JP2953219B2 - Space connector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space connector for improving the fastening reliability between a connector installed for attaching and detaching a cable for transmitting and receiving signals when working in outer space to and from a structure and a receptacle . It is about structure.

[0002]

2. Description of the Related Art In a spacecraft system represented by a space station, the following various services are received in orbit by a space robot, a spacecraft manipulator, or rarely an astronaut. In other words, spacecraft system inspection and
Services are expected to include maintenance, refueling, replenishment and collection of raw materials and products, and replacement of mounted equipment and jigs.

[0003] Since these services involve dangers when astronauts perform manual operations by extravehicular activities, they are based on remote operation or autonomous operation in which a space robot recognizes the motion state of an object by itself. Become. Therefore, a structure suitable for remote operation or autonomous operation is indispensable for the device receiving the service.

[0004] In the conventional mounting and dismounting mechanism for space equipment, for example, as described in Japanese Utility Model Laid-Open Publication No. 3-26482, the relative positioning of the detachable portion is often performed by a plurality of guide bars and insertion holes. In addition, the latch mechanism of the detachable part,
The system employs a method in which the latch pin is rotated by a torque driver or the like incorporated in the manipulator and latched. In addition, the connection parts such as metal pieces that send and receive signals have strong ultraviolet rays,
As a device that does not deteriorate by being directly exposed to atomic oxygen,
Connection structure A as described in JP-A-4-78700
The structure in which the cam provided on the center of the connection structure B moves the cam of the connection structure B to open and close the shutter provided on the front surface of the connection portion is seen.

[0005]

The conventional space connector is constructed as described above . Robot remote control from the ground or the spacecraft, the you attach and detach the connector by autonomous operation, not be said sufficient structure, further suitable
The structure was desired. For example, specifically, it is necessary to solve many problems as described below. That is, 1:
In the positioning by the guide bar, the gap between the guide bar and the insertion hole becomes a factor of relative displacement of the connector, and it is necessary to provide these positioning structures on the outer peripheral side of the connector.

2: There is a risk that the robot hand slips through the connector gripping part . In addition, it is necessary to securely connect the connector and the receptacle so that the connector does not come off from the receptacle and float when the hand releases the connector due to a change of the hand. In order to operate the latch mechanism for this purpose by an external drive mechanism, the size of the apparatus is increased, such as by providing a transmission mechanism.

3: When a large number of pins provided in the receptacle are inserted into the contacts of the connector, a large torque is generated in the actuator of the robot hand because the pins are inserted into the contacts by overcoming the frictional force between the pins and the contacts. There is a need.

4: To operate repeatedly in a vacuum,
There is a danger that the coefficient of friction will increase sharply in the part where relative slip is performed.
You. It is necessary to have a reliability that does not cause malfunctions in repeated operations .

5: When exposed to outer space, the joint between the pin and the contact is deteriorated by ultraviolet rays or atomic oxygen existing in outer space, so that a structure for preventing the deterioration is required on both sides of the connector and the receptacle. However, the conventional structure has a problem that it is provided only on one side.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and includes, for example , a misalignment adjustment function for a connector and a receptacle, a passive latch mechanism for a connector, a mechanism for coupling a pin and a contact at low torque, It is an object of the present invention to provide a space connector that is compact and has high fastening reliability even when a robot hand having a mechanism for protecting a joint between a pin and a contact point and having insufficient positioning accuracy is used.

According to the first aspect of the present invention, when the robot hand inserts the connector into the receptacle, the connector and the receptacle are displaced in the plane ( in a plane perpendicular to the insertion axis) and the appearance.
It is an object of the present invention to obtain a structure in which a hand does not come off from a connector even if a mechanism for inserting while absorbing a force error and a hand gripping portion are used.

According to the second and third aspects of the present invention, when the robot hand is holding the connector, the connector can be freely attached to and detached from the receptacle, and when the robot hand releases the connector, the surface of the insertion portion of the receptacle is inserted. An object of the present invention is to provide a structure in which a connector and a receptacle are engaged by a protruding latch so that the connector does not come off even if a pulling force acts on a cable.

[0013] A fourth aspect of the present invention, Risepu simply pushing the connector by the robot hand in the receptacle direction
The latch is automatically inserted into the latch groove when it is pushed to the predetermined position, engages the connector and the receptacle, and the connector does not come off even if a pulling force acts on the cable. It is an object of the present invention to obtain a structure in which when a hand is pressed in a direction opposite to a receptacle, a latch is released from a latch groove and a connector can be detached from the receptacle.

An object of the present invention is to provide a structure for reducing a pushing force when a connector is inserted into a receptacle and reducing an actuator torque required for a robot hand.

A sixth object of the present invention is to provide a structure which does not cause relative slip at a support portion of a movable body which is supported in a rotatable state, and which does not fluctuate the rotational resistance of the movable body when used repeatedly. .

According to a seventh aspect of the present invention, when the connector is separated, the joint between the connector and the receptacle is protected, when the connector is inserted into the receptacle, each cover is opened, and when the connector is separated from the receptacle, each cover is closed. The purpose is to obtain the structure.

