, the control unit may simultaneously engage the drive wheel 111 and the non-drive wheel 113 engaged with the first rail (31a) with the second rail (31b), and bring the stopper 112 that is in contact with the first rail (31a) into contact with the second rail (31b), thereby switching from the first rail (31a) to the second rail (31b).

[0102] (5-3) Modification 3 A third modified example of this embodiment will now be described. Modification 3 is an example in which the drive wheel 111, stopper 112, and non-drive wheel 113 approach symmetrical with respect to the rail 31 and engage with the rail 31 by clamping it.

[0103] (5-3-1) Engagement mechanism of modified example 3 The engagement mechanism of modified example 3 will now be explained. Figure 15 is an explanatory diagram of the engagement mechanism of the drive wheel and non-drive wheel in modified example 3. Figure 16 is an explanatory diagram of the stopper engagement mechanism of modified example 3.

[0104] As shown in Figure 15, the rail 31 of the modified example 3 has a roughly rhombic shape when viewed in the YZ plane.

[0105] As shown in Figure 15A, the drive wheel 111 of the modified example 3 includes an upper part 111t, a central part 111m, and a bottom part 111bt. The non-drive wheel 113 in modified example 3 includes an upper part 113t, a central part 113m, and a bottom part 113bt.

[0106] The central section 111m is located between the upper section 111t and the bottom section 111bt. The length of the central section 111m in the Y-axis direction is shorter than the upper section 111t and the bottom section 111bt.

[0107] The central section, 113m, is located between the upper section, 113t, and the bottom section, 113bt. The length of the central section (113m) in the Y-axis direction is shorter than the upper section (113t) and the bottom section (113bt).

[0108] The drive wheels 111 and non-drive wheels 113 are positioned along the Y-axis, spaced apart from the rail 31.

[0109] As shown in Figure 15B, the drive wheel 111 and the non-drive wheel 113 approach the rail 31 from both sides along the Y-axis, so that the upper part 111t and the lower part 111bt of the drive wheel 111, and the upper part 113t and the lower part 113bt of the non-drive wheel 113, come into contact with each side of the rail 31. As a result, the drive wheels 111 and the non-drive wheels 113 engage with the rail 31.

[0110] In other words, the drive wheels 111 and non-drive wheels 113 engage with or disengage from the rail 31 by moving closer to or further away from the rail 31 along the Y-axis, which is perpendicular to the direction in which the rail 31 extends.

[0111] The drive wheels 111 and non-drive wheels 113 are equipped with a passive mechanism. The passive mechanism is configured to passively change the distance between them in response to external forces. This ensures stable engagement with the rail 31.

[0112] As shown in Figure 16A, the stopper 112 in the modified example 3 is a pair of stoppers (first stopper 112A and second stopper 112B).

[0113] The first stopper 112A includes an upper part 112At, a central part 112Am, and a bottom part 112Ab. The central part 112Am is located between the upper part 112At and the bottom part 112Ab. The length of the central section 112Am in the Y-axis direction is shorter than that of the upper section 112At and the bottom section 112Ab.

[0114] The second stopper 112B includes an upper part 112Bt, a central part 112Bm, and a bottom part 112Bb. The central section 112Bm is located between the upper section 112Bt and the bottom section 112Bb. The length of the central section 112Bm in the Y-axis direction is shorter than that of the upper section 112Bt and the bottom section 112Bb.

[0115] The first stopper 112A and the second stopper 112B are positioned along the Y-axis, separated from both sides of the rail 31.

[0116] As shown in Figure 16B, the first stopper 112A and the second stopper 112B approach the rail 31 from both sides along the Y-axis, so that the upper part 112At and bottom part 112Ab of the first stopper 112A, and the upper part 112Bt and bottom part 112Bb of the second stopper 112B, come into contact with each side of the rail 31. As a result, the first stopper 112A and the second stopper 112B engage with the rail 31.

[0117] In other words, the first stopper 112A and the second stopper 112B engage with or disengage from the rail 31 by moving closer to or further away from the rail 31 along the Y-axis, which is perpendicular to the direction in which the rail 31 extends.

[0118] The first stopper 112A and the second stopper 112B are equipped with a passive mechanism. The passive mechanism is configured to passively change the distance between them in response to an external force. This ensures stable engagement with the rail 31.

[0119] (5-3-2) Self-locking mechanism of modified example 3 The self-locking mechanism of modified example 3 will now be explained.

[0120] The drive wheel 111, the first stopper 112A, the second stopper 112B, and the non-drive wheel 113 are equipped with a self-locking mechanism. A self-locking mechanism is, for example, a worm gear.

[0121] The self-locking mechanism is configured to operate in the state shown in Figures 15B and 16B (i.e., when the drive wheel 111, the first stopper 112A, the second stopper 112B, and the non-drive wheel 113 are engaged with the rail 31).

[0122] (5-3-3) Summary of Variation 3 According to Modification 3, the drive wheel 111, the first stopper 112A, the second stopper 112B, and the non-drive wheel 113 may be configured to vary the distance between them. This allows the rail 31 to be engaged from any position.

