JP2676265B2 - Capture mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention is required to quickly and surely capture a misaligned object with a small force without giving a large disturbance force. The present invention relates to a space rendezvous / docking mechanism capture mechanism that requires a reliable retention of capture rods attached to a capture object and an emergency retention release function.

[Prior Art] FIGS. 8 to 11 are views showing a capturing mechanism for a rendezvous-docking mechanism used as an end effector of a space manipulator.

FIG. 8 shows the initial capture state of the captured object having the capture rod (proprietary name: Grapuru Fixia), and FIG. 10 is a view of the captured object viewed from the direction of the captured object. FIG. 9 shows the state after the captured object has been drawn in and held, and FIG. 11 is a view of the captured object viewed from the direction of the captured object.

In the figure, (1) is the first rotation drive device for capture operation,
(2) is a second rotary drive device for retracting and holding operation,
(3) is a transmission mechanism for transmitting power of the first rotary drive device (1), (4) is a gear train for transmitting power of the second rotary drive device (2), and (5) is a gear train. A rotary feed mechanism that converts the rotary motion transmitted from (4) into a linear motion,
(6) is an outer ring incorporating a nut combined with the rotary feed mechanism (5), (7) is a large diameter bearing inserted inside the outer ring (6), and (8) is a large diameter bearing ( Inner ring mounted on the inside of 7) to which rotational power is transmitted from the transmission mechanism (3), and (9) having flexibility with both ends fixed to the outer ring (6) and the inner ring (8) 3 The wire rod (10) of the book is a capture rod attached to an object not shown in the figure. Next, near initial capture, pull-in,
A series of holding operations will be described. In FIG. 8, a capture mechanism (ENF ecta) attached to the tip of the capture rod (1) by an extension mechanism or the like not shown in the figure
The rod (10) for catching is surrounded by three wire rods (9) while approaching it while controlling the rough position and posture.
Lead. This state is the state shown in FIG. 10, which is the state in which the capturing mechanism has completed the approach to the captured object. Then, the motion of the first rotary drive device (1) is transmitted to the inner ring (8) by the transmission mechanism (3), and the inner ring (8) is moved.
Is rotated in the direction of the arrow in FIG. 11 with respect to the outer ring (6), and as shown in FIG.
0) Center and tighten. This state is a state in which the initial capture has been completed. Next, as shown in FIG. 9, the motion of the second rotary drive device (2) is transmitted to the outer ring (6) via the gear train (4) and the rotary feed mechanism (5),
The outer ring (6) moves leftward in FIG. 9 together with the large diameter bearing (7), the inner ring (8), the wire rod (9), and the capturing rod (10) to perform the retracting operation. Although the capturing rod (10) stops in the middle of retracting, the outer ring (6) and the like are further retracted, and as a result, the capturing rod (10) is retained by the capturing itself via the wire (9).

The characteristic of the conventional capture mechanism is that the wire rod (9) has flexibility, so that the impact given to the captured object through the capture rod (10) at the time of initial capture is extremely high even in a micromoving environment such as space. It was possible to make it smaller.

[Problems to be Solved by the Invention] However, the conventional capture mechanism (end effector)
However, in order to fix the capture rod (10), a time-consuming operation of winding the wire rod (9) by the rotation of the inner ring (8) is required, and the start of the capture operation is not shown in the figure. The sensor is inferior in reliability because it needs to detect the capture rod and electrically give a command. In addition, the holding power is limited because it depends on the thin wire (9), and it is difficult to have the holding and releasing function in case of emergency in the capturing mechanism side, so that the capturing rod side has to be provided.

The present invention has been made to solve the above problems, and it is possible to quickly and surely capture a capturing rod attached to an object to be captured having misalignment with only a mechanical operation with a small force. The objective is to obtain a capture mechanism that can reliably hold the capture rod and open and hold it in an emergency.

