JP2566379B2 - Coupling device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a connecting device which has two members and connects these members to each other.

[0002]

2. Description of the Related Art As a conventional coupling device, for example, there is one described in Japanese Patent Laid-Open No. 1-169121. In this coupling device, the coupling member is provided with a claw and a claw driving mechanism for driving the claw, and the claw driving mechanism opens the claw to grip the coupled member. Then, during coupling, one member constituting the pawl drive mechanism is fixed by an electromagnetic brake or the like to maintain the coupling between the coupling member and the coupled member.

[0003]

However, in such a coupling device, when an external force is applied to the coupling device in the coupled state, the external force is concentrated on the pawl and its drive mechanism. Therefore, in order to prevent damage even if a large external force is applied, the claw of the coupling member, the component parts of the claw drive mechanism that drives the claw, and the engaged portion of the coupled member with which the claw engages When the size is increased, there is a problem in that the size of the entire device is increased. When the size of the coupling device is increased in this way, not only is it inconvenient to move the coupling device, but also the manipulator in which the coupling device is mounted on the tip portion is increased in size. This poses a major problem in launching them into space, especially when using coupling devices in space.

In view of the above-mentioned conventional problems, it is an object of the present invention to provide a joining device capable of increasing the strength in the joined state without increasing the size.

[0005]

According to another aspect of the present invention, there is provided a coupling device, wherein one coupling member is a casing and a plurality of coupling members whose tip portions are swingably attached to the casing. The coupling member includes the claw and the plurality of coupling maintaining claws, and a claw driving mechanism that swings the plurality of coupling claws and the plurality of coupling maintaining claws, respectively, and the other coupled member is the coupling member.
Coupling a plurality of results of said coupling pawl is swung in the process, binding claw engaged portion of the tip portion of the binding <br/> claw is engaged with, and,該被binding
A casing in which the engagement member and the coupling member is completely merged as maintaining pawl engaged portion of the distal end portion of a plurality of the coupling maintenance pawl is engaged in and is formed, the coupling member Of the casing and the casing of the member to be coupled, one casing is formed with a convex portion protruding in a direction in which the other casing is located in a state immediately before the coupling in which both members face each other, The other casing is characterized in that a recess that can be engaged with the protrusion of the one casing is formed.

[0006] Here, the coupled member of the coupling device moves when the coupling member relatively moves in a direction approaching the coupled member, and when the coupling claw of the coupling member swings. It is preferable to provide a guide member for gradually guiding the coupling claw to the coupling claw engaged portion when the tip of the coupling claw comes into contact.

Further, in the coupling device, when both members are coupled, the pin for retaining the coupling maintaining claw in the casing and the coupling maintaining claw engaged portion with which the coupling maintaining claw engages are coupled. It is preferable that the pin and the coupling maintaining claw engaged portion are provided so that the line is parallel to the direction in which the convex portion projects.

Further, the pawl driving mechanism has a plurality of link members, and the tip ends of the plurality of coupling pawls swing.
A link mechanism in which a plurality of the link members are mutually connected through a pin, and a part of the plurality of coupling claws is connected to any one of the plurality of the link members through a pin, Of the plurality of link members constituting the link mechanism, a biasing member for biasing the connection maintaining claw in a direction in which a part of the connection maintaining claw comes into contact with a part of any one of the specific link members. The tip end portion of the coupling maintaining claw is swung by the operation of the specific link member in one of the part of the maintenance coupling claw and the part of the specific link member that are in contact with each other. So that the cam surface is formed.

Further, the coupling device may be provided with a coupling detection means for detecting completion of coupling of both of the coupling member and the coupled member.

[0010]

When the coupling member and the coupled member approach each other to some extent, the pawl driving mechanism is driven to swing the coupling pawl and the coupling maintaining pawl. When these claws oscillate to engage with the corresponding engaged parts and the convex parts formed in one casing fit into the concave parts formed in the other casing, both members are Is completed.

When an external force for separating the two members is applied after the two members are coupled, the external force acts on the coupling claw and its engaged portion, the coupling maintaining claw and its engaged portion, and the concave portion of the casing. And the convex part. Therefore, in the present invention, this external force is
Not only the coupling pawl and the engaged portion thereof, but also the coupling maintaining pawl and the engaged portion thereof, and the concave and convex portions of the casing, the coupling strength of both members can be increased.

By the way, since the convex portion of one casing projects in the direction of the other casing, it is not possible to resist the external force in this projecting direction (hereinafter referred to as the Z direction), but other than this Z direction. Can withstand the external force of.
Therefore, the coupling claw and the engaged portion thereof and the coupling maintaining claw and the engaged portion thereof need only receive the external force in the Z direction. Further, of the external force applied to the coupling claw, the force in the direction of the line connecting the pin and the engaged portion is applied to the casing of the coupling member via the pin. Similarly, of the external forces applied to the coupling maintaining claw, the force in the direction of the line connecting the pin and the engaged portion is
The pin covers the casing of the coupling member. That is, even if an external force is applied at the time of coupling, the coupling claw and the coupling maintaining claw need only receive the external force in the Z direction, and most of the external force in the Z direction is the coupling member via the pin of each claw. The remaining force exerted on the casing is applied to the claw drive mechanism that swings these claws. Therefore, the pawl drive mechanism need not consider the strength against external force, and the pawl drive mechanism can be downsized. As a result, it is possible to prevent the overall size of the apparatus from increasing even if the coupling maintaining claw is added to enhance the coupling strength.

