JP2894073B2 - Space Structure 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 two structures which are provided in one of two structures connected in outer space, and which captures and retracts a trunnion provided in the other structure. The present invention relates to a coupling device for coupling structures.

[0002]

2. Description of the Related Art For example, when constructing a space station, a manipulator called a space robot (space robot) is mounted in advance on a truss structure serving as a skeleton of the space station, and a space shuttle vehicle (space robot) is mounted using this manipulator. Attempts have been made to transfer payloads such as experimental equipment from the shuttle to the truss structure side. In this case, for example, as shown in FIG. 5, a plurality of rough guides 51 and a coupling device 1 are provided in advance on a truss structure T serving as a skeleton of a space station, and a draw rod 52 of the payload P is provided by a manipulator (not shown). To transfer the payload P to the truss structure T side. At this time, the primary position of the payload P is reduced by absorbing the positioning error of the manipulator by regulating the payload P with a plurality of rough guides 51. The position of the truss structure T is finally determined by capturing the trunnion 2 on the payload P side with the coupling device 1 and pulling it in.
, The payload P is firmly connected and fixed.

As shown in FIGS. 6, 7, and 8, the coupling device 1 includes two base plates 4 each having a V-shaped groove 3 formed therein.
And a pair of claw pieces 5 and 6 sandwiched between the two base plates 4 and rotatably supported on both sides of the V-groove portion 3 of the base plate 4, and at the deepest portion of the V-groove portion 3. The preload prism 7 is provided as a center. An actuator 9 such as a motor for rotating the link 8 is provided on one base plate 4.
On the other hand, one end of the link 8 is connected to the output shaft 16 of the actuator 9, and the other end of the link 8 is a toggle type link mechanism 1.
It is connected to one claw piece 6 via 0,11,12. Each of the claw pieces 5 and 6 is provided with a pinion 14 coaxially integrated with the rotation shaft 13 thereof.
Since the gear 4 meshes with the synchronous gear train 15, the pair of claw pieces 5, 6 open and close in synchronization with each other. The preload prism 7 has a small degree of freedom about the axis 17 as a center of rotation, as shown in FIG. 9, and has a plurality of disc springs (not shown). And has a slight degree of freedom in the vertical direction.

Accordingly, when the trunnion 2 enters the capture area a of the pair of claw pieces 5 and 6 as shown in FIG. The closing operation is started, and the trunnion 2 is captured when the tips of the pair of claw pieces 5 and 6 cross each other as shown in FIG. The trunnion 2 captured by the pair of claw pieces 5 and 6 is gradually drawn into the V-groove portion 3 of the base plate 4 while being restrained by the claw pieces 5 and 6, as shown in FIG. As shown in FIG. 5D, the trunnion 2 is sandwiched between the pair of claw pieces 5, 6 and the preload prism 7 and restrained, so that the truss structure T and the payload P shown in FIG. Is done.

FIG. 10 shows a state in three directions before the payload P is coupled to the truss structure T by the coupling device 1.
FIG. 11 shows three states in which the connection is completed.

[0006]

In the method of connecting the truss structure T and the payload P employing the conventional connecting device 1 as described above, a plurality of rough guides 51 are required in addition to the connecting device 1. Therefore, the total weight and the occupied space of the coupling mechanism are undesirably increased.

In the connection between the truss structure T and the payload P, it is not always sufficient that the two are mechanically connected. For example, the connection between the truss structure T and the payload P is not sufficient. It is necessary to use an umbilical connector for umbilical connection for power supply and transmission / reception of various signals. However, when the conventional coupling device 1 is used, if the payload P is temporarily
9, and the trunnion 2 is captured by the pair of claw pieces 5 and 6 and the V-groove 3 of the base plate 4 even if the trunnion 2 is captured by the pair of claw pieces 5 and 6 as shown in FIG. It is possible to move within the space b formed. Therefore, the plug and the socket of the umbilical connector (the plug is provided on one of the truss structure T and the payload P and the socket is provided on the other) by utilizing the retracting operation of the payload P by the coupling device 1. Cannot be reliably connected to each other.

Therefore, the truss structure T and the payload P
When the truss structure T and the payload P are coupled by the coupling device 1 as shown in FIG. 12, the umbilical connector 53 provided on the truss structure T side, for example, as shown in FIG. A predetermined drive mechanism 57 having an actuator 56
To connect to the socket 55 on the payload P side, or as shown in FIG. 13, both the plug 54 and the socket 55 of the umbilical connector 53 are provided with a floating mount mechanism 58 or 59, and one of them is provided with a connector guard. 60 and a guide cone 61 on the other side.
It is necessary to perform umbilical connection while centering both by sliding contact between the guide cone 61 and the guide cone 61.

