JP3155767B2 - Detachable device for assembled antenna - Google Patents
Detachable device for assembled antennaInfo
- Publication number
- JP3155767B2 JP3155767B2 JP05396291A JP5396291A JP3155767B2 JP 3155767 B2 JP3155767 B2 JP 3155767B2 JP 05396291 A JP05396291 A JP 05396291A JP 5396291 A JP5396291 A JP 5396291A JP 3155767 B2 JP3155767 B2 JP 3155767B2
- Authority
- JP
- Japan
- Prior art keywords
- mirror surface
- fitting portion
- manipulator
- mounting
- side mirror
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Manipulator (AREA)
- Aerials With Secondary Devices (AREA)
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば宇宙空間に構
築される宇宙ステーション等の宇宙航行体に設置されて
通信用等に用いられるものであって、複数の分割鏡面で
構成される組立型アンテナに係り、特にその複数の分割
鏡面を所定形状に組立てるのに用いる着脱装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for communication and the like installed on a space vehicle such as a space station constructed in outer space, and is an assembly type comprising a plurality of divided mirror surfaces. The present invention relates to an antenna and, more particularly, to an attaching / detaching device used for assembling a plurality of divided mirror surfaces into a predetermined shape.
【０００２】[0002]
【従来の技術】最近、宇宙開発の分野においては、宇宙
ステーション等の大型の宇宙航行体の開発が進められて
いる。ところで、このような宇宙航行体に搭載されるア
ンテナとしては、予め地上で分割して制作して、分割状
態のままで、宇宙空間に輸送し、宇宙空間において作業
用マニピュレータを用いて組立設置する組立型が輸送等
の点から有利とされている。このような組立型アンテナ
としては、例えば略中央に中央固定鏡面を設け、この中
央固定鏡面の周囲にパラボラ形状を複数分割した分割鏡
面を取付けて組立てる方式のものが考えられている。2. Description of the Related Art Recently, in the field of space development, the development of large space vehicles such as space stations has been promoted. By the way, as an antenna mounted on such a spacecraft, it is divided in advance on the ground, produced, transported to space in the divided state, and assembled and installed in space using a working manipulator. The assembly type is advantageous in terms of transportation and the like. As such an assembling-type antenna, for example, a system in which a central fixed mirror surface is provided substantially at the center and a divided mirror surface obtained by dividing a parabolic shape into a plurality of parts around the central fixed mirror surface is assembled.
【０００３】しかし、このような組立型アンテナにあっ
ては、単に組立可能に分割すれば良いものでなく、宇宙
環境という極限環境で、しかも遠隔的に作業用マニピュ
レータを操作して組立作業を行わなければならないこと
により、宇宙開発において重要とされる小形・軽量化を
満足し得るような簡単な構成で、しかも、容易に所望の
鏡面精度を有した高精度な組立を実現し得るようにする
ことが要請される。この組立型アンテナを実現するため
の課題の一つとして、作業用マニピュレータを用いて分
割鏡面の組立及び分離を容易に、しかも高精度に実現す
る着脱装置の開発がある。[0003] However, such an assembling type antenna is not simply divided so as to be assemblable, and the assembling work is performed by operating the working manipulator remotely in an extreme environment such as a space environment. Since it must be possible, it is possible to easily realize high-precision assembly with a desired mirror surface accuracy with a simple configuration that can satisfy the small size and weight reduction important in space development. Is required. As one of the issues for realizing this assembled antenna, there is a development of a detachable device that can easily and highly accurately assemble and separate the divided mirror surfaces using a working manipulator.
【０００４】[0004]
【発明が解決しようとする課題】以上述べたように、宇
宙開発の分野にあっては、作業用マニピュレータを用い
て宇宙空間に構築する組立型アンテナの分割鏡面を分離
可能に結合する着脱装置の開発が要請される。As described above, in the field of space development, a detachable attachment / detachment device for detachably connecting a split mirror surface of an assembly type antenna constructed in space using a working manipulator. Development is required.
【０００５】この発明は上記の事情に鑑みてなされたも
ので、容易にして、高精度なアンテナ組立及び分離を実
現し得るようにした組立型アンテナの着脱装置を提供す
ることを目的とする。The present invention has been made in view of the above circumstances, and has as its object to provide an assembling-type antenna attaching / detaching apparatus that can easily and accurately realize antenna assembly and separation.
