Installation system

Abstract

Provided is an installation system for installing, in outer space, a panel constituting an outer space structure, said system including a plurality of installation robots. Each installation robot includes: a traveling unit that travels along a rail formed on an installed panel; a gripping unit that grips a non-installed panel; and a control unit that controls the traveling unit and the gripping unit. The control unit controls the traveling unit and the gripping unit in tandem with other installation robots.

Description

Installation System

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

[0002] As a method for assembling a structure in outer space, it is common to transport members of the structure from the ground to outer space and assemble the members using a robot arm in outer space.

[0003] For example, Japanese Patent Laid-Open No. 2004-196080 discloses the following invention. A hexagonal panel serving as an assembly member is stably held by a coupling structure within a main structure of an assembly member storage device. The main structure includes an openable / closable door structure for storing and taking out the hexagonal panel. The robot arm can engage with a main handle to collectively transport the main structure, and can operate a fixing mechanism via the main handle to fix the main structure to the structure at a transport destination. The robot arm can also engage with a panel handle of the hexagonal panel in the assembly member storage device to assemble the hexagonal panel.

[0004] However, in the invention disclosed in Japanese Patent Laid-Open No. 2004-196080, the robot arm places all members at predetermined positions. Therefore, the size of the robot arm increases in proportion to the size of the structure. As the robot arm becomes larger, the size of the rocket required to transport it from the ground to outer space also increases. In other words, the equipment required for assembling the structure increases in size.

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

[0006] One aspect of the present invention is an installation system for installing panels constituting a space structure in outer space, the installation system including a plurality of installation robots, each installation robot comprising: a traveling unit that travels along a rail formed on an already-installed panel; a gripping unit that grips an uninstalled panel; and a control unit that controls the traveling unit and the gripping unit, wherein the control unit controls the traveling unit and the gripping unit in conjunction with other installation robots.

[0007] This figure shows an overview of the space structure of this embodiment. This is an external view of the panel in Figure 1. This is a block diagram showing the overall configuration of the installation system. This is a front view and a side view of the installation robot of this embodiment. This is a top view of the installation robot in Figure 4. This is an explanatory diagram of the travel and gripping operations of the installation robot in Figure 4. This is an explanatory diagram of the installation flow of the space structure of this embodiment. This is an explanatory diagram of the installation flow following Figure 7. This is an explanatory diagram of the installation flow following Figure 8. This is an explanatory diagram of the installation flow following Figure 9. This is an explanatory diagram of the transfer operation of the travel unit of this embodiment. This is an explanatory diagram of the gripping unit transfer operation of the gripping unit of this embodiment. This is an explanatory diagram of the transfer operation of the travel unit of Modification 1. This is an explanatory diagram of the transfer operation of the travel unit of Modification 2. This is an explanatory diagram of the engagement mechanism of the drive wheel and non-drive wheel of Modification 3. This is an explanatory diagram of the engagement mechanism of the stopper of Modification 3.

[0008] Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. In the drawings used to illustrate the embodiment, the same reference numerals are generally used for identical components, and repeated descriptions thereof will be omitted.

[0009] (0) Definitions of Terms The definitions of terms used in this embodiment are explained below.

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

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

[0012] "Adjacent panel" means a panel 30 that has already been installed and is adjacent to the installation location of 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 of this embodiment.

[0015] As shown in Figure 1, the space structure S includes a plurality of panels 30. The space 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 of Figure 1.

[0017] As shown in Figure 2, the panel 30 has, for example, a hexagonal shape (Figure 2A). Rails 31 are formed on the panel 30 along its contour. The rails 31 are, for example, physical rails. The rails 31 protrude 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 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 block diagram showing 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 installation robots 10 to operate and to instruct the number of installation robots 10 to operate. The number of operations refers to the number of installation robots 10 that should be operated to install a certain panel 30. In this embodiment, the number of operations depends on the number of vertices of adjacent panels. In other words, the number of operations changes for each installation position of the panel 30. Therefore, the main controller 1a determines the number of operations each time a 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 installation robots 10 is two or more.

[0024] (2-2) Installation Robot The installation robot 10 of this embodiment will be described. Figure 4 is a front view and a side view of the installation robot of this embodiment. Figure 5 is a top view of the installation robot of 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 section, a gripping section, a central section 13, and a control section (not shown).