[0017]

Space connector according to claim 1 SUMMARY OF THE INVENTION The present invention, a flange is provided at both ends of the hand grip portion of the connector, the hand between the flange and the flange is
The connector is provided with a projection that comes into contact with the connector so that the posture of the connector with respect to the hand when the hand grips the grip portion is uniquely determined, the connector is provided with an axis alignment guide, and the receptacle is fitted with the connector. The tip of the shaft is larger than the fitting, and
It is obtained with a groove for alignment of focus.

A space connector according to a second aspect of the present invention is a switch provided on a hand grip of the connector for detecting contact with the hand, one end of which is rotatable with the hand grip.
Latch attached to the receptacle at the other end
Provided movable arm having a latch that engages the groove, when the switch detects the contact between <br/> hand in conjunction with the movable arm to displace said <br/> latch to the connector center direction, the latch Separate from the groove, and when there is no contact with the hand, make the latch protrude from the connector and engage with the latch groove.
It was done.

[0019] Space connector according to claim 3 of the present invention includes a plurality of force detection unit to the hand grip portion of the connector, the
A movable part is provided in the connector, and is supported by the movable part.
A latch that is driven in the radial direction of the connector and engages with a latch groove provided in the receptacle.
In one even without the upper detects that the hand has lifting bunch
Serial and the movable portion is operated to release the engagement between the latch and the latch groove, if there is no contact between the hand was to engage with the latch groove to protrude from the connector the latch <br/> Things.

According to a fourth aspect of the present invention, there is provided a connector for space according to the present invention, wherein a flange is provided on a receptacle side of a hand grip of the connector , and one end is rotatably attached to the hand grip.
Parts to engage with the latch groove provided in the receptacle, a shape protruding amount from the connector as it goes from the receptacle side in the counter-receptacle side increases, latch counter-receptacle-side end face to form a contact surface with the latch groove Can have
An elastic body is attached to the moving arm and the end of the connector
The connector body is supported on the side opposite to the receptacle
And a slide formed on the movable arm.
A plug having a moving part and a sliding element for sliding is provided.
The movable arm is displaced in accordance with the displacement of the lug in the anti-receptacle direction to release the engagement between the latch and the latch groove.
And the above-mentioned sliding portion and slider .

[0021] Space connector according to claim 5 of the present invention is in contact with the connector pins provided on the receptacle, the connector present a movable member having a contact point for electrically connecting the signal
Body spring supported via the, hand it is detected that the gripping hand grip portion is displaced to the movable member, the connector
When inserting / removing the connector from / to the receptacle,
The connector pins are prevented from contacting .

[0022] Space connector according to claim 6 of the present invention includes a rotary shaft for rotatably supporting the movable portion or the movable arm, is directly connected between the member for supporting the rotary shaft of an elastic body, the movable portion or
Relative slip is not generated at the supporting portion of the movable arm, in which the rotational resistance of the movable body is not to vary with respect to a repeat to use.

In the space connector according to a seventh aspect of the present invention, a pulling force is applied to each of the connector and the receptacle by a retraction cable, and the connector pins or the contact portions are exposed.
Cover for covering the opened opening, a guide for accommodating each cover, and a case where the connector is engaged with the receptacle.
Displace the opposing covers to fit in the guides
It is provided with a projection for opening the opening .

[0024]

The space connector according to claim 1 of the present invention is
A positioning mechanism consisting of protrusions is provided on the gripping part, so that the gripping attitude of the connector can be uniquely determined when gripping by the robot, and a mechanism that absorbs in-plane positional deviation and attitude error is integrated into the connector and receptacle. In other words, a guide for axis alignment, a groove for axis alignment is provided,
Mating the tip of the part that mates with the connector of the receptacle
Since it is formed larger than the portion, a plurality of contacts provided on the connector and the receptacle can be easily connected with a compact structure.

In the space connector according to the second and third aspects of the present invention, a latch engagement mechanism for releasing when the hand of the robot is gripping the connector is provided at a connection portion between the connector and the receptacle, and the latch is not released. The connector and the connector cannot be separated from the receptacle, so that even if an external force such as tension acts on the cable acts on the connector, it is possible to prevent an unexpected situation in which the connector comes off from the receptacle.

In the space connector according to a fourth aspect of the present invention, the latch is located from the receptacle side to the opposite side to the receptacle side.
The shape to increase the amount of protrusion from the connector as
Since forming a contact surface the receptacle side, takes the latch can insert just pushing the connector by the robot hand in the receptacle direction, the connector can not come off even act tensile force to the cable, and the hand of the robot Pressing the plug against the plug flange in the anti-receptacle direction displaces the plug in the anti-receptacle direction.
The slider slides on the sliding part of the movable arm, and the latch moves inside the connector.
The displacement in the direction allows the latch to be released from the latch groove and the connector to be disengaged from the receptacle. For this reason,
The reliability of the engagement can be confirmed by checking the latch state when the connector is inserted into the receptacle.

The space connector in claim 5 of the present invention, against a movable body which is supported lifting via the spring connector body
A point is set, and the movable body is changed
And the contacts are closed after the connector and the receptacle are engaged.There is no sliding between the contacts of the connector and the receptacle when the connector is inserted. Actuator torque can be reduced, and sliding damage between contacts can be prevented.