【０００６】[0006]
【課題を解決するための手段】この発明は複数に分割さ
れた反射鏡の分割鏡面を作業用マニピュレータを用いて
組立てなる組立型アンテナの着脱装置において、前記分
割鏡面の取付側鏡面に設けられ、前記作業用マニピュレ
ータが把持するマニピュレータ保持部と、前記取付側鏡
面に設けられ、先端方向に径が小さくなる方向に傾斜さ
せて形成されたリング状の第１の嵌合部と、この第１の
嵌合部に対応して前記分割鏡面の被取付側鏡面に設けら
れ、前記第１の嵌合部が嵌合される第１の位置と、前記
第１の嵌合部が嵌合された状態で、前記取付側鏡面の被
取付側鏡面への取付けを完了する第２の位置との間に回
動自在に配設された先端方向に径が小さくなる方向に傾
斜させて形成されたリング状の第２の嵌合部と、前記マ
ニピュレータ保持部を把持した前記作業用マニピュレー
タが前記取付側鏡面の第１の嵌合部を前記被取付側鏡面
の第２の嵌合部に嵌合させた状態で相互間を磁気結合す
る磁気結合手段と、前記第２の嵌合部の司る第２の位置
で前記取付側鏡面を前記被取付側鏡面に固定するラッチ
手段と、前記作業用マニピュレータを介して作動制御さ
れ、前記ラッチ手段による固定を解除すると共に、前記
磁気結合手段による磁気結合を解除して該作業用マニピ
ュレータによる前記第１及び第２の嵌合部の嵌合を解除
可能とするラッチ解除手段とを備えて構成したものであ
る。Means for Solving the Problems In the present invention attachment apparatus for assembling antenna consisting <br/> set stand with working manipulator divided mirror surface of the reflector which is divided into a plurality, mounting side of the divided mirror surface A manipulator holding portion provided on the mirror surface and gripped by the working manipulator, and a ring-shaped first fitting portion provided on the mounting-side mirror surface and formed to be inclined in a direction in which the diameter decreases in the distal direction. A first position at which the first fitting portion is fitted, provided on the mounting-side mirror surface of the split mirror surface corresponding to the first fitting portion; in mated state, is inclined in a direction radial to the rotatably disposed a distally decreases between the second position to complete the attached only to the mounting side mirror of the attached side mirror Ring-shaped second fitting portion formed by Match magnetically binding the mutual in a state in which the working manipulator grips the lifting unit is fitted a first fitting portion of the attachment side mirror to the second fitting portion of the object to be mounted side mirror <br Magnetic coupling means, latch means for fixing the mounting-side mirror surface to the mounting-side mirror surface at a second position controlled by the second fitting portion, and operation controlled via the working manipulator, Release the fixing by the latch means , and
Latch releasing means for releasing the magnetic coupling by the magnetic coupling means to release the fitting of the first and second fitting portions by the working manipulator.
【０００７】[0007]
【作用】上記構成によれば、取付側鏡面は先ず、そのマ
ニピュレータ保持部が作業用マニピュレータに把持さ
れ、その第１の嵌合部が第１の位置を司る被取付側鏡面
の第２の嵌合部に嵌合される。ここで、取付側鏡面は、
その第１の嵌合部が第２の嵌合部に磁気結合手段を介し
て磁気結合されて、相互間の仮位置決めがなされ、その
後、第２の嵌合部が第２の位置に回動するまで作業用マ
ニピュレータにより回動付勢されると、そのラッチ手段
が作動されて被取付側鏡面に固定され、ここで、相互の
正確な位置決めがなされる。According to the above construction, the mounting-side mirror surface has its manipulator holding portion gripped by the working manipulator, and the first fitting portion has the second fitting portion of the mounting-side mirror surface which controls the first position. It is fitted to the joint. Here, the mounting side mirror surface is
The first fitting portion is magnetically coupled to the second fitting portion via magnetic coupling means to perform temporary positioning therebetween, and thereafter, the second fitting portion is rotated to the second position. Until the work manipulator rotates, the latch means is actuated and fixed to the mounting-side mirror surface, where accurate mutual positioning is performed.