[0123] According to Modification 3, it is possible to prevent the engagement of the drive wheels 111, the first stopper 112A, the second stopper 112B, and the non-drive wheels 113 with the rail 31 from being unintentionally disengaged (i.e., to implement a fail-safe function), and to reduce power consumption caused by exciting the motor for the drive wheels 111, the first stopper 112A, the second stopper 112B, and the non-drive wheels 113.

[0124] (5-4) Modification 4 A fourth modified example of this embodiment will now be described. Modification 4 is an example in which the first grip 121 and the second grip 122 are equipped with a self-locking mechanism.

[0125] (5-4-1) Self-locking mechanism of modified example 4 The self-locking mechanism of modified example 4 will be explained.

[0126] The first grip 121 and the second grip 122 are equipped with a self-locking mechanism. A self-locking mechanism is, for example, a worm gear.

[0127] The self-locking mechanism is configured to operate in the state shown in Figure 12A (i.e., when the first grip 121 and the second grip 122 are engaged with the rail 31).

[0128] (5-4-4) Summary of Modification 4 According to Modification 4, it is possible to prevent the engagement of the first grip 121 and the second grip 122 with the rail 31 from being unintentionally disengaged (i.e., to implement a fail-safe function), and to reduce power consumption caused by exciting the motor for the first grip 121 and the second grip 122.

[0129] (6) Other modifications Other variations will be explained.

[0130] In this embodiment, the installation robot 10 may travel along the rail 31 while being attracted to it by magnetic force, rather than physically engaging with the rail 31.

[0131] In this embodiment, an example was shown in which the control units of multiple installed robots 10a to 10c cooperate with each other, but this embodiment is not limited to this. In this embodiment, the control unit of a specific installed robot 10a among the control units of multiple installed robots 10a to 10c may act as a master control unit and give instructions to the control units of the other installed robots 10b to 10c (i.e., slave control units) (i.e., a centralized control system).

[0132] In this embodiment, an example is shown where the number of non-driven wheels 113a to 113b is two, but the number of non-driven wheels 113 can be any number. The more non-driven wheels 113 there are, the easier it becomes to maintain the orientation of the installation robot 10 perpendicular to the rail 31 (i.e., the contact surface between the installation robot 10 and the panel 30).

[0133] In this embodiment, an example was shown in which the panel 30, held between the first grip 121 and the second grip 122, is displaced along the Zr axis as the arm 123 moves or extends or retracts along the Zr axis. However, this embodiment is not limited to this example. This embodiment can also be applied to cases in which the panel 30, held between the first grip 121 and the second grip 122, is displaced along the Zr axis as the running section (drive wheel 111, stopper 112, and multiple non-drive wheels 113a to 113b) expands and contracts along the Zr axis.

[0134] In this embodiment, a pair of members is shown for the non-drive wheels 113a to 113b and the slide rails 125 to 125b, but this embodiment is not limited to this. In this embodiment, the number of non-drive wheels 113a to 113b and slide rails 125 to 125b may be 3 or more.

[0135] In this embodiment, the non-drive wheels 113a to 113b can be omitted. In place of the non-driven wheels 113a to 113b, at least one additional drive wheel may be provided. For example, if there is one additional drive wheel, the drive wheels and the additional drive wheel constitute a two-wheel drive system. For example, if there are three additional drive wheels, the drive wheels and the additional drive wheel constitute a four-wheel drive system.

[0136] In this embodiment, an optical sensor is shown as an example of the marker detection unit, but this embodiment is not limited to this. This embodiment can also be applied to the following examples. • Magnetic sensor (when the reference marker is a magnet) • Limit switch (when the reference marker has a structure that indicates its position to the installation robot 10 through physical contact)

[0137] In this embodiment, an example is shown in which the installation preparation position is identified by a marker detection unit provided by the installation robot 10, but this embodiment is not limited to this. In this embodiment, the monitoring camera module may detect from images that multiple installation robots 10 have reached the installation preparation position and notify the main controller 1a of the detection result.

[0138] In this embodiment, an example of identifying the installation preparation position based on a reference marker was shown, but this embodiment is not limited to this. In this embodiment, the main controller 1a may include in the command data for instructing each installed robot 10 to operate a control signal based on the coordinates of the installation preparation position and the distance to the installation preparation position (for example, the number of rotations of the gear that rotates the drive wheel 111).

[0139] In this embodiment, an example is shown in which multiple installation robots 10 have a common configuration, but this embodiment is not limited to this. This embodiment can also be applied to an example in which the multiple installation robots 10 include a master robot and slave robots. In this case, the master robot has the same configuration as the installation robot 10 in this embodiment. A slave robot has a different configuration from a master robot. Specifically, a slave robot is configured to follow the movements of the master robot.