In the space connector according to the sixth aspect of the present invention, no relative slip occurs at the movable portion or the movable arm supporting portion which is rotatably supported, so that the movable portion or the movable arm rotates when repeatedly used. A structure in which the resistance does not change and the operation is highly reliable can be obtained.

In the space connector according to claim 7 of the present invention, both the connector and the contact of the receptacle are covered with a cover until the connector is inserted into the receptacle, and when the connector is separated from the receptacle, the respective covers are separated. Since the contact is closed, it is possible to prevent the contact from being deteriorated by ultraviolet rays or atomic oxygen existing in the outer space.

[0030]

[Embodiment 1] The first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a space connector according to a first embodiment of the present invention, and FIG.
(B) is a receptacle. FIG. 2 is a perspective view showing a connected state. FIG. 3 is an explanatory view showing an automatic correction function of the axis deviation.

The external structure of the connector comprises a hand grip 1 and an insertion section 2 for insertion into a receptacle. 3a, 3b
Are flanges provided at both ends of the hand grip 1, and 4 are projections provided on the hand grip 1. The insertion portion 2 to be inserted into the receptacle is also provided with a shaft alignment projection 5 which is a shaft alignment guide . The receptacle 6 has a tapered guide 7 so that the diameter at the tip portion is maximized, and fit the shaft into a part of the outer peripheral portion
A notch 8 is provided as a recess groove . The notch 8 has a tapered shape with a maximum opening width and a small bottom width at the outer peripheral end of the receptacle. 9 is a cable lead-out hole, and 10 is a receptacle flange. Also, 11a , 11b,
11 c is a hand, 12a, 12 b are connector pins.

Referring to FIG. 2, the operation when the robot hand having a plurality of fingers connects the connector to another receptacle will be described. Robot Han De (not shown) approaches the <br/> hand grip portion first hand grip portion 1 with a predetermined contact force
The robot's hand is closed until it contacts the projection 4. At this time, the position of the connector and the direction of the protrusion 4 in the hand coordinate system can be calculated from the angle of the finger of the hand. In this state, the connector is pulled out of the receptacle. During connectors removably, hand when the hand grip portion 1 and Han De have slipped relatively flange 3 provided at both ends of the hand grip portion 1
a, 3b so as not to come off the connector.

Next, insertion of the connector into the receptacle will be described. The receptacle 6 has a notch 8 in a part of the outer periphery. Usually, a robot measures the position of an object using a visual sensor (not shown). That is, the positions of the receptacle 6 and the notch 8 are known to the robot by the visual sensor. Then, the robot brings the connector near the receptacle 6 so that the center axis of the connector is aligned with the center axis of the receptacle 6 and the projection 5 for aligning the connector faces the notch 8 of the receptacle 6.
At this time, the connector cannot face the receptacle without error due to a measurement error of the visual sensor, a positioning error of the robot hand, an attitude error between the hand and the connector, and the like. However, since the receptacle 6 has the tapered guide 7 so that the diameter is maximized at the distal end, the connector slides along the tapered guide 7 to the center of the receptacle as shown in FIG. As described above, the connector alignment protrusion 5 faces the notch 8 of the receptacle so that when the connector is inserted into the receptacle, the alignment protrusion 5 becomes the notch 8 of the receptacle.
Turn and slide along. As a result, the connector can be inserted into the receptacle within a range of manufacturing error between the connector and the receptacle.

In the space connector according to the first embodiment of the present invention, since the projection is provided on the gripping portion as a positioning mechanism , the gripping posture of the connector can be uniquely determined when gripping by the robot, and the connector can be uniquely determined. maximum and the positional deviation of the plane in the receptacle, since the provided integrally with a mechanism for absorbing the orientation error, i.e. diameter receptacle 6 at the tip portion
The taper guide 7 is formed so that
A notch 8 is provided in the projection 5 for the alignment and the receptacle 6.
Therefore, a plurality of contacts provided on the connector and the receptacle can be easily connected with a compact structure. Further, when the hand gripper 1 and the hand slide relatively at the time of attaching / detaching the connector, the hand comes into contact with the flanges 3 provided at both ends of the hand gripper 1 and does not come off the connector.

Embodiment 2 FIG. Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. FIG. 4 is a sectional view of a space connector according to a second embodiment of the present invention. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts.

The rotating arm 13, which is a movable arm, is rotatably supported by a part of the hand grip 1, and is pressed against the hand grip 1 by a spring 14. A latch 15 is provided on the rotating arm 13. The latch 15 protrudes from a hole provided in the hand grip 1 and is inserted into a latch groove 16 provided in the receptacle 6. Further, the rotary arm 13 provided with a grip detection unit 17, a bunch lifting detection unit 17 of this protruding from the hole provided in the hand grip portion 1, and is contacted with the contact plate 18 provided on the hand grip portion 1. 19 is a spring for supporting the contact plate. Grasp
A switch is constituted by the detecting unit 17, the contact plate 18, and the spring 19.
ing.

The operation will be described with reference to FIG. When Han de robot grips the hand grip portion 1, the contact plate 18
Is displaced, and the grip detection unit 17 retreats in the radial direction. Therefore, the latch 15 also retreats in the radial direction (the connector center direction) . In this state, the connector is inserted into the receptacle 6 . Insert the connector into the receptacle 6, then Han de
When opening the displacement of the contact plate 18 is restored and the latch 15
Are projected in the radial direction, and the latch groove 1 provided in the receptacle is provided.
Step 6 is completed.