As a result, apart from the rough guide 51 for the coupling device 1, the drive mechanism 57 or the floating mount mechanism 58,
Since it is necessary to provide the connector 59, the connector guard 60 and the guide cone 61, the weight and the occupied space of the entire system are increased and complicated, which is not preferable.

The present invention has been made in view of the above-mentioned problems, and by improving the coupling device itself, if the trunnion is captured by a pair of claw pieces, the movement of the trunnion (movable The present invention seeks to provide a structure that does not require a rough guide for the coupling device or a guide mechanism for the umbilical coupling by significantly limiting the range.

[0011]

According to a first aspect of the present invention, a trunnion provided on one of two structures connected in outer space and captured on the other structure is captured and drawn. Thus, in the coupling device that couples the two structures, the base plate is fixed to the one structure and has a V-groove portion, and is rotatably supported on both sides of the base plate with the V-groove portion interposed therebetween. And a pair of claw pieces that intersect each other by capturing the trunnions and pull the trunnions into the deepest portion of the V-groove portion of the base plate, and sandwich the V-groove portion. It is rotatably supported on both sides of the base plate, and has an X-shape with each other on the deepest side of the V-groove portion than the trunnion to be captured by the pair of claw pieces. Intersect, while narrowing sandwiched a trunnion which the pair of pawls are captured between the pair of nail pieces
It is characterized by comprising a pair of alignment arms for guiding the trunnion to the deepest part of the V groove according to the movement of the claw .

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the distal ends of the pair of alignment arms are configured to be able to bend inward to each other, while the base plate is provided with a pair of claw pieces. An arm restricting member is provided for bending the pair of alignment arms in accordance with the progress of the operation of pulling the trunnion into the V-groove portion.

[0013]

According to the first aspect of the present invention, when the trunnion captured by the pair of claw pieces comes into contact with the alignment arm crossing in an X shape, the trunnion is formed by the pair of claw pieces and the alignment arm. The trunnion is pinched and constrained by the diamond-shaped space, and the trunnion cannot move except for the shortest linear motion from the constrained position toward the deepest portion of the V-groove. Therefore, in the fully opened state of the pair of claw pieces, if the pair of claw pieces only have an opening degree capable of absorbing the maximum relative position error between the structures connected to each other, the roughing can be performed only by the coupling device. Structures can be securely connected to each other without the need for a guide, and the above-described connecting device can be used without the need for a conventional large drive mechanism or guide mechanism at the umbilical connection part, for example. Umbilical coupling can be performed using the retracting operation.

According to the second aspect of the present invention, when the trunnion is further retracted by the pair of claw pieces after the trunnion is restrained by the pair of claw pieces and the alignment arm, the alignment arm is restrained by the arm while the trunnion is restrained. It gradually bends inward by contact with the regulating member. Therefore, even if the length of the alignment arm is long, the alignment arm has a structure that can be folded and folded in the middle, so that there is no disadvantage in terms of space. The long alignment arm allows the coupling device to capture the trunnion. In this case, a larger trapping area can be secured than that of the first aspect, and as a result, the trunnion can be restrained by the coupling device from an earlier time.

[0015]

1A to 1D show an embodiment of the present invention. As shown in FIG. 5, a truss structure T serving as a skeleton of a space station and a payload P are connected to each other. An example of the coupling device 1 used is shown, and the basic structure of the coupling device 1 is the same as that shown in FIGS.
6, 7, and 8, the pinion 14, the synchronous gear train 15, and the like are not shown.

FIG. 1A shows a state in which the pair of claw pieces 5 and 6 are fully opened and before the claw pieces 5 and 6 capture the trunnion 2.
A pair of alignment arms 18 and 19 are rotatably provided via a shaft 20 on both sides of the groove 3. The pair of alignment arms 18 and 19
Cross each other on the deepest side of the V-groove portion 3 with respect to the trunnion 2 to be captured by the claw pieces 5 and 6, and
6 is adjusted so as not to disturb the capture area a. Then, each alignment arm 18, 1
Although 9 is urged in the direction of arrow e1 by a torsion spring (not shown) incorporated in the shaft 20, the rotation operation in the direction of arrow e1 from the state of FIG. .

On the other hand, the truss structure T and the payload P
2, a plug 24 of an umbilical connector 23 is provided on the truss structure T side via a floating mount mechanism 22, as shown in FIG. An extended connector guide 26 is provided. A receiving recess 27 for receiving the floating mount mechanism 22 is formed on the payload P side, and a socket 25 of the umbilical connector 23 is provided in the receiving recess 27.

Therefore, according to the structure of this embodiment, as shown in FIG. 1A, when the trunnion 2 enters the capture area a of the pair of claw pieces 5 and 6 with the pair of claw pieces 5 and 6 fully opened, When the actuator 9 shown in FIGS. 6, 7, and 8 is activated, the claw pieces 5, 6 start the closing operation. Then, as shown in FIG. 1B, when the tips of the claw pieces 5 and 6 cross each other, the trunnion 2 is captured and restrained by the pair of claw pieces 5 and 6, and the movable range of the trunnion 2 is limited to the pair of claw pieces. Piece 5,
6 and the alignment arms 18 and 19 are limited to a substantially diamond-shaped range b.