【０００８】また、取付側鏡面は、作業用マニピュレー
タを駆動してラッチ解除手段が作動制御されると、前記
ラッチ手段による固定が解除され、この状態から第２の
嵌合部の司る第１の位置まで反転されることにより、そ
の第１の嵌合部が該第２の嵌合部から離脱される。これ
により、作業用マニピュレータを用いた分割鏡面の組立
及び分解が鏡面同士の干渉を起こすこくなく、安全な組
立分解作業が可能となる。Further, when the operation manipulator is driven to control the operation of the latch release means, the attachment side mirror surface is released from the fixation by the latch means, and from this state, the first fitting part of the second fitting portion is controlled. By being inverted to the position, the first fitting portion is separated from the second fitting portion. Thus, assembly and disassembly of the divided mirror surfaces using the working manipulators do not cause interference between the mirror surfaces, and a safe assembly and disassembly operation can be performed.
【０００９】[0009]
【実施例】以下、この発明の実施例について、図面を参
照して詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１０】図１はこの発明の一実施例に係る組立型ア
ンテナの要部を示すもので、反射鏡面は例えば図２に示
すように略円形状の中央鏡面１０と、この中央鏡面１０
の周囲に略同形状をした複数、例えば８分割した略扇状
をした分割鏡面１１の計９分割でパラボラ形状に組み立
てられる。FIG. 1 shows a main part of an assembled antenna according to one embodiment of the present invention. The reflecting mirror surface is, for example, a substantially circular central mirror surface 10 as shown in FIG.
Is assembled in a parabolic shape by a total of 9 divisions of a plurality of substantially fan-shaped divided mirror surfaces 11 having substantially the same shape around, for example, divided into eight.
【００１１】このうち中央鏡面１０は、例えば複合材料
で形成される支持構体１２を介して図示しない構造体に
固定支持され、この支持構体１２には、図３に示すよう
に例えばラッチ機構の被ラッチ部となるラッチピン１３
が分割鏡面１１に対応して８個所定の間隔を有して設け
られる。そして、このラッチピン１３に対応して支持構
体１２には同様にヒンジと称する回動部１４が設けら
れ、この回動部１４には回動レバー１５が回動自在に支
持される。この回動レバー１５には先端方向に径が小さ
くなる方向に傾斜させて形成されたリング状の嵌合部１
６がラッチピン１３に対応して設けられる。回動レバー
１５は図示しないばね部材を図３中時計方向に付勢力が
付与されており、このばね部材の付勢力により回動付勢
された第１の位置と該ばね部材の付勢力に抗して回動付
勢された上記ラッチピン１３が略中央部に収容される第
２の位置を司る。The central mirror 10 is fixedly supported by a not-shown structure via a support structure 12 made of, for example, a composite material. The support structure 12 has a latch mechanism as shown in FIG. Latch pin 13 serving as a latch unit
Are provided at predetermined intervals corresponding to the divided mirror surfaces 11. The support structure 12 is also provided with a pivoting portion 14 similarly called a hinge corresponding to the latch pin 13, and a pivoting lever 15 is rotatably supported by the pivoting portion 14. This rotary lever 15 has a ring-shaped fitting portion 1 formed to be inclined in a direction in which the diameter becomes smaller in the distal direction.
6 are provided corresponding to the latch pins 13. A biasing force is applied to the rotating member 15 in a clockwise direction in FIG. 3 by a spring member (not shown), and the first position which is rotated and biased by the biasing force of the spring member and the biasing force of the spring member are resisted. The latch pin 13 urged to rotate is controlled at a second position in which the latch pin 13 is accommodated in a substantially central portion.