The space connector according to the second embodiment of the present invention has a latch which detects that the robot hand has gripped the hand grip of the connector and displaces from the surface of the insertion portion of the receptacle to the inside of the connector. When the robot hand is gripping the connector, the connector and the receptacle can be freely attached and detached.When the robot hand releases the connector, the connector and the receptacle are engaged by the latch protruding from the surface of the insertion part of the receptacle. In this case, the connector does not come off even if a pulling force acts on the cable.

Embodiment 3 FIG. The third embodiment of the present invention will be described below with reference to the drawings. FIG. 5 is a sectional view of a space connector according to a third embodiment of the present invention. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts. 5 is different from FIG. 4 in the following point. That is, instead of providing the grip detection unit 17 on the rotating arm 13, a force detection element 20 for detecting contact with the contact plate 18 is provided. And force inspection
A plurality of combinations of the contact plate 18 and the force detection element 20 constituting the protruding portion are installed at a plurality of positions on the hand grip of the connector. 21
Is an actuator for displacing the latch 15 in the radial direction of the connector, and operates when the detection element 20 detects contact with the contact plate 18. Reference numeral 14 denotes a spring that supports the latch 15. The movable part consists of spring 14 and actuator 21
Have been.

When the cylindrical connector is gripped by the hand of the robot, the point of contact between the hand and the connector is at most (number of finger joints × number of fingers) excluding the palm of the hand. In a space robot, it is important to provide many functions while minimizing the degree of freedom of the hand. For this reason, the number of finger joints is at most one, and the hand and the connector come into contact with at least three places in consideration of the case where the finger is held between two fingers.
For this reason, when the number of the contact plates is one, in order to ensure that the contact plate 18 and the hand 11 are in contact with each other, it is necessary to prepare the position and orientation of the hand in advance so as to make contact with the contact plate 18. is there. Further, when the number of the contact plates is one, the movement of the contact plate 18 can be detected by the rotating arm 13 to operate the latch as in the embodiment of the present invention shown in FIG. It is. On the other hand, if a plurality of contact plates 18 are provided as shown in FIG.
8 is detected, and the latch 15 is operated by the actuator 21 when any one of the force detection elements 20 operates. As a result, even if the hand grips the connector at an arbitrary position, the hand comes into contact with the contact plate 18 , so that the robot hand can be controlled with the highest priority on the operability of the robot. That is, in the second embodiment of the present invention, since the position of the contact plate 18 for operating the rotating arm 13 on the connector is fixed, the hand 11 grips the hand grip 1 so that the contact plate 18 operates. I needed to. On the other hand, since the connector according to the third embodiment of the present invention is configured as described above, there is an advantage that a margin of the hand holding angle can be increased and operability is improved. .

Embodiment 4 FIG. Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a sectional view of a space connector according to a first embodiment of the present invention. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts. A flange 3b is provided on the receptacle side of the hand grip 1, and the hand grip 1 is
3 is supported. A rotating arm 13 is attached to the hand grip 1 in a rotatable state. The rotating arm 13 presses the latch 15 against the hand grip 1 with a spring 14.
A flange 24 is provided on the side of the plug 23 opposite the receptacle. A slider 25 for applying a displacement to the rotating arm 13 is formed in the plug 23. The rotary arm 13 is provided with a guide 26 of a sliding portion that comes into contact with the slider 25 in a concave shape with respect to the slider 25. The latch 15 has a shape in which the amount of protrusion from the connector increases from the receptacle side to the non-receptacle side, and the latch 15 has a contact surface 27 with the latch groove 16 provided in the receptacle at the non-receptacle side end surface. ing.

The operation when the hand 11 of the robot grips the hand grip 1 and inserts the connector will be described. The operation related to positioning when the connector is inserted into the receptacle 6 is the same as that of the fourth embodiment of the present invention. When the connector is inserted into the receptacle in a predetermined relative relationship, the latch 15 comes into contact with the tapered guide 7 of the receptacle, and the reaction force causes
The latch 15 retreats from the surface of the receptacle insertion portion 2 of the connector while rotating the rotary arm 13 against the force of the spring 14. Then, when the connector is inserted to a position where the latch 15 faces the latch groove 16 provided in the receptacle, the latch 15 is inserted into the latch groove 16 by the force of the spring 14, and the engagement between the connector and the receptacle is completed. In this state, when a force for pulling out the connector from the receptacle acts on the cable or the like, the contact surface 27 of the latch 15 comes into contact with the latch groove 16 to prevent the connector from being separated from the receptacle.

Next, the operation when the connector is separated from the receptacle 6 will be described. Robot hand 11
Lightly contact the hand grip 1 and then the hand 11
Is moved in the anti-receptacle direction, the flange 24 provided on the plug 23 is brought into contact with the hand 11, and the plug 23 is moved in the anti-receptacle direction against the force of the elastic body 22.
Slider 25 provided on plug 23 by movement of plug 23
The spring 14 but slip relative to the rotating Utateude 13, the rotating arm 13
The latch 15 projecting from the outer surface of the connector is displaced inside the connector, and the engagement between the connector and the receptacle is released.

