JP5939046B2 - Auto-coupling device and auto-coupling method - Google Patents

Auto-coupling device and auto-coupling method Download PDF

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JP5939046B2
JP5939046B2 JP2012130404A JP2012130404A JP5939046B2 JP 5939046 B2 JP5939046 B2 JP 5939046B2 JP 2012130404 A JP2012130404 A JP 2012130404A JP 2012130404 A JP2012130404 A JP 2012130404A JP 5939046 B2 JP5939046 B2 JP 5939046B2
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mounting plate
joints
plate
attachment
guide pin
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JP2013253664A (en
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昭 水野
昭 水野
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Yokohama Rubber Co Ltd
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Description

本発明は、オートカップリング装置およびオートカップリング方法に関する。   The present invention relates to an auto coupling device and an auto coupling method.

気体や液体などの流体を流通させる複数の継手（管継手）を同時に接続、分離するオートカップリング装置が提供されている（特許文献１参照）。
このオートカップリング装置は、第１の基台であらゆる方向に傾動可能に支持された支持台と、複数の第１の継手が取着され前記支持台に２次元方向に移動可能に支持され中立位置に付勢された第１の取り付け板と、複数の第２の継手が取着され第１の取り付け板の上方で第１の取り付け板に対向してあらゆる方向に傾動可能に支持された第２の取り付け板とを備えている。
一方の取り付け板にはガイドピンが設けられ、他方の取り付け板にはガイド孔が設けられている。
そして、第１の取り付け板および第２の取り付け板を接近、離間させることによって、ガイドピンをガイド孔に挿脱させ、複数の第１の継手の軸心と複数の第２の継手の軸心とを合致させた状態で、複数の第１の継手と複数の第２の継手とを接続、分離するように構成されている。 There has been provided an auto coupling device that simultaneously connects and separates a plurality of joints (pipe joints) through which a fluid such as gas or liquid flows (see Patent Document 1).
The auto-coupling device includes a support base supported to be tiltable in all directions on a first base, and a plurality of first joints attached to the support base so as to be movable in a two-dimensional direction and neutral. A first mounting plate biased to the position and a plurality of second joints are attached, and are supported above the first mounting plate so as to be tiltable in all directions facing the first mounting plate. 2 mounting plates.
One mounting plate is provided with a guide pin, and the other mounting plate is provided with a guide hole.
Then, by approaching and separating the first mounting plate and the second mounting plate, the guide pin is inserted into and removed from the guide hole, and the shaft centers of the plurality of first joints and the shaft centers of the plurality of second joints And the plurality of first joints and the plurality of second joints are connected to and separated from each other.

特開昭４９−１３０８３０号公報Japanese Patent Laid-Open No. 49-130830

しかしながら、第１の取り付け板と第２の取り付け板との間で傾斜が僅かでも生じると、ガイドピンとガイド孔との摩擦が大きくなる。そして、いったんガイドピンとガイド孔との摩擦が生じると、摩擦がより増加する方向に第１の取り付け板と第２の取り付け板との間の傾斜が助長されてしまう。
そのため、第１の取り付け板および第２の取り付け板を円滑に接近、離間させることが難しくなり、第１の継手と第２の継手との接続、分離を円滑に行なう上で不利がある。
また、上記の現象を抑制するため、ガイドピンの外径とガイド孔の内径との差をある程度確保してガイドピンとガイド孔との摩擦を軽減することが考えられる。
しかしながら、ガイドピンの外径とガイド孔の内径との差が多くなるほど、第１の継手の軸心と第２の継手の軸心とのずれも生じやすくなることから、第１の継手と第２の継手との接続、分離の際にこれら継手に加わる力が増加しがちとなり継手の耐久性の向上を図る上で不利が生じる。
本発明は前記事情に鑑み案出されたものであって、本発明の目的は、継手同士の接続、分離を円滑に行ないつつ継手の耐久性を確保する上で有利なオートカップリング装置およびオートカップリング方法を提供することにある。 However, if a slight inclination occurs between the first mounting plate and the second mounting plate, the friction between the guide pin and the guide hole increases. Once the friction between the guide pin and the guide hole occurs, the inclination between the first mounting plate and the second mounting plate is promoted in the direction in which the friction increases.
Therefore, it becomes difficult to smoothly approach and separate the first mounting plate and the second mounting plate, which is disadvantageous in smoothly connecting and separating the first joint and the second joint.
In order to suppress the above phenomenon, it is conceivable to reduce the friction between the guide pin and the guide hole by securing a difference between the outer diameter of the guide pin and the inner diameter of the guide hole to some extent.
However, the greater the difference between the outer diameter of the guide pin and the inner diameter of the guide hole, the more likely the displacement between the first coupling shaft center and the second coupling shaft center occurs. The force applied to these joints tends to increase at the time of connection and separation with the joint of No. 2, and disadvantages arise in improving the durability of the joint.
The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide an auto coupling device and an auto that are advantageous in ensuring the durability of the joint while smoothly connecting and separating the joints. It is to provide a coupling method.