When the trunnion 2 captured by the claw pieces 5, 6 is still drawn into the V-groove portion 3 by the closing operation of the claw piece 5, the trunnion 2 is moved to the pair of claw pieces 5, 6 and the alignment arms 18, 19. Is moved to a position directly above the preload prism 7 while being guided, and as shown in FIG. 4C, a V-shaped portion generated by the intersection of the claw pieces 5 and 6 and a V-shaped portion generated by the intersection of the alignment arms 18 and 19. Between the upper and lower parts. Therefore, from this point on, the lateral movement of the trunnion 2 is prevented, and the trunnion 2 moves in the shortest straight direction from the position shown in FIG. Only movement within a range c indicated by oblique lines in FIG.

Then, from the state of FIG.
When the trunnion 2 is still pulled in by the closing operation of
As shown in FIG. 3D, the trunnion 2 is a pair of claw pieces 5,
6 and the alignment arms 18 and 19, the alignment arms 18 and 19 are moved downward while pushing and expanding the alignment arms 18 and 19, and finally the trunnion 2 is seated on the preload prism 7 and clamped by the claw pieces 5 and 6. As a result, the truss structure T and the payload P described above are firmly connected.

When the coupling is released, the pair of alignment arms 18 and 19 return to the initial state shown in FIG. 1A by the force of the torsion spring incorporated in the shaft 20.

On the other hand, in the umbilical connection portion shown in FIG. 2, the umbilical connection between the plug 24 and the socket 25 is performed by utilizing the straight stroke in the range c shown in FIG. 1C. After the trunnion 2 is restrained by the pair of claw pieces 5 and 6 and the alignment arms 18 and 19 as shown in FIG. 1C, the plug 24 and the socket 25 of the umbilical connector 23 are aligned on the same axis. When the truss structure T and the payload P are connected, the plug 24 and the socket 25
And are joined smoothly. Therefore, the umbilical coupling portion does not require the drive mechanism 57 shown in FIG. 12 nor the guide mechanism such as the large guide cone 61 shown in FIG. 13, so that the structure of the umbilical coupling portion can be simplified.

3 and 4 show another embodiment of the present invention. In this embodiment, a pair of alignment arms 31 and 3 are used.
2 is different from that of the first embodiment in that it can be folded inside inward. That is, as shown in FIG. 3A, the pair of alignment arms 31 and 32 are connected to each other by the shaft 20 so as to be rotatable with each other.
a, 32a and second arms 31b, 32b on the tip end side. The first arms 31a, 32a are urged in the direction of arrow e1 by a torsion spring (not shown) incorporated in the shaft 20. The movement in the direction of arrow e1 from the state of FIG. 3A is prevented by the stopper 21. Similarly, although the second arms 31b and 32b are urged in the direction of arrow e2 by a torsion spring (not shown) incorporated in the shaft 33, the movement in the direction of arrow e2 from the state of FIG. 34, and as alignment arms 31 and 32, FIG.
(A), only the inside can be bent inside. In the fully opened state of the claw pieces 5 and 6 shown in FIG. 3A, the pair of alignment arms 31 and 32 intersect each other while being in a straight state, and obstruct the capture area a of the claw pieces 5 and 6. It extends to above the claw pieces 5 and 6 so as not to be stopped.

On both sides of the base plate 4, there are provided arm restricting members 35 whose central portions are cut out. The arm restricting members 35 include the second arms 31b and 32.
The arm restricting member 35 has such a shape that the rotational movement of the first arms 31a and 32a is not hindered even if the root of b contacts.

Therefore, according to the structure of the present embodiment, as shown in FIG.
2 can secure a large area for capturing the trunnion 2 by the coupling device 1 by an amount corresponding to the extension of the tip of the trunnion 2 above the claw pieces 5, 6, before the trunnion 2 enters the capture area a by the claw pieces 5, 6. However, the trunnion 2 and the second arm 31
The trunnion 2 is brought into contact with the claw pieces 5 and 6 by contact with the b and 32b.
To the capture region a.

When the trunnion 2 enters the catching area a of the nail pieces 5, 6, the pair of nail pieces 5, 6 capture the trunnion 2 as shown in FIG. Is pulled toward the preload prism 7 so that the trunnion 2 is sandwiched from above and below by the claw pieces 5, 6 and the first arms 31a, 32a of the alignment arms 31, 32, as shown in FIG. At this time, the pair of alignment arms 31 and 32 are gradually pushed and expanded by the pulling force of the trunnion 2 by the claw pieces 5 and 6, and the second arms 31b and 3 are extended.
2b rotate inside mutually and bend | fold inside. Finally, the coupling is completed when the trunnion 2 is seated on the preload prism 7 as shown in FIG.