[Means for Solving the Problems] A capture mechanism according to the present invention has a hook portion for a guide cone for introducing a capture rod attached to an object to be captured and a hook for capturing the capture rod. , A trigger that is rotated by the contact of the capture rod introduced into the central portion of the guide cone, and before the capture rod is introduced, it is fixed to the catch portion of the trigger and the tip end is opened. After being introduced in the state, after the introduction of the capture rod, the trigger is rotated by the contact of the capture rod to release the fixation of the trigger by the hooked portion, thereby closing the open state of the tip end. A hook for capturing the capture rod, a bracket that supports the hook, and a bracket that is arranged between the bracket and the hook and that connects the both with a pin. The combined plate, the rotor rotatably pin-coupled to the bracket, and the rotor for transmitting the force for rotating the hook in the opening direction by the rotating operation, and the bracket are introduced into the central portion of the guide cone. And a slide rod that slidably supports the capturing rod in the introducing direction and the opposite direction thereof, and moves in the introducing direction of the capturing rod and the opposite direction, and contacts the rotor by moving in the opposite direction. Between the push rod for rotating the rotor by rotating the rotor, the slide rod and the push rod, the ball screw reciprocating in the introducing direction of the capturing rod and the opposite direction, and between the bracket and the central portion of the guide cone. A center pin that is provided and holds the capture rod between the hook and Before the capturing rod is introduced into the guide cone, the slide rod and the push rod are moved in a direction opposite to the introduction direction, and the slide rod and the push rod are pressed against the bracket and the rotor, respectively, After rotating the hook in the opening direction and coupling the hook in the opened state with the hook portion of the trigger, the push rod is moved in the introducing direction to release the restraint of the rotor by the push rod. When the hook operates from the open state to the closed state due to the means for driving and controlling the ball screw and the contact of the trapping rod with the trigger along with the introduction of the trapping rod into the guide cone, the bracket and hook are Move it in the direction of introduction and between the hook and the center pin. To hold a serial capture rod is obtained by a means for driving controlling the ball screw.

Further, the capture mechanism according to the present invention normally supports the plate, and in an emergency, releases the support of the plate and rotates the hook together with the plate to open the tip of the hook to capture the plate. A cylinder that releases the fixation of the rod, a rope whose one end is attached to the cylinder to hold the cylinder in a normal state, and a rope release device that holds the other end of the rope and releases the holding in an emergency, And a spring for applying a sliding force to the cylinder by releasing the holding of the rope.

[Operation] In the capture mechanism according to the present invention, the guide cone absorbs misalignment of the capture rod, and then the capture rod touches the trigger and rotates the trigger slightly to remove the hook between the trigger and the hook. By operating it instantly, the capture rod can be captured quickly and reliably with a small force.

Further, after the hooking operation, by sliding the bracket supporting the hook backward, the catching rod is supported so as to be sandwiched between the hook and the center pin, so that the catching rod is securely held.

Moreover, in an emergency, the rope release device releases the cylinder fixed through the rope and slides it to open the hook and the plate that forms the link with the bracket to open the hook. It is possible to realize the holding and opening operation of the rod for use.

An embodiment of the present invention will be described below with reference to the drawings.

1 to 7 are views showing an embodiment of the present invention, all of which are views taken along a plane passing through the longitudinal axis of the capture mechanism.

FIG. 1 is a diagram showing an initial state in each operation unit of the present invention.
2 to 7 are diagrams showing a series of capture operations. Fig. 2 shows the hook set to the open state in preparation for capture, Fig. 3 shows the state in which the capture rod is installed and the capture rod attached to the target is introduced, and Fig. 4 shows the initial capture is completed. Fig. 5 shows a state where the capture is completed, Fig. 6 shows a released state where the capture state is released, and Fig. 7 shows a state where the emergency is released in an emergency.

In the figure, (10) is a capturing rod (not shown in FIGS. 1 and 2) (11) is a guide cone into which the capturing rod (10) is introduced, and (12) is, for example, a housing (23a) described later. ), A trigger that is rotated by the contact of the capture rod (10), (13) is a hook that is released from the constraint by the action of the trigger (12), and (14) is a hook that closes quickly (14). ) And the hook (13) above, (15)
Is a rotor for setting the hook (13) to an open state, (16) is a plate that supports the hook (13) by a pin and rotates only in an emergency, (17) is the rotor (15) and the plate ( 16) Pin-supported bracket, (1
8) is a slide rod that slidably supports the bracket (17), (19) is a push rod that transmits a force to the rotor (15), and (20) is the slide rod (18) and the push rod (19) are attached. Ball screw, (21) a bearing that supports the ball screw (20), (22) a drive motor that applies a rotational force to the ball screw (20), (23) a guide cone (11), and a bearing (21). ) Housing for supporting the above drive motor, (2
4) is a cylinder that slides in an emergency to release and rotate the support of the plate (16) to open the hook (13) in an emergency state, and (25) is a rope that holds the cylinder (24). , (26) is the above rope (25)
Rope release device to release the retention of the rope in an emergency, (27)
Is the center pin that holds down the capture rod (10), (2
8) are various springs.