If the direction of the line connecting the pin of the connection maintaining claw and the engaged portion thereof is parallel to the projecting direction of the convex portion of one casing, that is, the Z direction, Z is applied to the connection maintaining claw. Since all the directional force is applied to the casing via the pin, the claw drive mechanism that swings the connection maintaining claw has
Almost no external force is applied.

[0014]

An embodiment of the present invention will be described below with reference to the drawings. First, the coupling device according to the first embodiment of the present invention will be described with reference to FIGS.

As shown in FIGS. 1 and 2, the joining device of this embodiment comprises a joining member 100 and a joined member 200. The connecting member 100 includes a hollow cylindrical casing 130, three connecting claws 101, 101, 101, and 3
Book binding maintaining pawls 105, 105, 105, and a pawl drive mechanism 110 for opening and closing these pawls 101, 105;
A torque transmission shaft 122, a torque transmission mechanism 120 for rotating the torque transmission shaft 122, a connector 150 for receiving and transmitting signals and electric power to the outside, and a coupling state detecting means for grasping the coupling state. ing.

The casing 130 comprises a hollow cylindrical casing body 131 and end plates 132 and 134 for closing both ends thereof.
And is configured. A direction parallel to the central axis of the casing 130 (hereinafter, this direction is referred to as Z direction, and directions perpendicular to each other in a plane perpendicular to this Z direction are referred to as X direction and Y direction) on the outer periphery of the front end side end plate 132. ) And
(−) Three recesses 133 that are recessed in the Z direction are formed.

The three connecting claws 101, 101, 101 are
As shown in FIG. 3, the casing 130 is radially arranged on the front end side with the central axis of the casing 130 as the center. Also, the three connection maintaining claws 105, 105, 1
05 are also arranged radially around the central axis of the casing 130. The three connection maintaining claws 105, 105,
Reference numeral 105 denotes each coupling claw 10 from the central axis of the casing 130.
It is arranged on the direction line of 1, 101, 101. The coupling claw 101 is substantially L-shaped, and one end portion (hereinafter, referred to as a tip end portion) of the coupling claw 101 swings to move away from or approach the central axis of the casing 130, that is, to be openable / closable. The part corresponding to the corner is the pin 102 and the end plate 1 on the tip side
It is connected to 32. The tip of the coupling maintaining claw 105 swings to move away from or approach the central axis of the casing 130, that is, the proximal end of the coupling maintaining claw 105 is connected to the casing body 131 by a pin 106 so as to be openable and closable. . The pin 102 of the coupling claw 101 and the pin 106 of the coupling maintaining claw 105 are respectively the pin support members 10
The tip end side plate 132 and the casing body 131 are connected via 3, 107. The coupling maintaining claw 105 includes two claw forming plates 105x, which are spaced apart from each other by a certain distance.
It is composed of 105x. The width of the coupling claw 101 is equal to that of the two claw forming plates 105x, 10x that constitute the coupling maintaining claw 105.
Slightly smaller than the 5x mutual spacing. That is, the coupling maintaining claw 105 and the coupling claw 101 are connected to each other when the coupling maintaining claw 105 is closed and the coupling claw 101 is opened.
01 is a nail forming plate 105x, 105x of the connection maintaining nail 105
It is structured so that you can get in between.

As shown in FIG. 2, a pawl drive mechanism 110 for opening and closing the pawls 101 and 105 is a link 11 connected to the other end of the coupling pawl 101 via a pin 104.
1, a plate 113 connected to the link 111 via a pin 112 and movably provided in a direction parallel to the central axis of the casing 130, and the plate 1
13, a ball nut 114 fixed to the ball screw 114, a screw shaft 115 that is screwed into the ball nut 114 and extends in a direction parallel to the central axis of the casing 130, and a drive motor 126 that rotates the screw shaft 115. A clutch 117 that transmits the rotational force of the drive motor 126 to the screw shaft 115 while disconnecting it, an electromagnetic brake 116 that locks the screw shaft 115 in a non-rotatable manner, and a coupling maintaining pawl 105 in a direction from an open state to a closed state. Coil spring for biasing (biasing member)
And 115a. Drive motor 126
Of the gear 118, the input shaft of the clutch 117,
It is connected via 119. At the outer peripheral portion of the plate 113, the coupling claws 101,
On the direction line of 101, 101, the protrusions 113a, 113
a and 113a are formed. A cam surface 108 that is in contact with the protrusion 113a of the plate 113 is formed on the coupling maintaining claw 105 so that the coupling maintaining claw 105 swings around the pin 106 as the plate 113 moves in the Z direction. The coil spring 115a for urging the coupling maintaining claw 105 toward the closed state also serves to keep the cam surface 108 of the coupling maintaining claw 105 in contact with the projection 113a of the plate 113 at all times.

The central axis of the cylindrical casing 130 is
The torque transmission shaft 122 is rotatably provided. The tip of the torque transmission shaft 122 projects from the tip end plate 132 of the casing 130. A socket wrench 121 is provided at this tip. Torque transmission mechanism 12
0 is the drive motor 126 of the pawl drive mechanism 110 described above.
A clutch 124 that transmits the rotational force of the drive motor 126 to the torque transmission shaft 122 while disconnecting the torque transmission shaft 122;
3 and 3. The output shaft of the drive motor 126 and the input shaft of the clutch 124 are connected to the gears 125 and 119.
Connected through. The claw drive mechanism 110 and the torque transmission mechanism 120 are the same except for the coil spring 115a.
All are provided in the casing 130.