上記目的を達成するために本発明は、第１の基台であらゆる方向に傾動可能に支持された支持台と、複数の第１の継手が取着され前記支持台に２次元方向に移動可能に支持され前記２次元方向の基準位置となる中立位置に付勢された第１の取り付け板と、複数の第２の継手が取着され前記第１の取り付け板の上方に前記第１の取り付け板に対向して配置され第２の基台であらゆる方向に傾動可能に支持された第２の取り付け板と、前記第１の取り付け板および前記第２の取り付け板の一方に設けられたガイドピンと、他方に設けられたガイド孔とを備え、前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させ、前記複数の第１の継手の軸心と前記複数の第２の継手の軸心とを合致させた状態で、前記複数の第１の継手と前記複数の第２の継手とを接続、分離するオートカップリング装置であって、前記第１の取り付け板に前記第２の取り付け板に向かって出没可能に設けられ、同一長さを有し互いに一体的に連結され前記ガイドピンの軸心または前記ガイド孔の軸心と平行する３本以上の押し棒と、前記第１の取り付け板に設けられ、前記第２の取り付け板に接近する方向に前記各押し棒を付勢する弾性部材とを備え、前記弾性部材は、前記各押し棒のうち一部の押し棒の先端部が前記第２の取り付け板に当接し、残りの押し棒の先端部が前記第２の取り付け板に当接しない片当たりが発生したときに、前記第２の取り付け板を前記第１の取り付け板に平行させる方向に、前記第２の取り付け板に当接した前記押し棒から前記第２の取り付け板に押圧力を与えることで前記第２の取り付け板を傾動させるに足る弾性力を有するように構成されていることを特徴とする。
また、本発明は、第１の基台であらゆる方向に傾動可能に支持された支持台を設け、複数の第１の継手が取着され前記支持台に２次元方向に移動可能に支持され前記２次元方向の基準位置となる中立位置に付勢された第１の取り付け板を設け、複数の第２の継手が取着され前記第１の取り付け板の上方に前記第１の取り付け板に対向して配置され第２の基台であらゆる方向に傾動可能に支持された第２の取り付け板を設け、前記第１の取り付け板および前記第２の取り付け板の一方にガイドピンを、他方にガイド孔を設け、前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させ、前記複数の第１の継手の軸心と前記複数の第２の継手の軸心とを合致させた状態で、前記複数の第１の継手と前記複数の第２の継手とを接続、分離するオートカップリング方法であって、前記第１の取り付け板に、同一長さを有し互いに一体的に連結され前記ガイドピンの軸心または前記ガイド孔の軸心と平行する３本以上の押し棒を前記第２の取り付け板に向かって出没可能に設け、前記第１の取り付け板に、前記第２の取り付け板に接近する方向に前記各押し棒を付勢する弾性部材を設け、前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させる際、前記各押し棒のうち一部の押し棒の先端部が前記第２の取り付け板に当接し、残りの押し棒の先端部が前記第２の取り付け板に当接しない片当たりが発生したときに、前記第２の取り付け板を前記第１の取り付け板に平行させる方向に、前記第２の取り付け板に当接した前記押し棒から前記第２の取り付け板に前記弾性部材の弾性力を与えることで前記第２の取り付け板を傾動させるようにしたことを特徴とする。 In order to achieve the above object, the present invention provides a support base supported to be tiltable in all directions on a first base and a plurality of first joints attached to the support base and movable in a two-dimensional direction. And a first mounting plate biased to a neutral position serving as a reference position in the two-dimensional direction, and a plurality of second joints are attached and the first mounting plate is located above the first mounting plate. A second mounting plate disposed opposite to the plate and supported by the second base so as to be tiltable in any direction; a guide pin provided on one of the first mounting plate and the second mounting plate; A guide hole provided on the other side, and by approaching and separating the first mounting plate and the second mounting plate, the guide pin is inserted into and removed from the guide hole, the plurality of first holes And the plurality of second joints. An auto coupling device that connects and separates the plurality of first joints and the plurality of second joints in a state in which the cores are aligned with each other, wherein the second attachment to the first attachment plate Three or more push rods which are provided so as to protrude and retract toward the plate, have the same length and are integrally connected to each other and parallel to the axis of the guide pin or the axis of