Next, the operation of the capture mechanism configured as described above will be described below.

In the initial state shown in FIG. 1, the hook (13) is disengaged from the hook (13) of the trigger (12) and the hook (13).
The tip of is closed. The ball screw (20) is in the middle of its movable range. The process of setting the hook to the open state from this state is shown in FIG. In Fig. 2, the ball screw (20) moves forward (left side in the figure) and the bracket (17) is pushed forward by the spring (28d).
The rotors (15a) and (15b) are rotated by the push rod (19), and the rotors (15a) and (15b) are rotated in the direction of opening the hook (13). The hook (13) is fixed to the trigger (12) and the hooking portions (14a) (14b), and its tip is opened.

Next, the process of preparation for capture and the introduction of the capture rod attached to the target will be described with reference to FIG.

The ball screw (20) returns to the same position as in FIG. 1, and the constraint that the push rod (19) has applied to the rotors (15a) and (15b) is removed, and preparation for capture is completed.

In the figure, the capture rod (10) is a guide cone (1
The state introduced by 1) is also shown.

When the capture rod (10) is introduced into the center of the guide cone (11) after the capture preparation is completed, the capture rod (10) contacts the trigger (12) as shown in FIG. 1
2) Hook (13) engaged with hook (14a) (14
Remove b) and activate the hook (13) to complete the initial capture. At this time, there is a clearance between the capture rod (10) and the hook (13), which facilitates the operation of the hook (13).

When the initial capture is completed, for example, a micro switch (not shown) that operates by opening and closing the hook (13) detects the hook (13) in the initial capture state, and the drive motor (22) operates accordingly. The ball screw (20) is moved rearward (right side in the figure) by the drive motor (22) as shown in FIG. 5, and the bracket (17) is moved to the slide rod (18).
While being supported by, the spring (28c) receives force and moves backward. Due to this movement, the hook (13) also moves backward, and the capture rod (10) is securely held by the center pin (27) under the force of the spring (28a), and the capture is completed.

Next, the process of releasing the capture state will be described with reference to FIG.

In FIG. 6, the ball screw (20) is moved forward (left side in the figure) by the drive motor (22), moves forward to the same position as in FIG. 2, and the hook (13) is moved by the procedure described in FIG. Open and release the capture rod (10). At this time, the center rod (27) is attached to the capturing rod (10).
The force of the spring (28a) is transmitted by the guide cone (11).
It comes out more and becomes a release state.

By the way, for example, in the capture state shown in FIGS. 4 and 5, an emergency capture rod (1
0) is required to be released, or when the trapped state shown in FIG. 5 is about to shift to the normal released state shown in FIG. 6, the motor is driven due to a failure of the motor controller not shown in the figure. When the motor (22) for operation does not operate, it is necessary to release the capture rod (10) urgently by operating the rope release device (26). That is, the seventh
In the figure, the emergency release operation is not shown in the above-mentioned figures. The rope release device (26) operates by detecting the open state of the hook (13) with a micro switch or the like, releasing the rope (25), and the cylinder (24) slides backward due to the force of the spring (28b). .

As a result, the plate (16) is no longer supported and the plate (16) rotates together with the hook (13).
To open. The capturing rod (10) receives a force from the center pin (27), comes out of the guide cone (11), and is in an emergency released state.

As described above, according to the present invention, after the misalignment is absorbed by the guide cone of the capturing rod attached to the captured mechanism, the trigger is touched and the trigger is slightly rotated by a slight load. Since the hook is instantly operated by removing the hooking part of the trigger and the hook, it is possible to capture quickly and reliably with only a slight force of the capture rod compared to the conventional capture mechanism and only with the mechanism operation. There is an effect.

Further, in the trapping mechanism of the present invention, the trapping rod can be supported so as to be sandwiched between the hook and the center pin by sliding the bracket supporting the hook backward after the hooking operation, so that the trapping rod is reliably held. There is an effect.