The connector 150 has a casing body 131.
Is attached to the outer peripheral surface of the bracket via a bracket 152. The connector 150 and the bracket 152 are covered with a connector cover 153. A cable 151 for transmitting electric power or a signal to the connector 150 is connected to the connector 150.

The coupling state detecting means is a claw open / closed state detecting micro switch 140 for detecting the opening / closing state of the coupling claw 101 from the position of the plate 113 of the claw driving mechanism 110, and a state in which the coupling member can be coupled to the coupled member. Micro switch 14 for contact detection that detects contact between the two
5 and 5. The claw open / closed state detection micro switch 140 includes a closed state detection probe 141 that detects the plate 113 that is most advanced in the (+) Z direction to close the coupling claw 101, and a Z state to open the coupling claw 101. And an open state detection probe 142 that detects the plate 113 that is most retracted in the direction. The contact detection micro switch 145 includes a contact detection probe 146 protruding from the tip end plate 132 in the (+) Z direction.

The connecting member 100 described above is
As shown in FIG. 2, it is fixed to the tip of the manipulator 300 via a 6-axis force / torque sensor 301.
Drive motor 126, electromagnetic brake 116 and each clutch 1
A power source (not shown) of the manipulator 300 is used as electric power for driving the 17, 24. Further, the control signals to the drive motor 126, the clutches 117 and 124, and the electromagnetic brake 116 are also transmitted to the manipulator 30.
It is transmitted from a control device (not shown) that controls the operation of 0.

As shown in FIGS. 1 and 2, the coupled member 200 has three claw engagements in which the tips of the coupling claws 101, 101, 101 and the tips of the coupling maintaining claws 105, 105, 105 are fitted. A hollow cylindrical casing 230 in which the holes 201, 201, 201 are formed, and three coupling claws 10
1, 101 and 101 are respectively referred to as claw engaging holes 201 and 20.
A guide member 235 that guides to the 1, 201 and the bolt head 22.
1 and a torque transmission shaft 222 formed at the tip.

The casing 230 has a hollow cylindrical casing body 231 and a payload side end plate 232 that closes one end of the casing body 231. Bolt holes are formed in the outer peripheral portion of the payload side end plate 232. The casing 230 is tightened by passing a bolt through the bolt hole to tighten the payload 40.
It is fixed at 0. The hollow cylindrical casing main body 231 is formed with a claw engaging hole 201 penetrating from the inside to the outside thereof. The claw engaging hole 201 is provided in the coupling maintaining claw 105.
Is formed to have a width almost the same as the width. On the tip side of the casing body 231, the coupling member 1 is projected in the (-) Z direction.
Projections 2 engageable with the recesses 133, 133, 133 of 00
Three 33, 233, and 233 are formed.

A guide member 235 is provided in the hollow cylindrical casing 230. The guide member 235 is
Guide faces 236, 236, 236 that gradually approach the central axis of the casing 230 as they go in the (+) Z direction, and each claw engagement is recessed from the guide surface 236 in the (+) Z direction and near the central axis of the casing 230. Guide grooves 237, 237, 237 extending radially to the holes 201, 201, 201 are formed. The guide surfaces 236, 236, 236 and the guide grooves 237, 237, 237 are, as shown in FIG.
Three coupling claws 101, 101, 101 of the coupling member 100
Corresponding to, three are formed respectively. Guide groove 2
The groove width of 37 is larger than the width of the coupling claw 101 in the vicinity of the central portion of the casing 230 and becomes smaller toward the claw engagement hole 201, and is almost equal to the width of the coupling claw 101 in the portion connected to the claw engagement hole 201. They are the same size.

The torque transmission shaft 222 has a casing 230.
Are arranged on the central axis of. The bolt head 221 of the torque transmission shaft 222 is formed in a size and shape that fits into the socket wrench 121 of the torque transmission shaft 122 of the coupling member 100. The bolt head 221 of the torque transmission shaft 222 is arranged in the casing 230, but the portion of the torque transmission shaft 222 that requires the rotational force is provided in the payload 400.

Next, the operation of the coupling device of this embodiment will be described. Before the joining member 100 and the joined member 200 are joined, as shown in FIG. 2, the joining claw 101 is in the closed state and the joining maintaining claw 105 is in the open state. The plate 113 of the pawl drive mechanism 110 is located at the foremost position. The plate 113 located at the foremost position and the closed state detection probe 141 of the claw open / closed state detection micro switch 140 are in contact with each other.
It can be understood that 1 is in the closed state and the coupling maintaining claw 105 is in the open state. The electromagnetic brake 116 of the pawl drive mechanism 110 is in the connected state, and the screw shaft 115 cannot rotate. Since the plate 113 does not move because the screw shaft 115 of the pawl drive mechanism 110 cannot rotate, the coupling pawl 101 is also maintained in the closed state. Further, the clutch 1 of the pawl drive mechanism 110
The clutch 17 and the clutch 124 of the torque transmission mechanism 120 are in a released state and are in a state in which the rotational force of the drive motor 126 cannot be transmitted to the screw shaft 115 or the torque transmission shaft 122.

When the two members 100 and 200 are joined together, the two members 10 are directly or indirectly used by using a television camera.
The manipulator 300 is driven by observing the positional relationship of 0 and 200, and the joining member 100 is brought closer to the joined member 200 as shown in FIG. When the coupling member 100 approaches the coupled member 200, the coupling claw 101 of the coupling member 100 first contacts the guide surface 236 of the coupled member 200. When the coupling member 100 is moved in the (+) Z direction while the coupling claw 101 and the guide surface 236 are in contact with each other, the coupling member 1
00 moves along the guide surface 236, and the central axis of the coupling member 100 and the central axis of the coupled member 200 gradually approach each other. Then, as shown in FIG. 6, when the coupling claw 101 is fitted into the guide groove 237 of the coupled member 200, the central axis of the coupling member 100 and the central axis of the coupled member 200 substantially coincide with each other.