the guide hole, and the first An elastic member provided on the mounting plate and biasing each of the push rods in a direction approaching the second mounting plate, wherein the elastic member is a tip of a part of the push rods of the push rods. Comes into contact with the second mounting plate, and the second mounting plate is moved to the first mounting plate when the end of the remaining push rod does not contact the second mounting plate. In contact with the second mounting plate in a direction parallel to Characterized in that it is configured to have an elastic force sufficient to tilt the second mounting plate by applying a pressing force from the serial push rod to said second mounting plate.
Further, the present invention provides a support base supported to be tiltable in all directions on the first base, and a plurality of first joints are attached and supported on the support base to be movable in a two-dimensional direction. A first mounting plate biased to a neutral position serving as a reference position in a two-dimensional direction is provided, and a plurality of second joints are attached to face the first mounting plate above the first mounting plate. The second mounting plate is disposed so as to be tiltable in all directions on the second base, and a guide pin is provided on one of the first mounting plate and the second mounting plate, and a guide is provided on the other. By providing a hole and moving the first mounting plate and the second mounting plate closer to and away from each other, the guide pin is inserted into and removed from the guide hole, and the shaft centers of the plurality of first joints and the plurality With the axis of the second joint of the An auto-coupling method for connecting and separating a plurality of first joints and a plurality of second joints, wherein the guides have the same length and are integrally coupled to each other on the first mounting plate. Three or more push rods parallel to the axis of the pin or the axis of the guide hole are provided so as to protrude and retract toward the second mounting plate, and the first mounting plate is provided on the second mounting plate. When the guide pin is inserted into and removed from the guide hole by providing an elastic member for urging each push rod in the approaching direction, and approaching and separating the first mounting plate and the second mounting plate When the tip end of a part of the push rods abuts on the second mounting plate and the tip of the remaining push rod does not abut on the second mounting plate. And the second mounting plate is connected to the second mounting plate. The second mounting plate is tilted by applying an elastic force of the elastic member to the second mounting plate from the push rod in contact with the second mounting plate in a direction parallel to the mounting plate. It is characterized by that.

