JP2825278B2 - Coupling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial application field) The present invention relates to a coupling device for coupling / separating an object with each other. The present invention relates to a docking device used for connection / separation of a structure, a manipulator for moving goods in a space base, and the like.

(Prior Art) A general connecting device used for docking in outer space is configured such that a tapered cylindrical convex member is fitted into a concave member. In a typical connection device, a mechanism is used that pulls a partner at the time of connection. As one example of this, there is known a docking device configured to rotate a key-shaped claw to retract a bar of a partner. In this device, the mechanism itself has a complicated and heavy structure in order to generate a pulling force.

As another example, U.S. Pat. No. 4,105,241 discloses a coupling device in outer space. This snare-type gripping mechanism is a mechanism that pulls a wire to grip an object, pulls the object after gripping the object. The feature of this mechanism is that it can be reliably gripped even if the positioning accuracy is rough.

(Problems to be Solved by the Invention) In a conventional coupling device used in outer space, the moment of coupling is small, even if both are approaching slowly, for example, docking of a space shuttle and a space station. There is a drawback that you will hit it. Accordingly, there is a problem that the connecting device is damaged or its durability is reduced due to this defect. In addition, a shock absorber such as a damper is required to reduce the impact at the time of connection.

Further, in the device using a key-shaped claw, not only a draw-in force is required, but also in the same manner as in the previous example, the two collide with each other at the time of docking, and the connecting device is damaged and durability is reduced. There is.

Further, even in a mechanism using a wire, a collision is inevitable due to the operation of pulling in the partner at the time of connection, and the mechanism itself becomes complicated, and furthermore, there is a problem of settling of the wire which performs the centering action.

As described above, in the conventional coupling device, it is necessary to generate a retraction force, and not only is the mechanism itself complicated and heavy, but also there is a drawback that the two collide with each other. For this reason, there is a problem that the connecting device itself is damaged, the durability of a part of the mechanism is reduced, and the use period is limited. Further, a buffer device such as a damper is required to reduce the impact at the time of coupling, and the configuration has been complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to simplify and reduce the structure of a connecting device, accurately detect the relative position of two objects to be connected, and An object of the present invention is to provide a connecting device in which objects do not collide at the time of connecting.

[Constitution of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention relates to a connecting device for connecting two objects, which is provided on one of the objects, and A concave engaging portion formed to have a shape having an inner diameter gradually larger than the opening as proceeding to the back, and an inner periphery of the engaging portion provided on the other object and fitted into the engaging portion. A docking mechanism press-fitted to the surface, a first sensor system for detecting the direction of the other object with reference to one of the objects, and a second sensor for detecting the relative inclination of the two objects A docking mechanism comprising: a base; a rotary drive source supported by the base; a ball screw member having one end connected to the rotary drive source and selectively driven to rotate; and a ball screw member. Screwed into the ball A nut member that moves in the axial direction along with the rotation of the screw member; and at least two nuts, one end of which is rotatably supported by the nut member and the other end of which extends toward the other end of the ball screw member. One first link member, one end of the first link member is rotatably connected to the other end, and the other end is rotatably supported by the base at the one end of the ball screw member. A second link member, wherein the nut member is moved to the other end side of the ball screw member so that the second link member and the first link member are moved with respect to an axis of the ball screw member. The connecting portion between the link member and the first link member is moved outside the pivotal support point of the second link member to the base to connect the second link member or the second link member to the first link member. Department It is characterized by being brought into pressure contact with the inner peripheral surface of the engaging portion.

Note that the first sensor system includes a laser light emitting device and a laser position detector provided on one of the object sides, and a laser light reflector provided on the other object. The second sensor system may include a plurality of displacement sensors operating near the connection position.

Further, a roller may be attached to a connecting portion between the first link member and the second link member.

(Operation) In the connection device according to the present invention, an engagement portion having one of the above-described shapes, that is, an inner diameter that increases as it goes deeper than the opening, is provided on one of the objects, and the other object is fitted into the engagement portion. After that, there is provided a docking mechanism which is pressed into engagement with the inner peripheral surface portion of the engaging portion, and the connection is realized by press-contact engagement between these engaging portions and the docking mechanism.