【００１２】他方、分割鏡面１１はそれぞれ、例えば複
合材料で形成される支持構体１７に支持される。この支
持構体１７の内径側の一端には先端方向に径が小さくな
る方向に傾斜させて形成されたリング状の嵌合部１８が
中央鏡面側の嵌合部１６に対応して設けられる。この嵌
合部１８の略中央にはラッチ機構を構成する回動自在な
ラッチ爪１９が上記中央鏡面側のラッチピン１３に対応
して設けられる。ラッチ爪は図４に示すように、ばね部
材２０を介して図中反時計方向に回動付勢されている。
そして、ラッチ爪１９の一端部にはラッチ解除レバー２
１の一端が係合され、相互間にばね部材２２が係着され
る。ラッチ解除レバー２１は、その基部がラッチ解除手
段を構成する傘歯車機構２３に連結されている。傘歯車
機構２３は一方の歯車の回転中心にはマニピュレータ駆
動部２４が設けられ、このマニピュレータ駆動部２４が
作業用マニピュレータを介して回転駆動されると、その
回転力を略直交する方向に変換してラッチ解除レバー２
１を図４中時計方向に回動付勢してラッチ爪１９をばね
部材２０の付勢力に抗して回動付勢する。On the other hand, each of the divided mirror surfaces 11 is supported by a support structure 17 formed of, for example, a composite material. At one end on the inner diameter side of the support structure 17, a ring-shaped fitting portion 18 formed so as to be inclined in a direction in which the diameter decreases in the distal direction is provided corresponding to the fitting portion 16 on the central mirror surface side. At the approximate center of the fitting portion 18, a rotatable latch claw 19 constituting a latch mechanism is provided corresponding to the latch pin 13 on the central mirror side. As shown in FIG. 4, the latch claw is urged to rotate counterclockwise in FIG.
The latch release lever 2 is provided at one end of the latch claw 19.
One ends of the spring members 1 are engaged, and the spring members 22 are engaged with each other. The base of the latch release lever 21 is connected to a bevel gear mechanism 23 constituting latch release means. The bevel gear mechanism 23 is provided with a manipulator driving unit 24 at the center of rotation of one of the gears. When the manipulator driving unit 24 is driven to rotate via a working manipulator, the rotating force is converted to a direction substantially orthogonal to the manipulator driving unit 24. Latch release lever 2
1 is urged in the clockwise direction in FIG. 4 to urge the latch pawl 19 against the urging force of the spring member 20.
【００１３】上記嵌合部１８の周囲にはリング部材２５
が回転自在に設けられ、このリング部材２５には仮位置
決め用の複数の永久磁石２６が所定の間隔に設けられ
る。この永久磁石２６は上記中央鏡面側の嵌合部１６の
周囲に所定の間隔を有して設けられた磁性体２７に対応
して設けられており、この磁性体２７と協働して、分割
鏡面側の嵌合部１８と中央鏡面側の嵌合部１６を嵌合位
置で磁気結合する。そして、リング部材２５は上記傘歯
車機構２３の駆動に連動して回転制御され、その永久磁
石２６を中央鏡面側の磁性体２７との対向位置あるいは
非対向位置に案内する。A ring member 25 is provided around the fitting portion 18.
The ring member 25 is provided with a plurality of permanent magnets 26 for temporary positioning at predetermined intervals. The permanent magnet 26 is provided corresponding to a magnetic body 27 provided at a predetermined interval around the fitting portion 16 on the center mirror side, and cooperates with the magnetic body 27 to divide the permanent magnet 26. The fitting part 18 on the mirror side and the fitting part 16 on the center mirror side are magnetically coupled at the fitting position. The rotation of the ring member 25 is controlled in conjunction with the driving of the bevel gear mechanism 23, and guides the permanent magnet 26 to a position facing or not facing the magnetic body 27 on the central mirror side.
【００１４】また、分割鏡面１１にはマニピュレータ保
持部２８が位置補正機構２９を介して設けられる。この
マニピュレータ保持部２６は図５に示すように、マニピ
ュレータ把持部３０が取付けられて該マニピュレータ把
持部３０で分割鏡面１１の保持を実現する。A manipulator holding section 28 is provided on the divided mirror surface 11 via a position correcting mechanism 29. As shown in FIG. 5, the manipulator holding section 26 has a manipulator holding section 30 attached thereto, and the manipulator holding section 30 realizes holding of the divided mirror surface 11.