本発明では、第１の取り付け板および第２の取り付け板を接近離間させる際に、第２の取り付け板に傾きが生じても、複数の押し棒と、各押し棒を付勢する弾性部材とによって第２の取り付け板を傾動させ、傾きを低減する。
したがって、複数の第１の継手と複数の第２の継手との接続、分離を円滑に行なう上で有利となり、継手の耐久性を確保する上でも有利となる。 In the present invention, when the first mounting plate and the second mounting plate are moved closer to and away from each other, even if the second mounting plate is inclined, a plurality of push rods and an elastic member for biasing each push rod are provided. To tilt the second mounting plate to reduce the tilt.
Therefore, it is advantageous for smoothly connecting and separating the plurality of first joints and the plurality of second joints, and is advantageous for ensuring the durability of the joints.

第１の実施の形態に係るオートカップリング装置１０によって第１の継手３０Ａと第２の継手３０Ｂとを接続する場合の動作を説明する断面正面図である。It is a sectional front view explaining operation in the case of connecting the 1st joint 30A and the 2nd joint 30B with auto coupling device 10 concerning a 1st embodiment. 第１の実施の形態に係るオートカップリング装置によって第１の継手３０Ａと第２の継手３０Ｂとを分離する場合の動作を説明する断面正面図である。It is a section front view explaining operation in the case of separating the 1st joint 30A and the 2nd joint 30B with the auto coupling device concerning a 1st embodiment. 比較例によって第１の継手３０Ａと第２の継手３０Ｂとを接続する場合の動作を説明する断面正面図である。It is a section front view explaining operation in the case of connecting the 1st joint 30A and the 2nd joint 30B by a comparative example.

次に本発明の実施の形態に係るオートカップリング装置１０についてオートカップリング方法と共に図面を参照して説明する。
図１、図２に示すように、オートカップリング装置１０は、第１の基台１２、支持台１４、第１の取り付け板１６、ガイドピン１８、押し棒２０、弾性部材２２、第２の基台２４、第２の取り付け板２６などを含んで構成されている。 Next, an auto coupling device 10 according to an embodiment of the present invention will be described together with an auto coupling method with reference to the drawings.
As shown in FIGS. 1 and 2, the auto coupling device 10 includes a first base 12, a support base 14, a first mounting plate 16, a guide pin 18, a push rod 20, an elastic member 22, a second member. A base 24, a second mounting plate 26, and the like are included.

第１の取り付け板１６は、矩形板状を呈し、第２の取り付け板２６に対向する平坦な対向面１６０２と背面１６０４とを有している。
第１の取り付け板１６には複数の第１の継手３０Ａが取着されている。
複数の第１の継手３０Ａは、それらの軸心を第１の取り付け板１６の厚さ方向に合致させ、それらの先端部が第１の取り付け板１６の対向面１６０２から突出するように第１の取り付け板１６に組み込まれており、基端部には流体が流通するフレキシブルホース３２Ａが接続されている。
なお、第１の継手３０Ａと後述の第２の継手３０Ｂに自己封鎖型継手（セルフ・シーリング・カップリング）などの従来公知の様々な継手が採用可能である。 The first mounting plate 16 has a rectangular plate shape and has a flat facing surface 1602 and a back surface 1604 facing the second mounting plate 26.
A plurality of first joints 30 </ b> A are attached to the first mounting plate 16.
The plurality of first joints 30 </ b> A have their axial centers aligned with the thickness direction of the first mounting plate 16, and their first ends protrude from the facing surface 1602 of the first mounting plate 16. The flexible hose 32A through which fluid flows is connected to the base end portion.
Various conventionally known joints such as self-sealing joints (self-sealing / coupling) can be used for the first joint 30A and the second joint 30B described later.

ガイドピン１８は、第１の取り付け板１６の対向面１６０２から突設され、ガイドピン１８の軸心は第１の取り付け板１６の厚さ方向と平行している。
本実施の形態では、ガイドピン１８は２本設けられ、第１の取り付け板１６の中心を通り第１の取り付け板１６の両側を結ぶ中心線上で第１の取り付け板１６の中心から等間隔をおいた箇所にそれぞれ設けられている。
ガイドピン１８の先端部は、先端に至るほど外径が小さくなるテーパ部で形成されている。 The guide pin 18 protrudes from the facing surface 1602 of the first mounting plate 16, and the axial center of the guide pin 18 is parallel to the thickness direction of the first mounting plate 16.
In the present embodiment, two guide pins 18 are provided, and equidistant from the center of the first mounting plate 16 on the center line connecting both sides of the first mounting plate 16 through the center of the first mounting plate 16. It is provided in each place.
The distal end portion of the guide pin 18 is formed with a tapered portion whose outer diameter decreases toward the distal end.