When the coupling member 100 further moves in the (+) Z direction, the contact detection probe 146 of the contact detection microswitch 145 moves the coupled member 20 as shown in FIG.
The micro switch 145 is turned on by contacting the end surface of the guide member 235 of 0. When the micro switch 145 is turned on, the electromagnetic brake 116 of the pawl drive mechanism 110 is released, the clutch 117 is engaged, and immediately thereafter, the drive motor 126 starts to drive. When the drive motor 126 is driven, its rotational force is changed to the gears 119, 1
18 and the clutch 117, it is transmitted to the screw shaft 115, and the screw shaft 115 rotates. When the screw shaft 115 starts to rotate, the ball nut 114 screwed to the screw shaft 115 and the plate 113 to which the ball nut 114 is fixed
Starts to move backward from the foremost position. Plate 113
When the link claws start to retract, the other end of the coupling claw 101 is pulled in the (-) Z direction by the link 111, and the tip of the coupling claw 101 starts to open. Further, the coupling maintaining claw 105, which is biased in the closing direction by the coil spring 115a, starts to close when the plate 113 retracts.

When the coupling claw 101 opens along the guide groove 237 of the member to be coupled 200, the coupling claw 101 enters the claw engagement hole 201. When the coupling claw 101 is inserted into the claw engagement hole 201 and the coupling claw 101 is further opened, the coupled member 200 is pulled toward the coupling member 100, and the convex portion 233 of the coupled member 200 is recessed 133 of the coupling member 100. Begin to engage. When the coupling claw 101 is completely opened, the protrusion 233 of the coupled member 200 is completely engaged with the recess 133 of the coupling member 100, as shown in FIG.
The connection between 0 and the member to be connected 200 is completed. At this time, the coupling maintaining claw 105 is also completely closed, and the claw engaging hole 201
Fit in. Further, the bolt head 221 of the member to be joined 200 is fitted into the socket wrench 121 of the joining member 100. Furthermore, the micro switch 1 for detecting the open / closed state of the nail
The plate 113 of the pawl driving mechanism 110 comes into contact with the open state detection probe 142 of 40, and the pawl open / closed state detection microswitch 140 is turned on.

Micro switch 140 for detecting the open / closed state of the claw
Is turned on, after the drive motor 126 is temporarily stopped,
The clutch 117 of the pawl drive mechanism 110 is disengaged, the electromagnetic brake 116 is brought into a connected state, and the torque transmission mechanism 1
The 20 clutches 124 are engaged. Then, the drive motor 126 starts to drive again, and this rotational force is transmitted to the torque transmission shaft 122 via the gears 119 and 125 and the clutch 124, and the torque transmission shaft 122 rotates. As a result, the torque transmission shaft 222 of the coupled member 200 fitted in the socket wrench 121 of the torque transmission shaft 122 rotates, and the rotational force is transmitted from the coupling member 100 to the payload 400.

It is assumed that when the two members 100 and 200 are in the coupled state, an external force for releasing the coupling is applied. In this case, as shown in FIG. 14, the X-axis force Fx and the Y-axis force Fy are the convex portion 233 of the coupled member 200 protruding in the Z direction and the concave portion 133 of the coupling member 100 recessed in the Z direction. Can be received at. Also, the twisting force Mx about the X axis
Can be decomposed into a force Mxy in the Y direction and a force Mxx in the Z direction, and the twisting force My about the Y axis is the force Myz in the Z direction and X in the X direction.
Can be decomposed into the force Myx in the direction, and the twisting force Mz about the Z axis is
It can be decomposed into a force Mzx in the X direction and a force Mzy in the Y direction.
Therefore, of the torsional forces Mx, My, Mz around each axis,
Mxy, Myx, Mzx, Mzy are forces in the X direction or Y
Since these are directional forces, these forces can also be received by the convex portion 233 and the concave portion 133. That is, the forces Fx, Fy, Mxy, Myx, Mzx, Mz that are not parallel to the Z-axis direction
y can be received by the casing 230 of the member to be joined 200 in which the convex portion 233 is formed and the casing 130 of the joining member 100 in which the concave portion 133 is formed.
Therefore, in order to maintain the connected state against various external forces,
The force that the connection maintaining claw 105 has to receive is only the force Mz of the Z-axis force Fz, the twisting force Mx about the X-axis, and the force Mxz of the twisting force My about the Y-axis, which are parallel to the Z-axis direction. is there. These forces Fz, Mxz, which are parallel to the Z-axis direction,
Since Myz is not a force for swinging the connection maintaining claw 105 but a force applied to the pin 106 of the connection maintaining claw 105, it does not apply to the claw driving mechanism 110 and is applied to the casing 103 via the pin 106. This is the force. Eventually, even if various external forces act on the coupling member 100 or the coupled member 200, eventually the casing 130 of the coupling member 100 and the casing 230 of the coupled member 200 receive various external forces, and the pawl drive mechanism 110. No external force is applied to it.