In particular, as the docking mechanism, one having a configuration in which the distal end side of the second link member is pushed out by using a ball screw member and a nut member is used, whereby the second link member or the second link member and the first link member are used. The connecting portion with the link member is brought into pressure contact with the inner peripheral surface of the engaging portion.

Therefore, in the connecting operation using the engaging portion and the docking mechanism having the above configuration, the pressing force in the radial direction centering on the axis of the ball screw member is mainly applied, and the force for forcibly pulling the partner is applied. Is weak. For this reason, a strong connection can be realized in a state in which a collision that is likely to occur during the connection operation is avoided. In addition, the second using a ball screw member and a nut member
Since the simple structure of expanding the front end side of the link member is adopted, the structure is not complicated.

Further, since the first sensor system for detecting the direction of the other object with reference to one of the objects and the second sensor system for detecting the relative inclination of the two objects are provided, the first sensor system is provided. The object can be guided to the connection position using the information of the sensor system, and the relative position at the time of connection can be finely adjusted using the information of the second sensor system. Therefore, it is possible to contribute to the realization of a safe and reliable connection operation without collision.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

1 and 2 show a first embodiment of a docking mechanism to which the connecting device according to the present invention is applied. FIG. 1 shows the entire docking mechanism, and FIG. 2 shows a cross section of the docking mechanism.

The docking mechanism 2 according to the first embodiment includes a docking unit 4 and a docking target 5 which is a docking partner. The docking unit 4 includes a docking mechanism unit 25.
And a capture and tracking sensor system 26 as a first sensor system.
And a proximity sensor system 27 as a second sensor system.

As shown in FIG. 2, the docking mechanism 25 includes mechanism bases 28a and 28b arranged vertically, and the mechanism bases 28a and 28b
Are installed in parallel with each other by a first bearing stand 37 arranged at the rear part and a second bearing stand 38 arranged at the front part.
The motor 29 as an actuator is attached to the first bearing stand 37. And, on the rotating shaft 29a of the motor 29,
A ball screw 31 is connected via a coupling 30. The distal end and the proximal end of the ball screw 31 are first and second
It is rotatably held by bearings 36a, 37b fixed to bearing stands 37, 38. The ball screw 31 has a nut 34
Are screwed, and a support fitting 35 is fixed to the nut 34. Therefore, when the rotation shaft 29a of the motor 29 is rotated, the ball screw 31 rotates, and the support bracket 35 moves along the axial direction of the ball screw 31. The tip of the ball screw 31 and the bearing 36 holding the tip are covered with a cap 39.

As shown in FIG. 1, base ends of a pair of left and right first link members 32a and 32b are rotatably attached to the support fitting 35,
The first link members 32a, 32b extend forward. First
The second link members 33a, 33b are provided at the distal ends of the link members 32a, 32b.
Of the second link member 33a,
The base end of 33b extends rearward and is rotatably attached to the mechanism base 28b.

On the other hand, the docking object 5 partially shown in FIG. 1 has a concave depression 10 which engages with the docking mechanism 25, and the inside 11 of the depression 10 is formed wider than the opening 12. That is, the depression 10 is formed in a tapered shape that expands rearward from the opening 12. Therefore, if the docking mechanism 25 engages with the concave depression 10, the falling off is prevented.

Next, the operation of the docking unit 4 according to the first embodiment will be described.

First, when the motor 29 is driven from the state shown by the solid line in FIG. 1 to rotate the ball screw 31, the nut 34 and the support bracket 35 move forward along the axis, and the support bracket 35 moves.
The first link members 32a and 32b each having one end pivotally mounted on the drive shaft are expanded from a state where the first link members are folded at an acute angle with respect to the drive shaft. With this movement, the second link members 33a, 33b are pivoted outward, and this action causes the docking mechanism 25 to
In FIG. 10, it spreads as shown by a two-dot chain line in FIG. That is, the second link members 33a and 33b are connected to the second link members 33a and 33b and the first link member with respect to the axis of the ball screw 31.
The connecting portion with 32a, 32b is the base 2 of the second link member 33a, 33b.
8a, 28b are pushed out so as to be located outside the pivot support point, whereby the second link members 33a, 33b
11 is pressed into engagement with the inner peripheral surface. As a result, the docking mechanism 25 is restrained by the interior 11 of the recess 10 and is firmly fixed. Since such a docking mechanism uses a simple link mechanism, it is lightweight and highly reliable.