When the coupling is released, the pair of alignment arms 31 and 32 return to the initial state shown in FIG. 3A by the force of the torsion spring incorporated in the shaft 20.

[0028]

As is apparent from the above description, claim 1
According to the invention, the trunnion is captured by the pair of claw pieces and the movement of the trunnion is gradually restricted. Finally, the trunnion is sandwiched between the pair of claw pieces and the alignment arm from above and below to linearly move the trunnion. By drawing the groove into the deepest part of the groove, the two structures can be connected by the connecting device alone without using a large rough guide as in the related art. As a result, the conventional rough guide becomes unnecessary, so that the weight and the occupied space can be reduced accordingly.

In addition, even when there is another connection object such as an umbilical connector, the two structures can be reliably connected by utilizing the linear movement of the two structures. Therefore, for example, a drive mechanism, a large-sized guide mechanism, and the like, which are conventionally required for an umbilical coupling portion, can be eliminated. This also makes it possible to reduce the weight and occupied space of the entire system and simplify the structure.

According to the second aspect of the present invention, in addition to the above effects, the alignment arm can be lengthened by an amount corresponding to the bending of the alignment arm to secure a large trunnion capture area by the coupling device, so that coupling is achieved. There is the advantage that a larger relative position error between the two power structures can be tolerated.

[Brief description of the drawings]

FIG. 1 is an operation explanatory view of a coupling device showing one embodiment of the present invention.

FIG. 2 is a configuration explanatory view of an umbilical coupling portion of a structure coupled by the coupling device of FIG. 1;

3A and 3B are diagrams showing another embodiment of the present invention, wherein FIG. 3A is an operation explanatory diagram before trunnion capture, and FIG. 3B is an operation explanatory diagram after trunnion capture.

FIGS. 4A and 4B are diagrams showing another embodiment of the present invention, wherein FIG. 4A is an explanatory diagram of the operation of the trunnion after it is captured, and FIG.

FIG. 5 is a perspective view showing a relationship between a truss structure which is a space structure and a payload.

FIG. 6 is an enlarged front view of the conventional coupling device shown in FIG.

FIG. 7 is a right side view of FIG. 6;

FIG. 8 is a plan view of FIG. 6;

FIG. 9 is an operation explanatory view of the coupling device shown in FIG. 6;

10A and 10B are diagrams showing details of the structure of FIG. 5, wherein FIG. 10A is a front view, FIG. 10B is a plan view of FIG. 10A, and FIG. 10C is FIG.
FIG.

11 is a diagram showing a state after the structure of FIG. 5 is combined,
(A) is a front view, (B) is a plan view of the same figure (A), (C)
2 is a left side view of FIG.

FIG. 12 is a configuration explanatory view of an umbilical coupling portion used in the structure shown in FIG. 5;

FIG. 13 is a structural explanatory view showing another example of the umbilical coupling used in the structure shown in FIG. 5;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Coupling device 2 ... Trunnion 3 ... V groove part 4 ... Base plate 5, 6 ... Claw piece 7 ... Preload prism 9 ... Actuator (rotation drive means) 18, 19 ... Alignment arm 23 ... Umbilical connector 31, 32 ... Alignment arm 31a , 32a ... first arm 31b, 32b ... second arm 35 ... arm regulating member P ... payload (space structure) T ... truss structure (space structure)

Claims (2)

(57) [Claims] 1. A connection that couples two structures provided in one of two structures coupled in outer space by capturing and pulling in a trunnion provided in the other structure. In the apparatus, a base plate fixed to the one structure and having a V-groove formed thereon is rotatably supported on both sides of the base plate with the V-groove interposed therebetween, and is driven to be opened and closed by rotation driving means. A pair of claw pieces that intersect each other by the closing operation to capture the trunnions and then pull the trunnions to the deepest portion of the V-groove portion of the base plate, and are rotatably supported on both sides of the base plate with the V-groove portion interposed therebetween. At the same time, X is closer to the deepest side of the V-groove than the trunnion to be captured by the pair of claw pieces.
Intersects the shape, movement of the pawl while narrowing sandwiched between the pair of nail pieces trunnions which the pair of pawls catches
And a pair of alignment arms for guiding the trunnion to the deepest portion of the V-groove portion according to the following . 2. A pair of alignment arms are configured such that the distal ends thereof can be bent inward toward each other, while the base plate has a pair of claw pieces which are adapted to bend the trunnion into the V-groove portion in accordance with the progress of the pull-in operation. 2. The space structure coupling apparatus according to claim 1, further comprising an arm regulating member for bending the alignment arm.