【００１５】上記構成において、分割鏡面１１を中央鏡
面１０の周囲にパラボラ形状に組立てる場合は、先ず作
業用マニピュレータを操作して、そのマニピュレータ把
持部３０でマニピュレータ保持部２９を保持して分割鏡
面１１を移送させ、その嵌合部１８を回動レバー１５の
嵌合部１６に嵌合させる。ここで、分割鏡面１１の嵌合
部１８は位置補正機構２９を介して位置補正され、回動
レバー１５の嵌合部１６に確実に嵌合される。同時に、
分割鏡面１１は、そのリング部材２５の永久磁石２６が
中央鏡面側の磁性体２７に対向されて、相互間が磁気結
合されることにより、その嵌合部１８が回動レバー１５
の嵌合部１６に磁気力で結合され、中央鏡面１０に対し
て仮位置決めされる（図６参照）。そして、分割鏡面１
１が作業用マニピュレータを介して回動付勢されると、
回動レバー１５は、そのばね部材（図しせず）の付勢力
に抗して、嵌合部１６に分割鏡面１１の嵌合部１８が嵌
合された状態で、ラッチピン１３が収容される第２の位
置まで回動される。ここで、分割鏡面１１は、そのラッ
チ爪１９が中央鏡面１０のラッチピン１３に係止され、
中央鏡面１０の所定位置に固定位置決めされる（図７参
照）。In the above configuration, when assembling the divided mirror surface 11 into a parabolic shape around the central mirror surface 10, first, the work manipulator is operated, and the manipulator holding portion 29 is held by the manipulator gripping portion 30 to hold the divided mirror surface 11. And the fitting portion 18 is fitted to the fitting portion 16 of the rotating lever 15. Here, the position of the fitting portion 18 of the split mirror 11 is corrected via the position correcting mechanism 29, and the fitting portion 18 of the rotating lever 15 is securely fitted. at the same time,
When the permanent magnet 26 of the ring member 25 is opposed to the magnetic body 27 on the central mirror surface side and is magnetically coupled to each other, the fitting portion 18 of the split mirror 11
And is temporarily positioned with respect to the center mirror surface 10 (see FIG. 6). And the split mirror surface 1
When 1 is rotationally urged through the working manipulator,
The rotating lever 15 receives the latch pin 13 in a state where the fitting portion 18 of the split mirror 11 is fitted to the fitting portion 16 against the biasing force of the spring member (not shown). It is turned to the second position. Here, the split mirror surface 11 has its latch claw 19 locked to the latch pin 13 of the central mirror surface 10,
It is fixedly positioned at a predetermined position on the central mirror surface 10 (see FIG. 7).
【００１６】その後、同様の取付け手順で、他の分割鏡
面１１が順に中央鏡面１０の周囲に取付けられ、パラボ
ラ形状に組立てられる。Thereafter, by the same mounting procedure, other divided mirror surfaces 11 are sequentially mounted around the central mirror surface 10 and assembled in a parabolic shape.
【００１７】また、上記のように組立てられた分割鏡面
１１を中央鏡面１０から離脱させる場合は、先ず、マニ
ピュレータ把持部３０が分割鏡面１１のマニピュレータ
保持部２８に取付けられ、この状態から該マニピュレー
タ把持部３０に設けられるドライバー工具等を用いて、
先ず傘歯車機構２３のマニピュレータ駆動部２４を回動
させる（図４及び図５参照）。すると、傘歯車機構２３
はラッチ解除レバー２１を図中時計方向に回動させてラ
ッチ爪１９をばね部材２０の付勢力に抗して同方向に回
動させ、ラッチピン１３のラッチを解除させる。この
際、リング部材２５が回転されて、その永久磁石２６が
中央鏡面側の磁性体２７から離間され、分割鏡面１１の
嵌合部１８は回動レバー１５の嵌合部１６との磁気結合
が解除される。そして、分割鏡面１１が図８に示すよう
に、作業用マニピュレータにより矢印方向に回動付勢さ
れて回動レバー１５の初期の第１の位置まで回動され、
ここに、分割鏡面１１は、その嵌合部１６が回動レバー
１５の嵌合部１８より離脱されて分離される。そして、
同様の手順で他の分割鏡面１１が順に中央鏡面１０から
離脱され、鏡面分離動作が完了される。To separate the assembled mirror 11 from the central mirror 10, the manipulator gripper 30 is first attached to the manipulator holder 28 of the mirror 11, and from this state, the manipulator gripper is removed. Using a driver tool or the like provided in the unit 30,
First, the manipulator driving section 24 of the bevel gear mechanism 23 is rotated (see FIGS. 4 and 5). Then, the bevel gear mechanism 23
Turns the latch release lever 21 clockwise in the figure to rotate the latch claw 19 in the same direction against the urging force of the spring member 20 to release the latch of the latch pin 13. At this time, the ring member 25 is rotated so that the permanent magnet 26 is separated from the magnetic body 27 on the center mirror surface side, and the fitting portion 18 of the split mirror surface 11 is magnetically coupled with the fitting portion 16 of the rotating lever 15. It is released. Then, as shown in FIG. 8, the divided mirror surface 11 is urged to rotate in the direction of the arrow by the working manipulator, and is rotated to the initial first position of the rotation lever 15,
Here, the split mirror surface 11 has its fitting portion 16 separated from the fitting portion 18 of the rotating lever 15 and separated. And
In a similar procedure, the other divided mirror surfaces 11 are sequentially separated from the central mirror surface 10, and the mirror surface separation operation is completed.