Next, a sensor system according to the first embodiment will be described.

As shown in FIG. 2, the capture and tracking sensor system 26 as a first sensor system includes a semiconductor laser projector (laser beam emitter) 43, and the semiconductor laser projector 43 includes a metal fitting.
It is fixed to the sensor base 40 by 42. The sensor base 40 is connected to the mechanism base by the connecting member 41.
It is fixed to 28b. A beam splitter 45 is disposed in front of the semiconductor laser projector 43, and the beam splitter 45 is fixed to the sensor base 40 by a bracket 44. A beam transmission hole 40a is formed in a portion of the sensor base 40 where the beam splitter 45 is installed. And
An optical filter 46 is attached to the back surface of the sensor base 40 so as to cover the beam transmission hole 40a. This optical filter 46
A condenser lens 48 is arranged below the lens holder 47, and a lens holder 47
Is held by Further, a laser position detector 51 provided on a substrate 49 is disposed below the condenser lens 48, and the substrate 49 is held by a plurality of foot fittings 50 fixed to the sensor base 40. The substrate 49 and the condenser lens 48 are provided with a cover 52 attached to the back of the sensor base 40.
Covered by

In the supplementary tracking sensor system 26 configured as described above, the laser light emitted from the semiconductor laser projector 43 passes through the beam splitter 45 as indicated by an arrow 60 in FIG. The light enters a corner cube reflector (not shown) as a reflector. Since the corner cube reflector has the property of returning the incident laser light in parallel, the reflected laser light
The light returns to the beam splitter 45 as indicated by 61, is further reflected by the beam splitter 45, and enters the laser position detector 51 through the lens 48. By such a detecting means, the direction of the docking target 5 can be known from the docking section 4 in which the capturing and tracking sensor system 26 is installed. Therefore, in the initial operation of docking, the capture and tracking sensor system 26 or the entire docking section 4 is moved to scan the laser beam and detect the direction of the docking target 5. After that, the docking unit 4 is moved closer to the docking target 5. At this time, the docking section 4 is guided and positioned to the docking position without contacting the docking target 5, so that docking without impact is possible. The final alignment of the docking mechanism depends on the errors of the capturing and tracking sensor system 26 and the proximity sensor system 27 described later. Usually, this error is so small that the acceleration that occurs during docking is almost zero.

Next, a proximity sensor system according to the first embodiment will be described.

As shown in FIG. 1, the proximity sensor system 27 as a second sensor system includes two displacement sensors 54a and 54b,
These displacement sensors 54a, 54b are fixed to both sides of the sensor base 40 by sensor mounting brackets 55a, 55b, respectively. The proximity sensor system 27 has a function of detecting the inclination of the docking target 5 near the docking position.
Therefore, when the direction of the docking target 5 is detected by the capturing and tracking sensor system 26 and the docking unit 4 is brought close to the docking target 5, the relative position between the docking unit 4 and the docking target 5 obtained by the proximity sensor system 27 is obtained. The docking mechanism 25 of the docking unit 4 is inserted into the docking object 5 without colliding with the concave recess 10 by moving the entire docking mechanism so as to correct the tilt according to the signal of the typical tilt.

In the docking mechanism 2 configured as described above, the direction and inclination of the docking target 5 can be detected by the capture and tracking sensor system 26 and the proximity sensor system 27, and the docking unit 4 can be guided to the docking position. Collision with the docking target 5 can be prevented. Moreover, since the docking mechanism 25 has a simple configuration that only expands the link mechanism, it is lightweight and highly reliable, and is particularly useful as a docking mechanism used in a space environment. In addition, by forming the concave depression provided in the docking target 5 to have a shape in which the inside is wider than the entrance, a strong docking that is difficult to be pulled out can be realized. Further, at the time of docking, since the link mechanism and the inside of the recess are in surface contact with each other, the rigidity at the time of docking is extremely high.