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

[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 section of this embodiment will 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 its relative position does not shift when it 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 fixes the installation robot 10 in place so that its relative position does not shift by one of the following methods: - Fixing the stopper 112 by bringing it into contact with the rail 31a or 31b. - Fixing the stopper 112 by gripping 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) Gripping part The gripping part of this embodiment will be described.

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

[0036] The first grip 121 and the second grip 122 are configured to grip the panel 30. Specifically, an engaging portion (e.g., a rotating body) is provided at the tip of the first grip 121. An engaging portion (e.g., a rotating body) is provided 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. Arm 123 is movable or extendable along the Zr axis. As arm 123 moves or extends along the Zr axis, the panel 30 held between the first grip 121 and the second grip 122 is displaced along the Zr axis. Arm 123 is configured to rotate in the direction ROTaxxr with the rotation axis AXxr of the arm support 124 as its axis of rotation. As arm 123 rotates, the positions of the first grip 121 and the second grip 122 are displaced. As a result, the position of the panel 30 held between the first grip 121 and the second grip 122 (i.e., the XrYrZr coordinates) is also displaced.

[0038] The arm support portion 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 a plurality of 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 by the first grip 121 and the second grip 122, moves along the Yr axis.

[0039] The arm support portion 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) changes. 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. When the multiple slide rails 125a to 125b rotate, the Xr and Yr coordinates of the panel 30 gripped by the arm 123 change.

[0041] The plurality of slide rails 125a to 125b may include a passive mechanism.

[0042] The Xr coordinate and Yr coordinate are displaced by the sliding of the arm support 124 and the rotation of the slide rails 125a to 125b. This achieves the offset function. The offset function refers to the function of securing a displacement amount necessary for changing the positional relationship of each installation robot 10 while gripping the panel 30 when the plurality of installation robots 10 change from a state of being aligned in a straight line to a state of not being aligned in a straight line in a plan view. The offset function can also be described as the function of securing a displacement amount necessary for the installation robot 10 to turn a corner of a rail 31 formed on the panel 30.

[0043] The arm support 124 may include a self-locking mechanism. The self-locking mechanism is, for example, a worm gear. The self-locking mechanism can reduce power consumption caused by exciting the motor for the arm support 124, and can implement a fail-safe function.

[0044] The arm 123 may include a passive mechanism. The passive mechanism is configured to passively operate in response to an external force. This makes it possible to mitigate the influence of an external force applied to the arm 123 by at least one of the following. ・ Expansion and contraction of the arm 123 ・ Rotation of the arm 123 ・ Sliding by the arm support 124

[0045] (2-2-3) Control Unit The control unit of the present embodiment will be described. FIG. 6 is an explanatory diagram of the traveling and gripping operations of the installation robot of FIG. 4. FIG. 6A is a side view of the installation robot 10 gripping a panel 30. FIG. 6B is a diagram showing how the installation robot 10 travels on a rail 31a formed on the panel 30a.

[0046] As shown in FIG. 6A, the driving wheel 111 engages with the rail 31a formed on the panel 30a. The second grip 122 fixes the relative position between the installation robot 10 and the panel 30 by abutting against the rail 31a.

[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"), transmits a stop signal to the motor to stop the installation robot 10 at the predetermined position.

[0048] The control unit causes the first grip 121 and the second grip 122 to clamp the panel 30e by transmitting a drive signal to a motor (not shown) connected to the first grip 121.

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

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

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

[0052] (3) Installation Flow of Space Structure The installation flow of the space structure according to the present embodiment will be described.

[0053] (3-1) Operation of Installation Robot The operation of the installation robot 10 according to the present embodiment will be described. FIG. 7 is an explanatory diagram of the installation flow of the space structure according to the present embodiment. FIG. 8 is an explanatory diagram of the installation flow following FIG. 7. FIG. 9 is an explanatory diagram of the installation flow following FIG. 8. FIG. 10 is an explanatory diagram of the installation flow following FIG. 9.