【００１８】このように、上記組立型アンテナの着脱装
置は分割鏡面１１にマニピュレータ保持部２８、先端方
向に径が小さくなる方向に傾斜させて形成されたリング
状の嵌合部１８を設け、かつ、中央鏡面１０に対して分
割鏡面側の嵌合部１８が嵌合される第１の位置及び取付
完了の第２の位置との間を回動自在に配設した嵌合部１
６を配設し、作業用マニピュレータを介して分割鏡面１
１の嵌合部１８を第１の位置で中央鏡面側の嵌合部１６
に嵌合させて磁気結合させ、仮位置決めした後、この仮
位置決め状態から分割鏡面１１を第２の位置まで回動さ
せることにより、中央鏡面１０の所定の位置にラッチさ
れて組立てられ、この組立状態から分割鏡面１１を離脱
させる際には、作業用マニピュレータを作動してラッチ
を解除させた後、組立動作と略逆に分割鏡面１１を第２
の位置より第１の位置まで反転させて離脱させるように
構成した。これによれば、比較的精度の良くない作業用
マニピュレータを用いて鏡面同士の干渉を確実に防止し
た高精度な組立及び分離動作が可能となり、宇宙空間に
おける組立型アンテナの構築が容易に実現される。As described above, the detachable device for the assembling antenna has the manipulator holding portion 28 provided on the divided mirror surface 11 and the ring-shaped fitting portion 18 formed to be inclined in the direction of decreasing the diameter in the distal direction, and A fitting portion 1 rotatably disposed between a first position where the fitting portion 18 on the divided mirror surface side is fitted to the central mirror surface 10 and a second position where the mounting is completed.
6 and split mirror surface 1 through the work manipulator.
The first fitting portion 18 is moved to the first mirror portion at the first position.
Then, after being temporarily positioned, the divided mirror surface 11 is rotated to the second position from this temporarily positioned state, thereby being latched at a predetermined position of the central mirror surface 10 and assembled. To release the split mirror 11 from the state, the operating manipulator is operated to release the latch, and the split mirror 11 is moved to the second
From the position to the first position to be separated. According to this, it is possible to perform high-precision assembling and separating operations by reliably preventing interference between mirror surfaces by using a relatively inaccurate working manipulator, and it is easy to construct an assembling antenna in outer space. You.
【００１９】なお、上記実施例では、嵌合部同士を磁気
結合する磁気結合手段として磁性体２７と協働して磁気
力を発生する永久磁石２６を回転自在なリング部材２５
上に設け、鏡面離脱時に、リング部材２５を回転させて
永久磁石２６の位置を磁性体２７に対する位置をずらす
ことにより、磁気力の発生を規制するようにして、嵌合
部同士の離脱を容易に実現するように構成したが、これ
に限ることなく、分割鏡面１１を磁気力に抗して直接的
に離脱させるように構成することも可能である。In the above embodiment, a rotatable ring member 25 is used as a magnetic coupling means for magnetically coupling the fitting portions with each other.
It is provided above, and when the mirror surface is detached, the ring member 25 is rotated to shift the position of the permanent magnet 26 with respect to the magnetic body 27 so as to regulate the generation of magnetic force, thereby facilitating detachment of the fitting portions. However, the present invention is not limited to this, and the split mirror surface 11 may be configured to be separated directly against the magnetic force.