Next, a second embodiment of the connecting device according to the present invention will be described with reference to FIG. In FIG. 3, the same members as those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 3 illustrates a docking mechanism to which the connecting device according to the second embodiment is applied. This docking mechanism 65
In this embodiment, a hollow ball screw 66 is used in place of the ball screw 31, and the laser beam emitted from the semiconductor laser projector 43 of the capture and tracking sensor system 26 passes through this hollow portion. Therefore, the laser light is indicated by the arrow in FIG.
It is emitted as shown at 63. A first gear 69 is fixed to the base end of the hollow ball screw 66, and a gear 68 fixed to the rotating shaft 29a of the motor 29 is meshed with the first gear 69. Therefore, the hollow ball screw 66 is driven to rotate by the motor 29.

In the docking mechanism 65 according to the second embodiment, the first link member 32a rotatably attached to the support bracket 35,
Rollers 70a and 70b each having a built-in bearing are attached to coupling portions 64a and 64b between the second link members 33a and 33b rotatably attached to the mechanism base 28b and the mechanism base 28b. Further, two stoppers 71a and 71b for restricting the docking position with the docking target 5 are attached to both front sides of the sensor base 40, and cushioning materials 72a and 72b are attached to these stoppers 71a and 71b. ing.

In the docking mechanism configured as described above, the capturing and tracking sensor system 26 can be formed more compactly than the docking mechanism of the first embodiment, and the link mechanism of the docking unit can be formed into three sets to form a three-dimensional docking mechanism. It will be easier. In addition, by disposing a roller at the coupling portion of the link mechanism, the alignment between the docking portion 4 and the docking target 5 can be easily performed, and the tip of the docking mechanism portion 25 can be docked even when the sensor system described above fails. Upon reaching the inside of the concave depression 10 of the object 5, the rollers 70a and 70b can roll inside the depression 10 and dock automatically by simply opening the link mechanism. Also, stopper
71a, 71b have a function of restricting the docking position with the docking target 5, and furthermore, by attaching the buffering materials 72a, 72b to the stoppers 71a, 72b, buffering at the time of docking can be eased. .

The docking section 4 in the second embodiment supports the docking target 5 with a roller and a stopper at the time of connection, and is therefore suitable for frequently performing coupling / separation.

In the above embodiment, the planar structure is described, but it is extremely easy to apply the present invention to a general three-dimensional structure.

Next, a third embodiment of the connecting device according to the present invention will be described with reference to FIG. In FIG. 4, the same members as those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description is omitted.

The docking mechanism 100 shown in FIG. 4 is a three-dimensionally formed connecting device. The docking unit 4 of the docking mechanism 100 includes a substantially cylindrical housing 101. The housing 101 is rotated by the motor 29 via the coupling 30 in the same manner as in the first and second embodiments. A freely connected ball screw 31 is arranged, and the ball screw 31
Has a front part projecting forward from an opening of the housing 101. A nut 34 having a support fitting 35 is screwed to the ball screw 31, and three first link members 32a, 32b, 32c are axially mounted on the support fitting 35 at intervals of 120 degrees in the circumferential direction. I have. These first link members 32a, 32b, 32c extend forward, and second ends of the second link members 33a, 33b, 33c are fixed to the respective ends. The base end of each of the second link members 33a, 33b, 33c extends rearward and is axially mounted on a flange 104 as a mechanism base formed at an opening of the housing 101.

On the other hand, the cylindrical docking object 5 is formed with a conical recess 108 in which the inside is wider than the entrance, and the docking mechanism 25 can be engaged with the recess 108. Further, inside the recess 108, the second link member 33 is provided.
three link holders 105a, 105b, 105 accommodating a, 33b, 33c
c is installed. These link holders 105a, 105b, 105c
Is formed with a groove having a tapered cross section, and when the second link members 33a, 33b, 33c are accommodated in the groove, mechanical play can be eliminated.

