JP2532789B2 - Interface for track switching equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention relates to an interface for an orbital exchange device involving end effectors and clamp pawls. further,
In particular, the invention relates to interfaces designed for use with manipulators. In particular, the present invention relates to interfaces for orbital exchange devices for use in the space industry.

The interface has been designed for use with an orbital exchange device of the type that was adapted for use while utilizing satellites. The interfaces that have been designed so far have an H shape. The end effector used with this H-shaped interface has lugs that project into U-shaped recesses located on opposite sides of the H-shape. However, this H
The glyph interface is quite large and not suitable for use as a micro interface for mounting on small exchanges. A wide range of small exchanges are needed as orbital exchanges in space stations and the like. It has been found that both large and micro interfaces are needed in the aerospace industry.

The prior art H-shaped configuration provides an interface with a length of about 4.5 inches (about 11 cm), a width of 2.5 inches (about 6.3 cm) and a thickness of 0.5 inches (about 1.3 cm).
The micro-interface is preferably about 1.5 inches x 1.5 inches x 1.5 inches (about 3.8 cm x about 3.8 cm x about 3.8 c).
m) not more than

SUMMARY OF THE INVENTION It is an object of the invention to provide a micro-interface for its analogues as a track exchange device.

In order to achieve this object, in the present invention, in the interface of the track exchanging device to the clamp pawl of the end effector, a) each has a thin slant between the upper slant portion, the lower slant portion and the upper and lower slant portions. Two substantially rigid body portions with a waist, and b) each of the body portions generally has its upper and lower slopes and two laterally extending sides of the waist. In order to form a saddle shape, the two side faces of the waist portion are closer to each other as they move outward from the center of the main body portion so as to form a substantially V-shaped clamping surface, and the upper and lower inclined portions are on the side faces of the waist portion. Inclined inwardly towards each other, whereby c) the two body parts are attached to the track changer such that the substantially V-shaped clamping surfaces extend outward in mutually opposite directions, d ) Inclined part inside the interface Prevents movement due to vertical load applied between the interface and the end effector's clamp claws by engaging with the end effector's clamp claw, and e) The V-shaped clamping surface of the interface is the end effector's clamp. An interface is provided that is configured to engage a pawl to prevent lateral movement due to torque applied between the interface and the clamp pawl.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of an interface configured for an embodiment of the present invention.

FIG. 2 is a partial cross-sectional side view of the first interface attached to the interface showing the method as engaged by the end effector in use.

FIG. 3 is a plan view of an interface configured for another embodiment of the present invention.

 FIG. 4 is an end view of the assembly of FIG.

FIG. 5 is a front view of an interface having a latching mechanism for removably attaching a replacement device to the system in which it is intended to be used.

FIG. 6 is a partial cross-sectional side view of the interface of FIG.

FIG. 7 is a bottom view of the interface of FIG.
FIG. 8 is a plan view in partial cross-section of the interface and the coupling suitable for mounting the exchange device so that the exchange device can be inserted into the system.

FIG. 9 is an illustration of an interface formed as an integral part of a screw structure, constructed in accordance with an embodiment of the present invention and showing how the interface acts to secure a replacement device into the system in which it is being used. It is a partial cross-sectional side view.

FIG. 10 is a cross-sectional view of the interface of FIG. 9 seen from the latch clasp.

11 is a partial cross-sectional side view of the interface of FIG. 9 showing how it is engaged by the end effector to retract the latching mechanism.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring to FIGS. 1 and 2, reference numeral 10 generally designates an interface configured for an embodiment of the present invention.

The interface 10 has a fairly rigid body 12
It has a body 12 consisting of a and 12b, each of which has a narrowed waist 14. The tapered waist 14 forms a square cross section with sides 16, 18, 20, 22.
Said sides 16 and 20 together with each other form a first outwardly extending V-shaped clamping surface, indicated generally by the numeral 24 and having a top 26. are doing. The sides 18 and 22 are joined together with each other to form a first outwardly extending V-shaped clamping surface, generally designated 28, having a top 30. are doing. The V-shaped clamping surfaces 24, 28 are
It projects laterally outward. The third and fourth V-shaped clamping surfaces 32, 34 are located on opposite sides of each other and have tops 36, 38 respectively.

The body portions 12a, 12b also constitute a body 12 having an upper end 40 and a lower end 42, both of which project outwardly from the waist 14. An upper sloped portion 44 is formed on the upper end portion 40 and slopes inward toward the side surfaces 16, 18, 20, 22 of the waist upper portion 14. The lower sloping portion 46 is formed on the lower end portion 42, and the waist portion 14 is formed.
Slopes towards the sides 16, 18, 20, 22 of. The inclined portions 44 and 46 serve to guide the effector 100, hold it vertically, and engage the waist portion 14.

The body portions 12a, 12b also form a body having a passage 50 therethrough along the central bearing 52. The passage 50 is countersunk and has a shoulder 54. In use, mounting bolts 56 are used to attach track changer 58 to the system with which it will be used. The device
58 is an orbital exchange device (OUR) used in space satellites
It may be.