【００２０】また、上記実施例では、分割鏡面１１を中
央鏡面１０に取付けるように９分割で反射鏡を構成した
場合で説明したが、これに限ることなく、反射鏡の形状
寸法等に応じて、各種の分割数で構成することが可能で
ある。この場合、例えば分割鏡面同士を取付るように構
成することも可能である。Further, in the above embodiment, the case where the reflecting mirror is constituted by 9 divisions so that the dividing mirror surface 11 is attached to the central mirror surface 10 has been described. However, the present invention is not limited to this. , Can be configured with various numbers of divisions. In this case, for example, it is possible to configure so that the divided mirror surfaces are attached to each other.
【００２１】よって、この発明は上記実施例に限ること
なく、その他、この発明の要旨を逸脱しない範囲で種々
の変形を実施し得ることは勿論のことである。Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.
【００２２】[0022]
【発明の効果】以上詳述したように、この発明によれ
ば、容易にして、高精度なアンテナ組立及び分離を実現
し得るようにした組立型アンテナの着脱装置を提供する
ことができる。As described in detail above, according to the present invention, it is possible to provide an assembling type antenna attaching / detaching apparatus which can easily and accurately realize antenna assembly and separation.
【図１】この発明の一実施例に係る組立型アンテナの一
部を示した図。FIG. 1 is a diagram showing a part of an assembled antenna according to one embodiment of the present invention.
【図２】図１の外観を示した図。FIG. 2 is a diagram showing an appearance of FIG. 1;
【図３】図１の要部を取出して示した図。FIG. 3 is a diagram showing a main part of FIG. 1 taken out;
【図４】図３の一部を取出して示した図。FIG. 4 is a view showing a part of FIG.
【図５】図１のマニピュレータ保持部の詳細を示した
図。FIG. 5 is a diagram showing details of a manipulator holding unit in FIG. 1;
【図６】図１の動作を説明するために示した図。FIG. 6 is a view shown for explaining the operation of FIG. 1;
【図７】図１の動作を説明するために示した図。FIG. 7 is a view shown for explaining the operation of FIG. 1;
【図８】図１の動作を説明するために示した図。FIG. 8 is a view shown for explaining the operation of FIG. 1;
１０…中央鏡面、１１…分割鏡面、１２，１７…支持構
体、１３…ラッチピン、１４…回動部、１５…回動レバ
ー、１６，１８…嵌合部、１９…ラッチ爪、２０，２２
…ばね部材、２１…ラッチ解除レバー、２３…傘歯車機
構、２４…マニピュレータ駆動部、２５…リング部材、
２６…永久磁石、２７…磁性体、２８…マニピュレータ
保持部、２９…位置補正機構、３０…マニピュレータ把
持部。DESCRIPTION OF SYMBOLS 10 ... Central mirror surface, 11 ... Divided mirror surface, 12, 17 ... Support structure, 13 ... Latch pin, 14 ... Rotating part, 15 ... Rotating lever, 16, 18 ... Fitting part, 19 ... Latch pawl, 20, 22
... Spring member, 21 ... Latch release lever, 23 ... Bevel gear mechanism, 24 ... Manipulator drive unit, 25 ... Ring member,
26: permanent magnet, 27: magnetic body, 28: manipulator holding part, 29: position correcting mechanism, 30: manipulator gripping part.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大島 一男 神奈川県川崎市幸区小向東芝町１番地 株式会社東芝小向工場内 (56)参考文献 特開 平２−20901（ＪＰ，Ａ) 特開 平３−80605（ＪＰ，Ａ) 特開 平３−170277（ＪＰ，Ａ) 特開 平３−245989（ＪＰ，Ａ) 特開 平４−250704（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B64G 1/24 B64G 1/64 - 1/66 B25J 15/04 H01Q 15/14 - 15/16 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kazuo Oshima 1, Komukai Toshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture Inside the Komukai Plant, Toshiba Corporation (56) References JP-A-2-20901 (JP, A) JP-A-3-80605 (JP, A) JP-A-3-170277 (JP, A) JP-A-3-245989 (JP, A) JP-A-4-250704 (JP, A) (58) Int.Cl. 7 , DB name) B64G 1/24 B64G 1/64-1/66 B25J 15/04 H01Q 15/14-15/16
Claims (1)
業用マニピュレータを用いて組立てなる組立型アンテナ
の着脱装置において、 前記分割鏡面の取付側鏡面に設けられ、前記作業用マニ
ピュレータが把持するマニピュレータ保持部と、 前記取付側鏡面に設けられ、先端方向に径が小さくなる
方向に傾斜させて形成されたリング状の第１の嵌合部
と、 この第１の嵌合部に対応して前記分割鏡面の被取付側鏡
面に設けられ、前記第１の嵌合部が嵌合される第１の位
置と、前記第１の嵌合部が嵌合された状態で、前記取付
側鏡面の被取付側鏡面への取付けを完了する第２の位置