Here, it is important to note that at the time of coupling, the pin 106 of the coupling maintaining claw 105 and the claw engaging hole 201 are connected.
The line connecting the and is parallel to the protruding direction of the convex portion 233,
That is, it is parallel to the Z axis. For example, FIG.
As shown in, it is assumed that the line connecting the pin 106 'of the coupling maintaining claw 105' and the claw engaging hole 201 'is not parallel to the Z axis. In this case, even if the force F applied to the coupling maintaining claw 105 ′ is a force parallel to the Z-axis direction, the force F is the axial force f ₁ directed in the pin direction and the rotational force f ₂ perpendicular to this force f _1. because it is decomposed into and in which, the rotational force f _2, coupled maintain pawl 105 '
This is because the force that causes the claw drive mechanism to act causes a part of the external force f _{2 to} be applied to the pawl drive mechanism 110.

Further, in this embodiment, the connection maintaining claw 105 and the plate 113 of the claw driving mechanism 110 are connected to each other by the connection maintaining claw 1.
When 05 is in the fully open state and in a state close thereto, the connection maintaining claw 105 is not in contact in the fully closed state and a state close thereto. Therefore, the connection maintaining claw 10
It can be said that even if an external force is applied at the time of connection when 5 is in the closed state, this external force is not applied to the claw driving mechanism 110 via the connection maintaining claw 105 at all.

Therefore, in this embodiment, although the connection maintaining claw 105 is added to increase the coupling strength, the component members of the claw driving mechanism 110 are enlarged to increase the strength of the claw driving mechanism 110 accordingly. There is no need to convert. Therefore,
The bonding strength can be increased without increasing the size of the bonding device.

When the predetermined work is completed after the coupling is completed, the clutch 124 of the torque transmission mechanism 120 is disengaged, the electromagnetic brake 116 of the pawl drive mechanism 110 is released, and the clutch 117 of the pawl drive mechanism 110 is connected. Drive motor 1
By rotating 26 in the reverse direction, the connection is released in the reverse order of the connection, and the connection member 100 and the connection target member 200 are separated.

By the way, in the final stage of joining the two members 100 and 200, the joining claw 101 is provided from the inside of the cylindrical casing 230 of the joined member 200, and the joining maintaining claw 105 is provided from the outside, respectively. It is difficult to engage one claw engaging hole 201 at the same time. Therefore, in this embodiment, as shown in FIG. 9, the coupling claw 101 is in a completely open state, and even when it is in contact with the coupling member side end surface 201a of the claw engaging hole 201, it is in a completely closed state. Engaging contact surface 105a of the coupling maintaining pawl 105 and the pawl engaging hole 2
And a small gap d ₁
As described above, the connection maintaining claw 105 has the claw engaging hole 201.
It is easy to fit in. That is, in this embodiment,
The coupling claw 101 is completely opened, and the coupling maintaining claw 1
When 05 is completely closed, the coupling claw 101
The coupling claw 101 and the coupling maintaining claw 105 are formed and arranged so that the engagement contact surface 105a of the coupling maintaining claw 105 is slightly positioned in the (+) Z direction than the engaging contact surface 101a of FIG.

However, in this state, when an external force is applied to the connecting device during connection, the existence of the connection maintaining claw 105 becomes meaningless, and a part of this external force is applied to the connecting claw 101, and the claw driving mechanism 110 is damaged or damaged. There is a risk that the bond will be released. Therefore, after the coupling maintaining claw 105 is completely fitted into the claw engaging hole 201, as shown in FIG.
The drive motor 126 is slightly rotated in the reverse direction to slightly close the coupling claw 101, and the coupling member side end surface 201a of the claw engagement hole 201.
And the distance d ₂ between the engaging contact surface 101a of the coupling claw 101,
The distance d ₁ between the end surface 201a of the claw engaging hole 201 on the coupling member side and the engagement contact surface 105a of the coupling maintaining claw 105 is made larger. In this state, both coupling members 100, 200 in the Z direction
When an external force is applied to separate the
The coupling member 100 and the coupled member 200 are slightly separated (the distance is d ₁ ), and the coupling member side end surface 201 a of the claw engagement hole 201 and the engagement contact surface 101 a of the coupling claw 101.
Becomes d ₃ (= d ₂ −d ₁ ) and the claw engaging hole 201
The end surface 201a of the coupling member on the side and the engagement contact surface 105a of the coupling maintaining claw 105 come into contact with each other. As a result, even if an external force is applied in the coupled state, the force in the Z direction component of this external force can be received by the coupling maintaining claw 105. Of the external force, the force other than the Z direction component is
As described above, the convex portion 23 of the casing 230, 130
3 and the recess 133 are received.

In this embodiment, most of the connection maintaining claws 105 are located outside the casing 130. In particular, the tip portion of the coupling maintaining claw 105 is in the open state before the coupling, and thus is in a state of protruding outward from the casing 130. Therefore, as shown in FIG. 12, when the joining member 100 is brought close to the joined member 200, the tip end portion of the joining maintaining claw 105 is joined to the joined member 2.
No. 00 casing 230 may come into contact with the front end portion 231a. At this time, the coupling maintaining claws 105 are attached to the coupling maintaining claws 10 from the casing 230 of the coupled member 200.
Unexpected force F is applied to try to open 5 more. However, the connection maintaining pawl 105 has the cam surface 1
08 and the plate 113 of the pawl drive mechanism 110 are in contact with each other, so that the plate 113 cannot move unless it moves in the closed direction, but it receives the elastic force of the coil spring 115a only in the open direction. Because only
It can be moved in the open direction. Therefore, the coupling member 10
When 0 is brought close to the coupled member 200, the coupling maintaining claw 1
Even if 05 contacts the casing 230 of the coupled member 200, the coupling maintaining claw 105 can escape toward the open state, so that the coupling maintaining claw 105 and the casing 230 of the coupled member 200 can be prevented from being damaged. .