Further, in the third embodiment, a laser sensor system 106 in which the capture and tracking sensor system and the proximity sensor system are integrated into one is installed in the housing 101. The laser sensor system 106 includes at least three laser projectors 102a, 102b, 102
c and a laser position detector (not shown). On the other hand, the docking object 5 has a laser projector
Corner cube reflectors 103a, 103b, 103c are installed at positions corresponding to 102a, 102b, 102c.

 Next, the operation of the laser sensor system 106 will be described.

The laser light emitted from each of the laser projectors 102a, 102b, 102c is converted into a corner cube reflector 103a, 103b, 103c by an optical system similar to the capture and tracking sensor system described with reference to FIG.
And is reflected and returned by the laser position detector. Then, with this basic detecting means and three laser projectors, it is possible to detect a deviation between the translation (two axes) of the docking object 5 and the rotation about the central axis. Recognition of the individual corner cube reflectors 103a, 103b, 103c can be made by different markings made on the mirror surfaces constituting the corner cube reflectors. Furthermore, the distance to each corner cube reflector can be detected by applying pulse modulation to the intensity of the laser light with a laser projector and measuring the intensity with a laser position detector. If the respective distances can be measured, the inclination (two axes) of the docking object 5 can be calculated.

Therefore, if the above-described detecting means is used, the docking unit 4 can be guided to the docking position without making contact with the docking target 5. For example, when the docking target is stationary, the docking unit may be fixed to the tip of the manipulator and moved. When the docking section and the docking target are relatively moving, the laser projector may be used to catch the corner cube reflector and move the docking section or the docking target with a thruster or the like.

The docking mechanism configured as described above has a simple configuration in which the link mechanism is simply expanded similarly to the first and second embodiments, and enables docking that is lightweight, highly reliable, and highly rigid. Further, since a groove having a tapered cross section is formed in the link holder 105, mechanical play at the time of docking is prevented, and stronger docking can be achieved. Furthermore, since the laser sensor system in which the capturing and tracking sensor system and the proximity sensor system are combined into one is adopted, the sensor system can be made compact, and a docking mechanism having both light weight and high reliability can be provided. .

FIG. 5 shows a fourth embodiment of the connecting device according to the present invention. In the fourth embodiment, the mechanism base 110
And a movable member 1 that moves back and forth on the outer surface of the mechanism base 110
11 is provided, and a linear actuator 112 is attached to the movable member 111. Further, two first link members 113a and 113b are rotatably mounted on the movable member 111, and the first link members 113a and 113b extend obliquely forward and inward. The second link members 114a and 114b are fixed to the distal ends of the first link members 113a and 113b, respectively, and the base ends of the second link members 114a and 114b extend rearward and extend in front of the mechanism base 110. It is attached to the rim.

On the other hand, the docking target 5 is formed with an engagement convex portion 115 having a reverse taper. The two second link members 114a and 114b are connected to the engaging projections 1 of the docking object 5.
It has an interval wider than 15 outer diameters. Therefore, the docking unit 4 according to the fourth embodiment is connected to the docking target 5.
When the docking unit 4 is engaged with the docking unit 4, the docking unit 4 or the docking target 5 is moved, and the engaging projection 115 of the docking target 5 is accommodated in the space between the second link members 114a and 114b in the docking unit 4. Then, the linear actuator 112 is driven to move the movable member 111 forward. With the movement, the first link members 113a and 113b rotate inward, and the coupling portions 116a and 116b with the second link member move inward. As a result, the interval between the coupling portions 116a and 116b is reduced, and the engagement convex portion 115 of the docking target 5 is
It is gripped by 14a and 114b. In the fourth embodiment, the same effect as in the previous embodiment can be obtained.

In the fourth embodiment, the planar structure has been described, but it is obvious that this structure can be applied to a three-dimensional structure.

[Effects of the Invention] As described above, in the coupling device according to the present invention, the engagement portion whose inner diameter increases as it goes deeper than the opening is provided on one object, and the engagement portion is provided on the other object. A docking mechanism is provided which is pressed into engagement with the inner peripheral surface of the engaging portion after being fitted into the engaging portion, and connection is realized by press-fitting engagement between the engaging portion and the docking mechanism.