[0044] Since the thus constituted in the first embodiment according to claim 4 of the present invention, can be inserted by simply pushing the connector by the robot hand in the receptacle direction. When the connector is pushed into a predetermined position of the receptacle, the latch is automatically inserted into the latch groove to engage the connector with the receptacle, so that the connector does not come off even if a pulling force acts on the cable. Further, even if the connector is pulled in the anti-receptacle direction by the hand of the robot in this state, since the latch remains in contact with the latch groove on the contact surface 27, the connector does not come off, so that the engagement between the connector and the receptacle can be confirmed. .

In the first embodiment of the present invention, the rotary arm 13 is rotatably supported by the hand grip 1.
As shown in a second embodiment of claim 4 of the present invention,
It is apparent that the same effect is exhibited by the method in which the latch 15 is supported by the movable body 28.

Embodiment 5 FIG. Hereinafter, a first embodiment of claim 5 of the present invention will be described with reference to the drawings. FIG. 8 is a sectional view of a space connector according to a first embodiment of the present invention, and FIG. 9 is a perspective view showing a main part of this embodiment. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts. A contact surface 29 is provided on the latch 15 formed on the rotating arm 13 so as to come into contact with a link 30 which is a movable body rotatably supported by the hand gripper 1. The link 30 is pressed against the contact surface 29 of the latch 15 by a spring 31. Link 30
Contacts the connector pin 12 provided on the receptacle,
A contact 32 for conducting a signal is attached.
Reference numeral 33 denotes a cable, and reference numeral 34 denotes a support hole for rotatably supporting the link 30. Other structures are the same as those of the second embodiment.

Next, the operation will be described. Contact plate 18 is displaced with Ha <br/> down de robot grips the hand grip portion 1, the rotation arm 13 rotates. As a result, the latch 15 is displaced against the spring force of the spring 14. Latch 15 is spring 1
When the contact surface 29 is displaced against the spring force of
0 and transmits the rotational force to the link 30. Link 30
The contact 32 is also displaced by the rotation of. When the connector is inserted into the receptacle in this state, the connector pin 12 provided on the receptacle is inserted to a position facing the contact 32. When the insertion of the connector into the receptacle is completed and then the hand 11 is opened, the displacement of the contact plate 18 is recovered, and the latch protrudes in the radial direction and enters the latch groove 16 provided in the receptacle to complete the connection. At the same time latch 15
3 whose rotational displacement was restricted by the contact surface 29 of
0 is displaced by the spring force of the spring 31, and the contact 32 comes into contact with the connector pin 12.

In the space connector having the structure according to the first embodiment of the present invention, it is detected that the hand of the robot grips the hand grip of the connector, and the space is displaced from the surface of the insertion portion of the receptacle to the inside of the connector. The contact of the connector is separated from the contact position with the connector pin provided on the receptacle by the displacement of the latch. For this reason, when the robot hand is holding the connector, the connector pins do not come into contact with the contacts, so the connector can be inserted into the receptacle without contact resistance between the connector pins and the contacts, and the connector is released when the robot hand releases the connector. The pin is in contact with the contact. Therefore, the connector can be inserted into the receptacle with a small pushing force, and there is no relative slip between the connector pin and the contact, so that the contact reliability of the contact surface does not decrease.

Even if the latch 15 is not provided with the contact surface 29 and the latch 15 and the link 30 are connected by pins or the like, the same function can be obtained. However, in this case, the displacement of the latch and the displacement of the contact are uniquely determined, and when the connector pin is inclined and attached to the receptacle, the contact is displaced to a predetermined position, so that an excessive load is applied to the connector pin. Risk of acting on

[0050] In the first embodiment of the fifth aspect of the present invention has been to add a structure for displacing the contact point in the structure of the embodiment of claim 2 of the present <br/> invention, other embodiments having a latch The same effect can be obtained even if a structure for displacing the contact point is added.

FIG. 10 is a sectional view showing a link structure according to a second embodiment of the present invention. In the second embodiment of the present invention shown in FIG. 10, the contact 32 has a shape close to a hemisphere, and the link 30 is supported when a force is applied from the contact surface 29 of the latch 15 by the link 30a. It rotates around the hole 34 and displaces the contact 32 downward in the figure via the spring 35.

In the second embodiment of the present invention, the contact 32 is connected to the connector pin 1 as described above.
2 contact from the axial direction. Therefore, the contact force with the contact 32 acts on the connector pin 12 as an axial force. According to the second embodiment of the fourth aspect of the present invention shown in FIG. 7 and the first embodiment of the fifth aspect of the present invention shown in FIG. A bending load was applied, and there was a risk that the connector pin would bend. However, in the second embodiment of the present invention shown in FIG. 10, since only the axial force acts on the connector pin, there is no danger of bending the connector pin.

In the embodiment shown in FIGS. 4 to 10,
The movable arm 13, the contact plate 18, and the link 30 are rotatably supported,
Springs 14, 19 and 31 apply a spring force, respectively. In this structure, a slip relative to the support portion occurs in the rotating portion. When relative slip occurs in a vacuum, the coefficient of friction increases, and there is a risk of sticking at the slip portion. A structure for solving this problem will be described below using the rotating arm 13 as an example.