[0054] The following explanation assumes the following: • Panels 30a to 30d are panels that have already 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 the number of adjacent panels 30b to 30c adjacent to the installation position P, will be used for operation. • Multiple (for example, three) installation robots 10a to 10c each grasp 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 installation 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 apex 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 operation of moving 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 operation of repositioning 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 installation robot 10a moves to the rail 31c of panel 30c, the control units of 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 at 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 in which the installation robot 10 of this embodiment transfers from a rail formed on one panel to a rail formed on another panel. Figure 11 is an explanatory diagram of the rail transfer operation of the running section of this embodiment.

[0062] As shown in Figure 11A, the drive wheel 111 and 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 abuts against the Yr+ side surface of the rail 31a. The non-drive wheels 113a to 113b are positioned on the Yr- side with respect to the rail 31a and also engage with the rail 31a. In other words, the combination of the drive wheel 111 and stopper 112 and the non-drive wheels 113a to 113b are positioned opposite each other with respect to the rail 31a. As a result, the installation robot 10 can 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 that reacts to the Yr+ force applied by the stopper 112 (i.e., a force in the Yr- direction). On the other hand, the drive wheel 111 is in contact with the Yr+ side surface of the rail 31a, and therefore 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). Consequently, the position of the installation 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 positioned on the Yr-side with respect to the rail 31b. The drive wheel 111 engages with the rail 31b. The stopper 112 contacts the Yr-side surface of the rail 31b. The non-drive wheels 113a to 113b are positioned 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 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 installation 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 of the installation robot 10 of this embodiment in which it changes its grip on the panel 30 will be explained. Figure 12 is an explanatory diagram of the gripping part's changing operation 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 grip 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 point between the rotating bodies 121a to 122a and the rail 31e of the panel 30e changes. This allows the multiple installation robots 10a to 10c to change the relative position between each installation robot 10a to 10c and the panel 30e while gripping the panel 30e. 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 an external force. This ensures that even if the relative position of each installation robot 10a to 10c changes, the relative position between each installation robot 10a to 10c and the panel 30e is maintained. As a result, the gripping of the panel 30e by each of the installation robots 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, causing the relative positions of the rotating bodies 121a and 122a and the panel 30e to 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 when the relative positions of the multiple installation robots 10a to 10c change.

[0070] As shown in Figure 12C, once the installation robots 10a to 10c have completed the installation of the panel 30e, the rotating bodies 121a to 122a move apart 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 is equipped with 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 necessary to assemble the structure.

[0073] According to this embodiment, the installation system 1 may include a main controller 1a that determines the number of operation of a plurality of 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 operational units according to the number of vertices and the length of the edge including the preparation position for installation of adjacent panels. For example, if the length of the edge exceeds a predetermined threshold, the main controller 1a may determine the number of operational units 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 the panel 30, and a stopper 112 that contacts the 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 the 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, into 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 a rail 31 formed on the panel 30.

[0085] The gripping section may secure the necessary amount of displacement to change the relative positions of the multiple installation robots 10a to 10c while gripping the panel 30 when the state changes from one where the 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) Modified Examples A modified example of this embodiment will be described.

[0087] (5-1) Modification 1 Modification 1 of this embodiment will 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 those in 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 Modification 2 of this embodiment will 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, after 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 the modified example 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 Modification 3 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 the rail 31 in a line symmetric manner 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 be explained. Figure 15 is an explanatory diagram of the engagement mechanism of the drive wheel and non-drive wheel of modified example 3. Figure 16 is an explanatory diagram of the engagement mechanism of the stopper 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 Modification 3 includes an upper part 111t, a central part 111m, and a bottom part 111bt. The non-drive wheel 113 of Modification 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 that of 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 that of 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, causing 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 to come into contact with each side of the rail 31. As a result, the drive wheel 111 and the non-drive wheel 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 part 112Am in the Y-axis direction is shorter than that of the upper part 112At and the bottom part 112Ab.

[0114] The second stopper 112B includes an upper part 112Bt, a central part 112Bm, and a bottom part 112Bb. The central part 112Bm is located between the upper part 112Bt and the bottom part 112Bb. The length of the central part 112Bm in the Y-axis direction is shorter than that of the upper part 112Bt and the bottom part 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, causing 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, to 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 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. The 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 Modification 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 them to engage with the rail 31 from any position.