In addition, the coupling member 100 is replaced with the coupled member 200.
In order to connect the connection holding claws 101 with each other, while the connection claws 101 are opened and the connection holding claws 105 are closed, as shown in FIG. The outer peripheral surface 231b of the casing 230 of the member 200 may come into contact. Also at this time, the connection maintaining claw 105
An unexpected force is applied from the casing 230 of the member to be joined 200 to the open state of the coupling maintaining claw 105. However, as in the case described above, since the connection maintaining claw 105 can escape in the direction of the open state, damage to the connection maintaining claw 105 and the casing 230 of the member to be connected 200 can be prevented. Further, when the convex portion 233 of the member to be coupled 200 is engaged with the concave portion 133 of the coupling member 100 and the tip of the coupling maintaining claw 105 reaches the position where it can be fitted into the claw engaging hole 201, the coupling maintaining state is maintained. Since the pawl 105 is biased in the closed state by the coil spring 115a, it can be swung in the closed state and fitted into the pawl engagement hole 201. Therefore, even if the tip of the coupling maintaining claw 105 does not enter the claw engaging hole 201 and comes into contact with the outer peripheral surface 231b of the casing 230 of the coupled member 200, the tip of the coupling maintaining claw 105 will be It can be fitted into the claw engagement hole 201 and the coupling can be completed without any problem.

When the plate 113 of the claw driving mechanism 110 is located at a position where the plate 113 of the claw driving mechanism 110 is located, the connection maintaining claw 105 is located at a position corresponding to the position of the plate 113, but is fixedly located at that position. So that plate 1
Not completely connected to 13. Therefore, as described above, even when the casing 230 is contacted,
It is possible to avoid damage to the connection maintaining claw 105. Further, since the connection maintaining claw 105 is not completely connected to the plate 113, an external force applied to the connection maintaining claw 105 is not transmitted to the claw driving mechanism 110, so that the claw driving mechanism 110 can be protected from the external force.

In the present embodiment, the recessed portion 133 is formed in the casing 130 of the connecting member 100, and the member to be connected 20 is connected.
Although the convex portion 233 is formed on the casing 230 of No. 0, the convex portion may be formed on the casing 130 of the joining member 100 and the concave portion may be formed on the casing 230 of the joined member 200. In addition, in this embodiment, the micro switch 140 for detecting the claw open / closed state is the plate 11 of the claw drive mechanism 110.
Although the open / closed state of the coupling claw 101 is indirectly detected from the position of 3, the swing angle of the coupling claw 101 may be directly detected.

Next, a second embodiment of the coupling device according to the present invention will be described with reference to FIGS. In the coupling device of this embodiment, the coupling member 100 is the same as that of the first embodiment, and the coupled member 500 is the one of the first embodiment provided with the connector 550.

As shown in FIG. 16, the coupled member 500 of the present embodiment has the coupling claws 101, 101, 101 of the coupling member 100.
101 tip and coupling maintaining claws 105, 105, 105
Of three claw engagement holes 501, 501
Hollow cylindrical casing 530 in which 501 is formed
And a guide member 535 for guiding the three coupling claws 101, 101, 101 to the claw engaging holes 501, 501, 501, respectively.
A torque transmission shaft 522 having a bolt head 521 formed at its tip, a connector 550 connectable to the connector 150 of the coupling member 100, and a connector moving mechanism 560 for moving the connector 550. There is. A cable 551 for taking in power or a signal from here is connected to the connector 550. In addition, among the reference numerals in the figure, those whose last two digits are the same as those of the first embodiment are basically the same as those of the first embodiment. It is the same. Therefore, the description of the related items will be omitted.

The casing 530 is a hollow cylindrical casing body 531, a payload side end plate 532 that closes one end of the casing body 531, and the casing body 53.
1 has an intermediate plate 534 provided inside. The guide member 535 is provided inside the casing body 531 on the tip side of the intermediate plate 534.

In the connector moving mechanism 560, the first spur gear 561 fixed to the end of the torque transmission shaft 522, the second spur gear 562 engaged with the first spur gear 561, and the second spur gear 562 are the ends. Screw shaft 564 fixed to the portion and arranged parallel to the Z direction, a ball nut 563 screwed to the screw shaft 564, a linear guide rail 567 extending in the Z direction, and the linear guide rail 567. Along Z
A linear guide bearing 566 provided so as to be movable in the direction, a first bracket 565 connecting the linear guide bearing 566 and the ball nut 563,
The linear guide bearing 566 and the second bracket 568 that connects the connector 550 are provided.

The screw shaft 564 and the ball nut 563 screwed to the screw shaft 564 are the hollow cylindrical casing body 531.
It is located inside. First gear 561 and second gear 562
Is a payload side end plate 532 in the casing body 531.
And the intermediate plate 534. Connector 55
0, second bracket 568, linear guide rail 56
7, and the linear guide bearing 566 are arranged on the outer peripheral side of the cylindrical casing 530, and these are covered with a connector cover 553. Casing body 53
1, a first bracket 565 connecting a ball nut 563 arranged inside the casing body 531 and a linear guide bearing 567 arranged outside the casing body 531 is provided with a notch 531a so as to be movable in the Z direction. Has been formed.

Next, the operation of the coupling device of this embodiment will be described. Note that, also in this embodiment, the coupling member 100
The operation up to the completion of the connection between the member to be joined 500 and the member to be joined 500 is similar to that of the first embodiment, and hence the subsequent operation will be described below.