In particular, as the docking mechanism, one having a configuration in which the distal end side of the second link member is pushed out using a ball screw member and a nut member is used, whereby the second link member or the second link member and the first link member are used. The connecting portion with the link member is brought into pressure contact with the inner peripheral surface of the engaging portion. Therefore, in the coupling operation using the engaging portion and the docking mechanism having the above-described configuration, the pressing force in the radial direction centering on the axis of the ball screw operation is mainly applied, and the force for forcibly pulling the partner is weak. . For this reason, a strong connection can be realized in a state in which a collision that is likely to occur during the connection operation is avoided. Also,
Since a simple configuration in which the distal end side of the second link member is pushed and spread using the ball screw member and the nut member is employed, the configuration does not become complicated.

Further, since the first sensor system for detecting the direction of the other object with reference to one of the objects and the second sensor system for detecting the relative inclination of the two objects are provided, the first sensor system is provided. The object can be guided to the connection position using the information of the sensor system, and the relative position at the time of connection can be finely adjusted using the information of the second sensor system. Therefore, it is possible to contribute to the realization of a safe and reliable connection operation without collision.

[Brief description of the drawings]

FIG. 1 is a partially sectional plan view showing a docking mechanism according to a first embodiment of the present invention, FIG. 2 is a longitudinal sectional view of the docking mechanism shown in FIG. 1, and FIG. FIG. 6 is a partially sectional plan view showing a docking mechanism according to a second embodiment.
FIG. 4 is a perspective view of a docking mechanism according to a third embodiment of the present invention, and FIG. 5 is a plan view schematically showing a docking mechanism according to a fourth embodiment of the present invention. 2 docking mechanism, 4 docking part (connecting means), 5 docking object, 10 concave recess (engaging means), 11 internal, 12 opening, 25 docking Mechanism section 26: Capture and tracking sensor system (first sensor system), 27: Proximity sensor system (second sensor system), 28a, 28b: Mechanism base, 29: Motor (actuator), 32a, 32b ... first link member, 33a, 33b ...
2nd link member, 35 ... Support bracket (movable member), 43 ...
Semiconductor laser projector (laser beam emitting device), 51 ... laser position detector, 70a, 70b ... roller, 115 ... engaging projection (engaging means).

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B64G 1/64 B64G 1/66

Claims (3)

(57) [Claims] 1. A connecting device for joining two objects, wherein the connecting device is provided on one of the objects and has an inner diameter gradually larger than the opening as it goes deeper than the opening. A concave engaging portion, a docking mechanism that is provided on the other object and is pressed into engagement with an inner peripheral surface portion of the engaging portion after being fitted into the engaging portion; A first sensor system for detecting a direction of the object, and a second sensor system for detecting a relative inclination of the two objects, wherein the docking mechanism includes a base,
A rotation driving source supported by the base, a ball screw member having one end connected to the rotation driving source and selectively driven to rotate, and screwed to the ball screw member to rotate with the rotation of the ball screw member A nut member moving in the axial direction, and at least two first link members having one end rotatably supported by the nut member and the other end extending toward the other end of the ball screw member. And these first
A second link member having one end rotatably connected to the other end of the link member and the other end rotatably supported by the base at the one end of the ball screw member; and By moving a member to the other end side of the ball screw member, a connecting portion between the second link member and the first link member is connected to the second link member with respect to an axis of the ball screw member. The link member is moved to the outside of the rotation support point with respect to the base, and the second link member or the connecting portion between the second link member and the first link member is moved to the inner peripheral surface portion of the engaging portion. A connecting device for press-fitting engagement with the connecting device. 2. The first sensor system includes a laser beam emitting device and a laser position detector provided on one of the object sides, and a laser beam reflector provided on the other object. The coupling device according to claim 1, wherein the second sensor system includes a plurality of displacement sensors operating near a coupling position. 3. The connecting device according to claim 1, wherein a roller is mounted on a connecting portion between the first link member and the second link member.