[0123] According to Modification 3, it is possible to prevent the engagement of the drive wheel 111, the first stopper 112A, the second stopper 112B, and the non-drive wheel 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 wheel 111, the first stopper 112A, the second stopper 112B, and the non-drive wheel 113.

[0124] (5-4) Modification 4 Modification 4 of this embodiment will 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. The 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 released (i.e., to implement a fail-safe function), and to reduce the power consumption caused by energizing the motor for the first grip 121 and the second grip 122.

[0129] (6) Other variations and 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 is shown in which the control units of multiple installation 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 installation robot 10a among the control units of multiple installation robots 10a to 10c may act as a master control unit and give instructions to the control units of the other installation robots 10b to 10c (i.e., slave control units) (i.e., a centralized control system).

[0132] In this embodiment, an example is shown where there are two non-driven wheels 113a to 113b, but the number of non-driven wheels 113 can be any number. The more non-driven wheels 113 there are, the easier it is 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 is 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. This embodiment can also be applied to an example 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 a plurality of non-drive wheels 113a to 113b) extends or retracts 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 three or more.

[0135] In this embodiment, the non-driven wheels 113a to 113b are optional. Instead of the non-driven wheels 113a to 113b, at least one additional driven wheel may be provided. For example, if there is one additional driven wheel, the driven wheels and the additional driven wheel constitute a two-wheel drive system. For example, if there are three additional driven wheels, the driven wheels and the additional driven 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 by 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 is 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 installation 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 is also applicable to an example in which 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 of this embodiment. The slave robot has a different configuration from the master robot. Specifically, the 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.

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

Claims

1. An installation system for installing panels that constitute a space structure in outer space, comprising a plurality of installation robots, each installation robot having a running section that travels along rails formed on already installed panels, a gripping section that grips uninstalled panels, a control section that controls the running section and the gripping section, and the control section controls the running section and the gripping section in conjunction with other installation robots.

2. The installation system according to claim 1, further comprising a main controller that determines the number of operation of the plurality of installation robots according to the installation position of the uninstalled panel.

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

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

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

6. The installation system according to claim 5, wherein the main controller determines the number of operating units 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 side and the threshold, if the length of the side exceeds a predetermined threshold.

7. The installation system according to any one of claims 1 to 4, wherein the rail is formed in the panel, the running section comprises wheels that rotate while engaging with the rail, and a stopper that fixes the relative position of the installation robot and the installed panel so as not to shift.

8. The installation system according to claim 7, wherein 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.

9. The installation system according to claim 8, wherein each of the plurality of installation robots, upon reaching an adjacent panel adjacent to the installation position of the installed panel, moves to the installation preparation position of the adjacent panel and installs the uninstalled panel, which has been grasped by the gripping unit, at the installation position.

10. The installation system according to claim 9, wherein 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.

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

12. The installation system according to claim 11, wherein the control unit moves the stopper that is in contact with the first rail to the second rail, engages the non-drive wheel engaged with the first rail with the second rail, and engages the drive wheel engaged with the first rail with the second rail, thereby switching from the first rail to the second rail.

13. The installation system according to claim 11, wherein the control unit brings the stopper that is in contact with the first rail into contact with the second rail, and simultaneously engages the drive wheel and non-drive wheel engaged with the first rail with the second rail, thereby switching from the first rail to the second rail.

14. The installation system according to claim 11, wherein the control unit simultaneously engages the drive wheel and non-drive wheel engaged with the first rail with the second rail, and brings the stopper in contact with the first rail into contact with the second rail, thereby switching from the first rail to the second rail.

15. The installation system according to claim 7, wherein 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.

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

17. The installation system according to claim 7, wherein 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.

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

19. The installation system according to any one of claims 1 to 4, wherein the gripping part grips the panel to be installed while the traveling part is traveling on rails formed on the installed panel, and when the traveling part stops moving, the panel to be installed is installed in a predetermined installation position.

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

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

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

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

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

25. The installation system according to claim 23, wherein 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.

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

27. The installation system according to any one of claims 1 to 4, wherein the traveling unit travels while attracting and repelling the installed panel by magnetic force.

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

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