A mounting item 48 is formed on the main body 12 and a mounting screw 59 is formed in the hole 48.
And serves to attach the main body 12 to the track exchanging device 58.

Interface shown in FIGS. 1 and 2
The 10 may be proportionately smaller to be suitable for use with small track changers. For example, waist
The axial length of 14 may be 0.4 inches (about 1 cm),
Further, the axial length (height) of the inclined portions 44 and 46 may be 0.25 inch (about 0.63 cm). The length of each diagonal of the square cross section of waist 14 may be 1.125 inches (about 2.86 cm) and its overall height is 1.25 inches (about 3.17 cm).
It may be. The diagonal length of each of the upper and lower ends 40, 42 may be 2.15 inches (about 5.46 cm),
Also, the length of the side surface of each of the upper and lower ends 40 and 42 is 1.
It may be 625 inches (about 4.13 cm).

3 and 4 show another embodiment of the present invention in which the interface, generally designated 10a, comprises a pair of body portions in the form of two separate segments 12a, 12b. , They are mounted on both sides of a switching device in the form of a connector 62. Segment 12a, 12b
Are arranged on both sides of the V-shaped clamping surface so that they can assume the same conditions as described with reference to FIGS. 1 and 2. In the embodiment shown in FIGS. 3 and 4, affixed to functionally the same parts as the corresponding parts described with respect to FIGS. 1 and 2.
Reference numerals other than 12a and 12b are distinguished by the subscript "a".

The interface 10a is further distinguished from the interface 10 in that it has two torque transfer latching mechanisms 64, one located at the top of each V-shaped clamping surface. Each latch mechanism 64 comprises a catch pin 66 and a biasing pin 68. Each clasp pin 66 is slidably mounted in the lower portion 42a,
It moves between the extended position as shown in FIGS. 3 and 4 and the retracted position where it is inserted into the lower portion 42a. An elongated groove 70 is formed for each latching mechanism 64 and extends inside the top of the clamping surfaces 24a, 28a. Each clutch biasing pin 68 is mounted on its clasp pin 66 and extends at a right angle to it, for which it is slidably mounted in an elongated groove 70. A compression spring 72 is mounted in each passage 74 and biases an associated biasing pin 68, and thus normally biases the biasing pin to the extended position shown in FIG.

In use, when the pawls of the end effector 100 move in a direction to engage the V-shaped clamp surfaces 24a, 28a arranged at both ends, the pawls first come into contact with the latch biasing pins 68,
As the pawl moves toward the V-shaped clamping surface, the latch biasing pins 68 will be moved inward towards each other.
This action will cause the catch pin 66 to move from its extended position to its retracted position. As a result, the changer or connector 62 can be removed from the system 59 coupled to it.

When attempting to attach the connector 62 to the system 59, the end effector pawls should have V-shaped clamping surfaces 24a, 28a.
Close again and move the latch biasing pin 68 inward,
Move the catch pin 66 to the retract position. Connector 62 is the end effector corresponding to system 59 part 76
Can be handled by moving the effector until it matches. The end effector can then be actuated to release the clamping surface and the clasp pin 66
Can be expanded outward to the extended position by the force of the compression spring 72. The clasp pin 66 is then the system 59
Into corresponding holes 78 formed in the connector, resulting in connector 62 being locked into system 59.

Figures 5, 6 and 7 have been previously described in Figures 1 and 2
It shows an interface 10b having the same basic structure as shown, to which a latch mechanism 64b has been added. The latch mechanism 64b comprises a catch pin 66b that is slidably mounted in an alignment hole formed in the lower end 42b. Each clasp pin 66b has a compression spring 72b which normally pushes the clasp pin 66b into the extended position. Latch urging pins 68b correspond to each latch pin 66b
Extending upwardly from and is slidably mounted in groove 70b (FIG. 7). Also, the latch biasing pin 68b is
When the claws of the end effector 100 move in the direction of engaging the clamp surfaces 24b, 28b, they are automatically driven inward toward the axis 52b to pull in the catch pin 66.

FIG. 8 shows a connecting collar 80, which may be used as a connector attached to system 59c to attach interface 10b without the aid of an end effector with clamping pawls. The collar 80 is formed with a pair of mounting holes 66c arranged on the opposite side and an inclined portion 82 extending in the outer peripheral direction, which has a radius increasing in the counterclockwise direction and is formed in the seating area 84. It has a maximum radial extent such that when the clasp pin 78c is in the extended position, the clasp pin 78c enters into the collar 80 via the axially extending groove 8a. The interface 10b is then rotated clockwise and the clasp pin 66b moves along the ramp 82 and is driven inward. When the clasp pins 78c are aligned with the holes 66c, the compression springs 72c move the clasp pins 78c into the holes 66c outward until they are in the extended position. With the help of this mounting collar, the astronaut can use the clamp claws to transfer the interface 10b to a system 59c in the shape of a fuse box, as shown in FIGS. 9, 10, and 11. It can be attached or removed manually.