Embodiment 6 FIG. Hereinafter, a sixth embodiment of the present invention will be described with reference to the drawings. FIG. 11 is a top view of the supporting portion of the rotating arm 13 of the space connector according to the sixth embodiment of the present invention. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts. The rotary arm 13 is rotatably attached to a spring support 37 attached to the hand grip 1 via a spring 36. Therefore, when a rotational force acts on the rotating arm 13, the rotating arm 13 is rotationally displaced by the deformation of the spring 36.

According to the sixth embodiment of the present invention, the rotation arm 13 can rotate without following the displacement of the contact plate 18 without slipping relative to the hand gripping portion 1 because of the above construction. . Although the rotary arm 13 has been described as an example in the sixth embodiment of the present invention, it is apparent that the same effect can be obtained even when applied to the contact plate 18, the link 30, and the like.

Embodiment 7 FIG. Hereinafter, a seventh embodiment of the present invention will be described with reference to the drawings. Figure 12 is a sectional view of the receptacle according to the embodiment of claim 7 of the present invention, FIG 13 is a perspective view of the receptacle according to the embodiment of claim 7 of the present invention. FIG. 14 is a partial sectional view of a connector according to a seventh embodiment of the present invention. In the drawings, the same reference numerals as those of the other embodiments indicate the same or corresponding parts.

A connector guide 51 is formed on a part of the outer periphery of the receptacle 6, a guide hole 52 is provided inside, and the connector pin 12 is held on the flange 10 side of the guide hole 52.
The holding table 53 is fixed. A cover guide 54 having a width corresponding to the connector guide 51 is formed on the upper surface of the receptacle 6. A cover 55 is attached to the connector guide 51 and the cover guide 54 so as to be openable and closable. The cover 55 is composed of a plurality of members 55a, and the members 55a are rotatably fixed by pins 56. One surface of the cover 55 is provided with a surface that comes into contact with the protrusion of the connector, and the other end of the cover 55 is provided with a pull-back line 58. The retraction cable 58 is fixed to the flange 10 via a spring 59. 57 is a pulley for supporting the cable 58. 60
Are projections provided on a part of the guide hole 52, and displace the cover of the connector when the connector is engaged with the receptacle. On the other hand, the portion of the connector that engages with the receptacle has a double structure, 61 is an outer peripheral portion, and an insertion hole 62 is provided with a tapered guide 7 so that the receptacle 6 can be inserted smoothly. 63 is a projection provided to face the connector guide 51 to a portion of the insertion hole 62, that have a function for displacing the cover 55 of the receptacle when engaging the connector to the receptacle.
A socket 64 that engages with the guide hole 52 of the receptacle 6 is provided inside the insertion hole 62.
The cover guide 6 faces the projection 60 with a width corresponding to 0.
5, and a cover 66 is attached to the cover guide 65 so as to be openable and closable. The structure and support structure of the cover 66 is the same as that of the cover 55 of the receptacle.

Next, the operation will be described. When the hand 11 of the robot grips the hand grip 1 of the connector, approaches the connector to the receptacle, and starts engagement, the projection 63 of the connector comes into contact with the cover 55 of the receptacle, and the cover 55 resists the force of the spring 59. The guide hole 52 is opened. When the connector further approaches the receptacle, the projection 60 of the receptacle comes into contact with the cover 66 of the connector, displaces the cover 66 toward the flange 3 against the force of a spring (not shown), and opens the cover. Say it. When the connector is detached from the receptacle, contrary to the above procedure, when the connector begins to separate from the receptacle, the projection 60 of the receptacle and the projection 63 of the connector are relatively retracted, and the cover 55 and the cover 66 are opened by their respective spring forces. Displace in the direction to close the part.

According to the seventh embodiment of the present invention, since the connector and the receptacle are started to engage with each other, the receptacle and the connector, that is , the cover of the socket are sequentially opened when the connector and the receptacle start to be engaged. The cover closes when it begins to separate from the receptacle. Therefore, the connector pins and contacts are not exposed to outer space when the connector and the receptacle are separated from each other, so that the contacts are prevented from deteriorating due to ultraviolet rays or atomic oxygen existing in outer space. Can be.

[0060]

According to the first aspect of the present invention, the connector
The flanges at both ends of the hand gripper
Between the flange and the flange.
A shaft alignment guide is provided at the insertion
To the hand of the connector when the handle grips the grip
The posture is determined uniquely.
A shaft that engages the guide for alignment with the receptacle
A groove for mating and the part to be fitted with the connector
The tip of the fitting is larger than the fitting part , and the alignment mechanism and the connector and receptacle in the gripper are displaced in the plane,
Since the mechanism for absorbing the attitude error is provided integrally, there is an effect that a plurality of contacts provided on the connector and the receptacle can be easily connected with a compact structure. In addition, when the hand gripper 1 and the hand slide relatively when the connector is attached / detached, the hand comes into contact with the flanges 3 provided at both ends of the hand gripper 1 and does not come out of the connector, thereby improving gripping reliability. .