Further, in the catching mechanism of the present invention, in an emergency, the cylinder released through the rope is released by the rope release device and the cylinder is slid by the spring force to rotate the hook and the plate forming the link with the hook to rotate the hook. Since the opening operation is performed, there is an effect that the holding and opening operation of the capturing rod in an emergency can be realized.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a trapping mechanism according to an embodiment of the present invention, FIGS. 2 to 7 are views showing a series of trapping operations of the trapping mechanism according to the present invention, and FIGS. 8 to 11 are conventional trapping operations. FIG. 8 is a view showing the mechanism, FIG. 8 is a state diagram of introduction of a conventional capture rod, FIG. 9 is a state diagram of capture of a conventional capture rod, FIG. 10 is a right side view of FIG. The drawing is a right side view of the conventional FIG. In the figure, (1) is a first rotary drive, (2) is a second rotary drive, (3) is a transmission mechanism, (4) is a gear train, (5) is a rotary feed mechanism, and (6). Is the outer ring,
(7) large diameter bearing, (8) inner ring, (9) wire rod, (10) rod for capture, (11) guide cone,
(12) is a trigger, (13) is a hook, (14) is a hook, (15) is a rotor, (16) is a plate, (17) is a bracket, (18) is a slide rod, and (19) is a push rod. , (20) ball screw, (21) bearing, (22) drive motor, (23) housing, (24) cylinder,
(25) is a rope, (26) is a rope release device, (27)
Is a center pin and (28) is a spring. The same reference numerals in the drawings indicate the same or corresponding parts.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Jun Nakagawa 325 Kamimachiya, Kamakura City, Kanagawa Mitsubishi Electric Corporation Kamakura Factory (72) Inventor Eiichi Dooka 325 Kamimachiya, Kamakura City, Kanagawa Mitsubishi Electric Kamakura Manufacturing Co., Ltd. (72) Inventor Tomohiro Noda 730 Kamimachiya, Kamakura City, Kanagawa Mitsubishi Electric Engineering Co., Ltd. Kamakura Factory (56) Reference JP-A-3-118299 (JP, A) JP-A-62 -103300 (JP, A) Actual Kaihei 3-67300 (JP, U) US Patent 4588150 (US, A) US Patent 4431333 (US, A)

Claims (2)

(57) [Claims] 1. A trap having a guide cone for introducing a capturing rod attached to an object to be captured and a hook for capturing the capturing rod, the capturing being introduced at a central portion of the guide cone. Trigger that rotates by the contact of the rod for contact, before the rod for capture is introduced is held in a state in which the tip end is fixed and fixed to the catch of the trigger, after the rod for capture is introduced, A hook for capturing the capturing rod by closing the open state of the tip by releasing the fixation of the trigger by the hooking portion of the trigger due to the contact of the capturing rod, A bracket that supports the hook, a plate that is arranged between the bracket and the hook, and is a pin that connects the two as a link mechanism, and is rotatable to the bracket A rotor for transmitting a force for rotating the hook in a direction in which the hook is opened by being pin-coupled and rotating, and the bracket, the introducing direction of the capturing rod introduced into the central portion of the guide cone, and its introducing direction. A slide rod slidably supported in the opposite direction, a push rod that moves in the introducing direction of the capturing rod and the opposite direction thereof, and moves in the opposite direction to contact the rotor to rotate the rotor. The slide rod and the push rod are attached, and the cap screw is provided between the bracket and the center portion of the guide cone, and the ball screw that reciprocates in the introducing direction of the capturing rod and the opposite direction thereof, and the capturing is performed between the hook and the hook. Pin for holding the rod for capture and the rod for capture are introduced into the guide cone. Moves the slide rod and the push rod in a direction opposite to the introduction direction, rotates the hook in the opening direction while pressing the slide rod and the push rod against the bracket and the rotor, respectively, and A means for driving and controlling the ball screw so that the push rod is moved in the introducing direction to release the restraint of the rotor by the push rod after the hook is coupled with the hook portion of the trigger; When the hook moves from the open state to the closed state due to the contact of the capture rod with the trigger as the rod for introduction into the guide cone is moved, the bracket and the hook are moved in the introduction direction to move the hook and the center. Hold the ball rod so that it holds the capture rod between the pins. And a means for controlling the driving of the capture device. 2. Normally, holding the plate supports the plate, and in an emergency, releasing the support of the plate and rotating the hook together with the plate to open the tip of the hook to release the fixation of the capture rod. Cylinder, a rope with one end attached to the cylinder to keep the cylinder in a normal state, a rope release device that holds the other end of the rope and releases the hold in an emergency, and release of the rope hold The capture mechanism according to claim 1, further comprising a spring that applies a sliding force to the cylinder.