との間に回動自在に配設された先端方向に径が小さくな
る方向に傾斜させて形成されたリング状の第２の嵌合部
と、 前記マニピュレータ保持部を把持した前記作業用マニピ
ュレータが前記取付側鏡面の第１の嵌合部を前記被取付
側鏡面の第２の嵌合部に嵌合させた状態で相互間を磁気
結合する磁気結合手段と、 前記第２の嵌合部の司る第２の位置で前記取付側鏡面を
前記被取付側鏡面に固定するラッチ手段と、 前記作業用マニピュレータを介して作動制御され、前記
ラッチ手段による固定を解除すると共に、前記磁気結合
手段による磁気結合を解除して該作業用マニピュレータ
による前記第１及び第２の嵌合部の嵌合を解除可能とす
るラッチ解除手段とを具備したことを特徴とする組立型
アンテナの着脱装置。In unloading device assembly type antenna comprising a set stand with working manipulator splitting mirror of claim 1 a plurality to split the reflector, provided on the mounting side mirror of the divided mirror surface, the working manipulator grip A manipulator holding portion, a ring-shaped first fitting portion provided on the mounting-side mirror surface, and formed to be inclined in a direction in which the diameter decreases in the distal direction, and a first fitting portion corresponding to the ring-shaped first fitting portion. The first mirror surface is provided on the mounting-side mirror surface of the split mirror surface, and the first position at which the first fitting portion is fitted, and the mounting-side mirror surface in a state where the first fitting portion is fitted. rotatably disposed a distal direction fitting diameter second ring shape formed by inclined in a direction decreases between the second position to complete the attached only to the mounting side mirror of and engaging portion, the working gripping the manipulator holding portion Magnetic coupling means that adjust the magnetic <br/> binding between each other in a state where manipulator is fitted a first fitting portion of the attachment side mirror to the second fitting portion of the object to be mounted side mirror, Latch means for fixing the mounting-side mirror surface to the mounting-side mirror surface at a second position controlled by the second fitting portion; and operation controlled via the work manipulator, to release the fixing by the latch means. Together with the magnetic coupling
Latch releasing means for releasing the magnetic coupling by the means to release the first and second fitting portions by the working manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05396291A JP3155767B2 (en) | 1991-02-26 | 1991-02-26 | Detachable device for assembled antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05396291A JP3155767B2 (en) | 1991-02-26 | 1991-02-26 | Detachable device for assembled antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05185999A JPH05185999A (en) | 1993-07-27 |
| JP3155767B2 true JP3155767B2 (en) | 2001-04-16 |
Family
ID=12957310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP05396291A Expired - Lifetime JP3155767B2 (en) | 1991-02-26 | 1991-02-26 | Detachable device for assembled antenna |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3155767B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016072698A1 (en) * | 2014-11-04 | 2016-05-12 | 주식회사 케이엠더블유 | Antenna device |
| KR102376170B1 (en) | 2014-11-04 | 2022-03-21 | 주식회사 케이엠더블유 | Antenna device |
| CN113589517B (en) * | 2021-08-11 | 2023-05-02 | 哈尔滨工业大学 | Separable modularized sub-mirror structure of large space telescope and on-orbit replacement method |
-
1991
- 1991-02-26 JP JP05396291A patent/JP3155767B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05185999A (en) | 1993-07-27 |
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