According to the second aspect of the present invention, the connector
Detects contact with the hand provided on the hand holding part of the hand
Switch, one end rotatably attached to the hand grip
And the other end is provided with a latch groove provided in the receptacle.
Providing a movable arm having a latch for engagement, wherein the switch is
When contact with the hand is detected, the above
Displace the latch toward the center of the connector.
Separate from the groove and raise the latch if there is no contact with the hand.
So that it protrudes from the connector and engages with the latch groove.
Therefore , when the robot hand is gripping the connector, the connector and the receptacle can be freely attached and detached.When the robot hand releases the connector, the connector and the receptacle are latched by the latch protruding from the surface of the insertion part of the receptacle. There is an effect that the connector does not come off even if the cable is engaged and a pulling force acts on the cable.

According to the third aspect of the present invention, the connector
Multiple force detectors in the hand gripper of the
The movable part and the diameter of the connector supported by the movable part
Latch driven in the direction and provided in the receptacle
A latch that engages with the groove, and at least the force detector
When one detects that the hand is gripped, it moves
Release the engagement between the latch and the latch groove
If there is no contact with the hand, connect the latch
To engage the latch groove.
In, hand in hand also gripping the connector at an arbitrary position in contact with one of the force detection unit, it is Rukoto operates the latch by an actuator. For this reason, the hand of the robot can be controlled with the operability of the robot as the highest priority, so that the margin of the gripping angle of the hand is increased and the operability is improved.

According to the invention of claim 4 of the present invention, the connector
Flange on the receptacle side of the hand grip of the
Is rotatably attached to the hand grip, and the other end is
Engage with the latch groove provided in the receptacle, and
From the connector to the receptacle side from the
The shape to increase the amount of protrusion
A movable arm having a latch having a contact surface with the latch groove,
The above-mentioned connector inwardly-receptacle side end is inserted through an elastic body.
Supported, on the anti-receptacle side
A projecting flange, and a sliding portion formed on the movable arm.
A plug having a sliding slider is provided.
Given the displacement in the Allowed Doude in association with the displacement of the anti-receptacle direction
Above so as to release the engagement between the latch and the latch groove.
Since the sliding part and slider are configured , the connector can be inserted simply by pushing the connector in the direction of the receptacle with the hand of the robot.When the connector is pushed to the predetermined position of the receptacle, the latch is automatically inserted into the latch groove and the connector is inserted. And the receptacle are engaged with each other, so that even if a pulling force acts on the cable, the connector does not come off. Further, in this state, even if the connector is pulled by the robot hand in the anti-receptacle direction, the latch remains in contact with the latch groove on the contact surface 27, so that the connector does not come off and the engagement between the connector and the receptacle can be confirmed. There is.

According to the fifth aspect of the present invention, the receptacle
Makes contact with the connector pin provided on the tuckle and conducts the signal
A movable body having contacts for connecting a spring to the connector body
And that the hand grips the hand gripper
The movable body is detected and displaced, and the connector is
The above contacts and connector pins when inserting / removing the receptacle
When the robot hand is gripping the connector, the connector pin and the contact do not come into contact with each other, so that the connector can be inserted into the receptacle without contact resistance between the connector pin and the contact, and the robot hand When the connector is released, the connector pin comes into contact with the contact, so that the connector can be inserted into the receptacle with a small pushing force, and there is no relative slip between the connector pin and the contact, so that the contact reliability of the contact surface does not decrease.

According to the sixth aspect of the present invention, the movable portion
Or a rotary shaft for rotatably supporting the movable arm, since the direct connection between the member for supporting the rotary shaft of an elastic material, also movable portion
Does not occur relative slip supporting portion of the movable arm, the rotation resistance of the movable portion or the movable arm does not vary with respect to repeated use, the effect of improving the reliability of the rotating support.

According to the seventh aspect of the present invention, the connector
Pulling force with a pull-back cable on each of the
To cover the opening where the connector pins and contact points are exposed.
Cover and a guide to store each cover,
When the connector is engaged with the receptacle,
The opening is accommodated in the guide are displaced with each other in the cover
Because the projections that can be opened are provided , the connector pins and contacts can be used even when the connector and the receptacle are separated.
Since there is no Rukoto exposed to space, by ultraviolet rays and atomic oxygen present in the space, there is an effect that it is possible to prevent the contact is deteriorated.

[Brief description of the drawings]

FIG. 1 is a perspective view of a space connector according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a connected state of the connector and the receptacle of the space connector according to the first embodiment of the present invention.

FIG. 3 is an explanatory view showing an automatic correction function of the axial deviation between the connector of the space connector and the receptacle according to the first embodiment of the present invention.

FIG. 4 is a sectional view of a space connector according to a second embodiment of the present invention.

FIG. 5 is a sectional view of a space connector according to a third embodiment of the present invention.

FIG. 6 is a sectional view of a space connector according to a first embodiment of the present invention.

FIG. 7 is a sectional view of a space connector according to a second embodiment of the present invention.

FIG. 8 is a sectional view of a space connector according to a first embodiment of the present invention.

FIG. 9 is a perspective view showing an essential part of a first embodiment of the present invention.

FIG. 10 is a sectional view showing a link structure according to a second embodiment of the present invention.

FIG. 11 is a top view of a supporting portion of a rotating arm of a space connector according to a sixth embodiment of the present invention.