Figures 9, 10, and 11 are interfaces
10b has the same structure as 10b (FIGS. 5-8) and shows an interface 10d attached to a switching device 58b in the form of an electric fuse. In FIG. 11, the end effector claw 100 is shown as suitable for use with the interface. Each of the pawls 100 has a V-shaped notch formed in its inner surface, which is the V-shaped clamping surface 24 of the interface 10d.
Corresponds to d, 28d (Fig. 10). As shown in FIG. 11, when the latch biasing pin 68d is driven inward by the end effector pawl 100 in the manner described above, the mounting 6
6b drives towards the retract position. The end effector is then actuated to engage the threaded portion of fuse 58d with the threaded hole until it is fully seated. The end effector pawl 100 is then disengaged, releasing the interface so that the compression spring 72d drives the mount 66d outwards to the extended position, where the mount is in the locking hole 78.
Extending into d, the fuse is held in the operating position with respect to the receiver 102 of the system 59d for seating and using the fuse.

It will be appreciated from the foregoing that the interface of the present invention is of a simple construction with a pair of oppositely disposed V-shaped clamping surfaces formed on a narrow waist. This V-shaped clamping surface may be laterally clamped by an end effector so that a considerable torque is applied to the interface. This torque acts to rotationally drive the track changer such that the fuse 58d is in operative engagement with the corresponding screw socket. Further, by providing a narrow waist, shoulders are provided above and below the waist to allow significant vertical or axial loading on the interface. The shoulder is preferably in the form of a bevel sloping towards the waist, so as to engage the clamping pawls of the end effector with the clamping surfaces of the interface,
The action of guiding in the vertical direction is shown.

This replaceable latch mechanism serves to lock the interface and the replacement module attached to the interface in a predetermined position with respect to the support structure of the system to which they are attached in use. The latch pin is automatically released from the support structure to allow the replacement device to be removed from the system when the end effector pawl is moved into engagement with the V-shaped clamping surface.

All of these features can be incorporated into a much smaller interface than previously proposed conventional H-shaped interfaces, thus acting as a micro-interface for use in connection with small track changers. Which can be handled by a dual purpose end effector that can also be operatively engaged with a conventional H-shaped interface. This type of end effector is a dual function end effector, filed on Oct. 4, 1990 by the Applicant in US patent application Ser. No. 07 / 593,648.
It is described in.

Claims (6)

(57) [Claims] 1. An interface of an orbital exchange device for a clamp pawl of an end effector, wherein: a) each comprises an upper sloping portion, a lower sloping portion, and a thin waist portion between the upper and lower sloping portions. And b) each of said body portions such that each of said body portions has a saddle shape with its upper and lower slanted portions and two laterally extending lateral sides of the waist portion as a whole. , The two side faces of the waist portion are closer to each other as they move outward from the center of the main body portion so as to form a substantially V-shaped clamping surface, and the upper and lower inclined portions are inclined inward toward the side faces of the waist portion. Which allows: c) the two body parts to be attached to a track changer such that the approximately V-shaped clamping surfaces extend outward in mutually opposite directions, and d) beveled inside the interface. The slanted part is the end effector To prevent movement due to vertical load applied between the interface and the end effector's clamp claw, and e) The V-shaped clamping surface of the interface engages with the end effector's clamp claw. In combination, the interface is configured to prevent lateral movement due to torque applied between the interface and the clamp jaws. 2. The interface according to claim 1, wherein the two thin waist portions together form a square cross section and the V-shaped clamping surfaces are 180 degrees apart from each other.
An interface that is diagonally spaced apart. 3. The interface according to claim 1, wherein the body portion is a pair of discrete segments, each segment comprising a V-shaped clamping surface, the pair of segments being , An interface configured to be attached to the corresponding side of the track changer with the V-shaped clamping surface located on the opposite side. 4. The interface of claim 1 further operable by a clamp pawl of an end effector to removably attach the body portion to a system to which a replacement device is to be attached. A torque transmission type latching device, the latching device between the extended position laterally protruding from the attached part and the retract position located inside,
Has a clasp device attached to each of the body portions so as to move from the extended position toward the center of the body portion,
The latching device further includes an elastic device that pushes the clasp device into the extended position. 5. The interface according to claim 4, wherein the top of each V-shaped clamping surface forms a longitudinally extending ridge, the latch device further moving with the clasp device. A latch biasing portion connected to the clasp device and extending parallel to a corresponding longitudinally extending ridge, each latch biasing member having the latch device in the extended position. From the first position laterally outside with respect to the corresponding ridge,
An end effector that is movable to a second position located inward of a corresponding ridge when the clasp device is in the retracted position, with each latch biasing member moving to engage the clamping surface. An interface configured to move both latch devices from an extended position to a retracted position by moving each latch biasing member from a first position to a second position when engaged with. 6. The interface according to claim 5, wherein said narrow waist is formed by joining together two of the first and second sets of ridges to each other. Formed on opposite sides, each latch biasing member being a first
A second ridge associated with one ridge of the set of ridges,
An interface in which the ridges of the set are spaced from the latch biasing member for engagement with the end effector.