[0140] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited to the embodiments described above. Furthermore, the embodiments described above can be improved or modified in various ways without departing from the spirit of the present invention. In addition, the embodiments and modifications described above can be combined. [Explanation of Symbols]

[0141] 1: Installation System 1a: Main controller 10: Installation robot 13: Central part 30: Panel 31: Rail 111: Drive wheels 112: Stopper 113: Non-driven wheels 121: First grip 122: Second grip 123: Arm 124: Arm support section

Claims

1. An installation system for installing panels that constitute space structures in outer space, Includes multiple installed robots, Each installed robot is It has a running section that travels along rails formed on the installed panel, It is equipped with a gripping part for gripping the uninstalled panel, The system includes a control unit that controls the traveling section and the gripping section, The control unit controls the traveling unit and the gripping unit in conjunction with other installed robots. Installation system.

2. The system includes a main controller that determines the number of operation of the multiple installation robots according to the installation location of the uninstalled panel. The installation system according to claim 1.

3. The main controller determines the number of operations according to the number of vertices of the adjacent panel adjacent to the installation location. The installation system according to claim 2.

4. The main controller determines the number of vertices as the number of operations. The installation system according to claim 3.

5. The main controller determines the number of operations according to the combination of the number of vertices and the length of the edges, including the preparation position for installation of the adjacent panel. The installation system according to claim 3.

6. The main controller determines the number of operating units as the sum of a first number of units determined according to the number of vertices and a second number of units determined according to the difference between the length of the side and the threshold, if the length of the side exceeds a predetermined threshold. The installation system according to claim 5.

7. The rail is formed in the panel, The aforementioned running unit is The vehicle is equipped with wheels that rotate while engaging with the aforementioned rails, It includes a stopper to fix the installation robot and the installed panel so that their relative positions do not shift. The installation system according to any one of claims 1 to 4.

8. The running section moves the wheels from the first rail formed on the first panel to the second rail formed on the second panel, while the stopper contacts or grips the rail. The installation system according to claim 7.

9. Each of the aforementioned multiple installed robots is: When it reaches an adjacent panel adjacent to the installation position of the already installed panel, it moves to the installation preparation position of the adjacent panel. The uninstalled panel, gripped by the gripping part, is installed at the installation position. The installation system according to claim 8.

10. When the plurality of installation robots reach an adjacent panel adjacent to the installation position of the installed panel, they change the orientation of the uninstalled panel before moving to the installation preparation position of the adjacent panel. The installation system according to claim 9.

11. The aforementioned wheels include a drive wheel and a non-drive wheel. The installation system according to claim 8.

12. The control unit, The stopper that is in contact with the first rail is brought into contact with the second rail, The non-drive wheel engaged with the first rail is engaged with the second rail, By engaging the drive wheel engaged with the first rail with the second rail, the wheel switches from the first rail to the second rail. The installation system according to claim 11.

13. The control unit, The stopper that is in contact with the first rail is brought into contact with the second rail, By simultaneously engaging the drive wheels and non-drive wheels engaged with the first rail with the second rail, the vehicle switches from the first rail to the second rail. The installation system according to claim 11.

14. The control unit, The drive wheels and non-drive wheels engaged with the first rail are simultaneously engaged with the second rail. By bringing the stopper that is in contact with the first rail into contact with the second rail, the rail is switched from the first rail to the second rail. The installation system according to claim 11.

15. The wheel engages with or disengages the rail by moving closer to or away from the rail in a direction perpendicular to the extending direction of the rail. The installation system according to claim 7.

16. The wheel is equipped with a self-locking mechanism. The installation system according to claim 7.

17. The stopper engages or disengages the rail by moving closer to or away from the rail in a direction perpendicular to the extending direction of the rail. The installation system according to claim 7.

18. The stopper is equipped with a self-locking mechanism. The installation system according to claim 7.

19. The gripping portion is, While the aforementioned running unit is traveling along the rail formed on the already installed panel, it grips the panel to be installed. When the vehicle stops moving, the panel to be installed is placed in the predetermined installation position. The installation system according to any one of claims 1 to 4.

20. The gripping portion grips the uninstalled panel by engaging with the rail formed on the uninstalled panel. The installation system according to any one of claims 1 to 4.

21. The gripping portion secures the amount of displacement necessary to change the relative positions of each installed robot while gripping the uninstalled panel when the state in which the multiple installed robots are aligned in a straight line changes from a state in which they are not aligned in a straight line. The installation system according to any one of claims 1 to 4.

22. The gripping portion is equipped with a passive mechanism. The installation system according to any one of claims 1 to 4.

23. The gripping part includes a rotating body, The rotating body grips the uninstalled panel by engaging with the rail. The installation system according to any one of claims 1 to 4.

24. The rotating body rotates while engaging with the rail, thereby changing the relative position between the rotating body and the installation robot. The installation system according to claim 23.

25. The rotating body engages or disengages the rail by moving closer to or away from the rail in a direction perpendicular to the extending direction of the rail. The installation system according to claim 23.

26. The rotating body is equipped with a self-locking mechanism. The installation system according to claim 23.

27. The aforementioned traveling unit moves while being attracted to and repelled by the installed panel by magnetic force. The installation system according to any one of claims 1 to 4.

28. The traveling section is configured to be rotatable by 180 degrees or more relative to the gripping section while maintaining its orientation. The installation system according to any one of claims 1 to 4.

Images