FIG. 12 is a sectional view of a receptacle according to a seventh embodiment of the present invention.

FIG. 13 is a perspective view of a receptacle according to a seventh embodiment of the present invention.

FIG. 14 is a partial sectional view of a connector according to a seventh embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Hand holding part 2 Insertion part to a receptacle 3 , 3a, 3b flange 4 Projection 5 Alignment projection 6 Receptacle 7 Taper guide 8 Notch 10 Receptacle flange 11 , 11a, 11b, 11c Hand 12 , 12a, 12b Connector pin 13 Rotating arm 14 Spring 15 Latch 16 Latch groove 17 Gripping detecting part 18 Contact plate 19 Spring 20 Force detecting element 21 Actuator 22 Elastic body 23 Plug 24 Flange 25 Slider 26 Guide 27 Contact surface 28 Movable body 29 Contact surface 30 Link 31 Spring 32 contact 35 spring 36 spring 37 places it support base 51 connector guide 52 guide holes 53 holding table 54 cover guide 55 cover 56 pin 57 pulley 58 retraction cord 59 springs 60 projection 61 the outer peripheral portion 62 insertion hole 63 projection 64 socket G 65 Cover guide 66 Cover

Claims (7)

(57) [Claims] 1. A connector provided on a structure and a connector provided on a cable .
Hold the hand grip with a robot hand and
In space connector removing or inserting the Kuta and the receptacle flange at both ends of the hand gripping portion to the connector, the robot between the flange and the flange
Projections Doo hand abuts, and provided for axial alignment guide the insertion portion into the receptacle, attitude uniquely determined with respect to the connector the robot <br/> hand when the robot hand is holding the grip portion And a groove for shaft alignment to be engaged with the shaft alignment guide is provided in the receptacle, and a tip portion of a portion to be fitted to the connector is made larger than a fitting portion. Space connector to do. 2. A connector comprising a receptacle provided on a structure and a connector provided on a cable .
Hold the hand grip with a robot hand and
In space connector removing or inserting the Kuta and the receptacle, provided on the hand grip portion of the connector
Switch for detecting the contact between the robot hand, one end portion attached rotatably to the hand grip portion, a movable arm having a latch that engages a latch groove provided in the receptacle at the other end is provided, When the switch detects contact with the robot hand, the latch is displaced toward the center of the connector in conjunction with the movable arm, separated from the latch groove, and when there is no contact with the robot hand. A space connector, wherein a latch protrudes from the connector to engage with the latch groove. 3. A consists connector provided on the receptacle and the cable provided in the structure, of the connector
Hold the hand grip with a robot hand and
In space connector removing or inserting the Kuta and the receptacle, and a plurality of force detection unit to the hand grip portion of the connector, and the movable portion in the connector, it is supported by the movable portion, in the radial direction of the connector And a latch that is driven and engages with a latch groove provided in the receptacle. When at least one of the force detectors detects that the robot hand has grasped, the movable unit is operated. to release the engagement between the latch and the latch groove Te, the robot
Space connector being characterized in that so as to engage the latch groove to protrude from the connector the latch when there is no contact with the bets hand. 4. A connector provided on a structure and a connector provided on a cable .
Hold the hand grip with a robot hand and
In space connector removing or inserting the Kuta and the receptacle, the receptacle side of the hand grip portion of the connector flange, one end portion attached rotatably to the hand grip portion, to the receptacle at the other end A movable arm having a latch engaged with the provided latch groove and having a shape in which the amount of protrusion from the connector increases as going from the receptacle side to the non-receptacle side, and having a contact surface with the latch groove on the non-receptacle side end face; A flange that is supported via an elastic body at an end of the connector inside the receptacle and that protrudes from the connector body on the side opposite the receptacle;
A plug having a sliding portion formed on the movable arm and a sliding member that slides is provided, and the movable arm is displaced in accordance with the displacement of the plug in the anti-receptacle direction, thereby engaging the latch with the latch groove. A space connector characterized by comprising the above-mentioned sliding portion and a slider so as to cancel the condition. 5. A connector comprising a receptacle provided on a structure and a connector provided on a cable .
Hold the hand grip with a robot hand and
In space connector removing or inserting the Kuta and the receptacle, in contact with the connector pins provided on the receptacle, the movable member having a contact point for electrically connecting the signal support through a spring to the connector body, the robot Han wherein the <br/> de is that as the hand grip portion detects that holding the by displacing the movable member, the said connector upon insertion-extraction into the receptacle without contacting the contact and connector pins Space connector. 6. The space connector according to claim 2, wherein a rotating shaft for rotatably supporting the movable portion or the movable arm and a member for supporting the rotating shaft are directly connected by an elastic body. . 7. A connector provided on a structure and a connector provided on a cable, wherein the connector
Hold the hand grip with a robot hand and
In a space connector for attaching and detaching a connector to and from the receptacle, a pulling force is applied to the connector and the receptacle by a retraction cable, and a cover covering an opening in which a connector pin or a contact portion is exposed, and the respective covers are housed. A space connector, comprising: a guide to be engaged; and a projection for displacing the opposing covers when the connector is engaged with the receptacle to be housed in the guide and open the opening.