FIG. 17 shows the connecting member 100 and the connected member 5.
00 shows the state of completion of connection with 00. From this state, the clutch 117 of the pawl drive mechanism 110 of the coupling member 100 is disengaged to bring the electromagnetic brake 116 of the pawl drive mechanism 110 into the connected state, and the clutch 124 of the torque transmission mechanism 120.
Are connected. Then, the drive motor 126 is driven to rotate the torque transmission shaft 122.

When the torque transmission shaft 122 of the coupling member 100 rotates, the torque transmission shaft 522 of the coupled member 500 coupled to the torque transmission shaft 122 also rotates. When the torque transmission shaft 522 of the coupled member 500 rotates, the first gear 5
61, the second gear 562, and the screw shaft 564 rotate, and as shown in FIG. 18, the ball nut 563 moves in parallel in the (−) Z direction. As a result, the linear guide bearing 566 connected to the ball nut 563 via the first bracket 565 also moves in the (-) Z direction, and is also connected to the linear guide bearing 566 via the second bracket 568. The connector 550 also moves in the (−) Z direction. This connector 550 is finally connected to the connector 150 of the coupling member 100, as shown in FIG.

As described above, in this embodiment, the connecting member 1 is used.
00 and the coupled member 500 are completely coupled, the connector 550 of the coupled member 500 is moved to join the coupling member 1
00 connector 150. Therefore, when the two members 100, 500 are joined together, the two connectors 150, 5
Both connectors 150 and 550 so that 50 can also be connected.
Unlike the case in which both the connectors 150 and 550 are connected when the two members 100 and 500 are fixed, the load applied to the coupling claw 101 is reduced and the load of the drive motor 126 can be reduced. .

The connection / disconnection state of the connector 150 of the coupling member 100 and the connector 550 of the coupled member 500 is detected by the cumulative rotation angle of the drive motor 126 of the coupling member 100, or the micro switch is used. It is possible to use any of the methods of attaching to the coupling member 500 and detecting the position of the ball nut 563 or the linear guide bearing 566. Further, in this embodiment, the movable connector 550 and the connector moving mechanism 560 for moving the connector are provided on the coupled member 500 side. However, the connector on the coupled member 500 side is fixedly provided, and the coupling member 100 side is provided. In addition, a movable connector and a connector moving mechanism for moving the connector may be provided.

[0053]

According to the present invention, after both members are joined,
If an external force that tries to separate both members is applied to the coupling device,
This external force is received not only by the coupling claw and the engaged portion thereof, but also by the coupling maintaining claw and the engaged portion thereof, and the concave and convex portions of the casing, so that the coupling strength of both members can be increased.

Further, since the convex portion of one casing and the concave portion of the other casing can resist an external force other than the projecting direction of the convex portion, the coupling claw and its engaged portion, and the coupling maintaining claw and its The engaged portion need only receive an external force in the protruding direction of the convex portion. Therefore, the claw driving mechanism that swings these claws need not consider the strength against external force,
It is possible to reduce the size of the claw drive mechanism. As a result, it is possible to prevent the overall size of the apparatus from increasing even if the coupling maintaining claw is added to enhance the coupling strength.

[Brief description of drawings]

FIG. 1 is a perspective view of a coupling device according to a first embodiment of the present invention.

FIG. 2 is a sectional view of the coupling device according to the first embodiment of the present invention (before coupling).

FIG. 3 is a front view of the connecting member according to the first embodiment of the present invention.

FIG. 4 is a front view of a joined member according to the first embodiment of the present invention.

FIG. 5 is a cross-sectional view of the coupling device according to the first embodiment of the present invention (state in which the coupling member is close to the coupled member).

FIG. 6 is a cross-sectional view of the coupling device according to the first embodiment of the present invention (a state in which the central axis of the coupling member is being aligned with the central axis of the coupled member).

FIG. 7 is a cross-sectional view of the coupling device according to the first embodiment of the present invention (state in which the coupling claw and the coupling maintaining claw are swinging).

FIG. 8 is a cross-sectional view (combined state) of the coupling device according to the first example of the present invention.

FIG. 9 is a cross-sectional view of a main part of the coupling device according to the first example of the present invention (state immediately before completion of coupling).

FIG. 10 is a cross-sectional view of a main part of the coupling device according to the first embodiment of the present invention (in a state where coupling is completed).

FIG. 11 is a cross-sectional view of a main part of the coupling device according to the first example of the present invention (in a state where external force is applied after completion of coupling).

FIG. 12 is a cross-sectional view of a main part of the coupling device according to the first example of the present invention (in a state where the coupling claw is in contact with the tip portion of the casing when the coupling member is approaching the coupled member). .

FIG. 13 is a cross-sectional view of a main part of the coupling device according to the first example of the present invention (in which the coupling maintaining claws are in contact with the outer peripheral surface of the casing during swinging).

FIG. 14 is an explanatory diagram showing an external force received by the concave portion and the convex portion when various external forces are applied to the coupling device according to the first embodiment of the present invention.

FIG. 15 is an explanatory diagram for explaining an external force applied to the coupling maintaining claw.

FIG. 16 is a sectional view of a member to be coupled according to a second embodiment of the present invention.

FIG. 17 is a cross-sectional view (state immediately after completion of coupling) of the coupling device according to the second example of the present invention.

FIG. 18 is a cross-sectional view of a coupling device according to a second embodiment of the present invention (in which the connector of the member to be coupled is moving).

FIG. 19 is a sectional view of the coupling device according to the second embodiment of the present invention (in a state where the connectors are connected to each other).

[Explanation of symbols]

100 ... Coupling member, 101 ... Coupling claw, 105 ... Coupling maintaining claw, 106 ... Pin (of coupling maintaining claw), 108 ... Cam surface,
110 ... Claw drive mechanism, 111 ... Link, 113 ... Plate, 114 ... Ball nut, 115 ... Screw shaft, 115a
... Coil spring (biasing member), 116 ... Electromagnetic brake, 1
17, 124 ... Clutch, 123 ... Reducer, 120 ... Torque transmission mechanism, 121 ... Socket wrench, 122 ... (Coupling member) torque transmission shaft, 126 ... Drive motor, 130
… (Coupling member) casing, 131… (Coupling member)
Casing main body, 132 ... (end of the connecting member) end plate,
133 ... concave part, 140 ... micro switch for detecting claw open / closed state, 141 ... closed state detection probe, 142 ... open state detection probe, 145 ... contact detection micro switch, 1
50 ... Connector (of coupling member), 200, 500 ... Coupled member, 201, 501 ... Claw engaging hole, 221, 521 ...
Bolt heads, 222, 522 ... Torque transmission shafts (for members to be joined) 230, 530 ... Casings (for members to be joined), 235, 535 ... Guide members, 236, 536 ... Guide surfaces, 237, 537 ... Guide grooves , 300 ... Manipulator, 400 ... Payload, 550 ... (Connected member) connector, 560 ... Connector moving mechanism, 561 ... First spur gear, 562 ... Second spur gear, 563 ... Ball nut, 56
4 ... Screw shaft, 566 ... Linear guide bearing, 567
… Linear guide rails.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsushige Oda 2-4-1, Hamamatsucho, Minato-ku, Tokyo World Trade Center Building 21F, Space Development Agency of Japan (56) Reference JP-A-59-232786 A) JP 60-213494 (JP, A) JP 61-30389 (JP, A) JP 6-39766 (JP, A) Actual development 60-94486 (JP, U)

Claims (9)

(57) [Claims] 1. A coupling device comprising a coupling member and a member to be coupled, wherein the coupling member and the member to be coupled are coupled to each other, wherein the coupling member is a casing and a tip end portion of which is swingable via a pin. comprising a plurality of coupling claws and a plurality of coupling maintaining pawl attached to said casing, and a pawl drive mechanism for swinging a plurality of the binding claws and a plurality of the binding maintaining pawl respectively, the object binding member, wherein During the process of joining with the joining member, the plurality of joining claws swing
As a result, the coupling claw engaged portion with which the tip of the coupling claw engages ,
And the coupled member and the coupling member are completely coupled.
A plurality of the comprising a casing forming <br/> coupling maintain pawl engaged portion of the distal end portion of the coupling maintenance pawl is engaged is formed, the casing and the joinable member of the coupling member when that Among the above casings, one casing is formed with a convex portion projecting in a direction in which the other casing is located in a state immediately before the coupling in which both members face each other, and the other casing is A coupling device characterized in that a recessed portion that can be engaged with the raised portion of one casing is formed. 2. The member to be joined is moved when the member to be joined is relatively moved in a direction of approaching the member to be joined and when the joining claw of the joining member is swinging. A guide member is provided for guiding the coupling claws gradually to the coupling claw engaged portion when the tip ends contact each other.
The coupling device described. 3. A line connecting the pin for retaining the coupling maintaining claw to the casing and the coupling maintaining claw engaged portion with which the coupling maintaining claw engages when both members are coupled,
The coupling device according to claim 1 or 2, wherein the pin and the coupling maintaining claw engaged portion are provided so as to be parallel to the protruding direction of the convex portion. 4. The pawl drive mechanism includes a plurality of link members, and the plurality of link members are connected to each other through pins so that the tip ends of the plurality of coupling pawls swing, and a plurality of link members are provided. A link mechanism in which a part of the coupling claw of the link mechanism is connected to any one of the plurality of link members via a pin, and any one of a plurality of link members constituting the link mechanism An urging member for urging the connection maintaining claw in a direction in which a part of the connection maintaining claw comes into contact with a part of the link member; and the part of the connection maintaining claw contacting each other. A cam surface is formed on any one of the part of the specific link member so that the tip of the coupling maintaining claw swings by the operation of the specific link member. Item 5. A coupling device according to item 1, 2 or 3. 5. Of the coupling member and the coupled member,
5. The coupling device according to claim 1, wherein at least one of them is provided with a coupling detection means for detecting completion of coupling of both. 6. The coupling detecting means is provided on the coupling member, and the claw state sensor for detecting the position of the coupling claw and the both members are in contact with each other when the coupling member and the coupled member can be coupled. The coupling device according to claim 5, further comprising a contact sensor that detects whether or not the connection is performed. 7. The coupling member includes a torque transmission shaft rotatably arranged and a torque transmission mechanism for rotating the torque transmission shaft, wherein the coupled member is coupled to the coupling member. 7. The coupling device according to claim 1, further comprising a torque transmission shaft that is rotatably arranged at a position that can be engaged with the torque transmission shaft. 8. The coupling member comprises a connector for receiving and transmitting electric power and / or a predetermined signal, and the coupled member is connectable to the connector when coupled with the coupling member, and the power and 8. The coupling device according to claim 1, further comprising a connector for receiving and transmitting a predetermined signal. 9. A method according to claim 1, 2, 3, 4, 5, 6, 7 or 8.
A joint manipulator, comprising: the joint device according to claim 1; and an operable manipulator arm, wherein the joint member of the joint device is attached to a tip of the manipulator arm.