第１の取り付け板１６の背面１６０４に、下方に延在する脚部３４が設けられ、脚部３４の下端に矩形板状のバランサーブロック３６が連結されている。
第１の取り付け板１６の背面１６０４で脚部３４の内側の箇所には、第１の取り付け板１６の中心を中心とした凹部１６１０が形成されている。
また、第１の取り付け板１６には、凹部１６１０内に位置するように押し棒２０の挿通孔１６１２が複数形成され、各挿通孔１６１２には軸受１６１４が組み込まれている。
本実施の形態では、挿通孔１６１２は、第１の取り付け板１６の中心を中心とした円周上で周方向に等間隔をおいた４箇所にそれぞれ設けられ、ガイドピン１８の軸心と平行している。 A leg portion 34 extending downward is provided on the back surface 1604 of the first mounting plate 16, and a rectangular plate-like balancer block 36 is connected to the lower end of the leg portion 34.
A concave portion 1610 centering on the center of the first mounting plate 16 is formed at a position inside the leg portion 34 on the back surface 1604 of the first mounting plate 16.
The first mounting plate 16 is formed with a plurality of insertion holes 1612 for the push rod 20 so as to be positioned in the recess 1610, and a bearing 1614 is incorporated in each insertion hole 1612.
In the present embodiment, the insertion holes 1612 are provided at four locations that are equidistant in the circumferential direction on the circumference centered on the center of the first mounting plate 16, and are parallel to the axis of the guide pin 18. doing.

第１の取り付け板１６は、第１の基台１２上で支持台１４を介して支持されている。
第１の基台１２は、水平方向において互いに対向するブラケット３８を有し、それらブラケット３８には水平方向に延在する支軸４０の両端が支持されている。
第１の基台１２の周囲には、支持台１４の下面に当接可能で、下面に当接することで支持台１４の傾動角度、すなわち第１の取り付け板１６の傾動角度を規制するストッパ４２が設けられている。 The first mounting plate 16 is supported on the first base 12 via the support base 14.
The first base 12 has brackets 38 facing each other in the horizontal direction, and both ends of a support shaft 40 extending in the horizontal direction are supported by the brackets 38.
Around the first base 12 is a stopper 42 that can contact the lower surface of the support base 14 and regulate the tilt angle of the support base 14, that is, the tilt angle of the first mounting plate 16 by contacting the lower surface. Is provided.

支持台１４は、矩形枠状のケース４４と、ケース４４の下面から下方に延在する脚部４６を有し、脚部４６の下端は球面軸受４８を介し支軸４０にあらゆる方向に傾動可能に支持されている。
バランサーブロック３６はケース４４内においてケース４４内に設けられた不図示の軸受を介して互いに直交するＸ軸方向およびＹ軸方向にスライド可能に支持されている。
バランサーブロック３６の４辺とケース４４の４辺との間に複数の弾性部材５０が介設されており、それら弾性部材５０によりバランサーブロック３６はケース４４に対してＸ軸方向およびＹ軸方向に移動可能に弾性支持され、バランサーブロック３６は、それら２次元方向の基準位置であるケース４４の中心位置（原点）に位置するように付勢されている。
バランサーブロック３６の上面には、凹部１６１０に対向する凹部３６１０が設けられている。 The support base 14 includes a rectangular frame-shaped case 44 and a leg portion 46 extending downward from the lower surface of the case 44, and the lower end of the leg portion 46 can be tilted in any direction with respect to the support shaft 40 via a spherical bearing 48. It is supported by.
The balancer block 36 is supported in the case 44 so as to be slidable in the X axis direction and the Y axis direction orthogonal to each other via a bearing (not shown) provided in the case 44.
A plurality of elastic members 50 are interposed between the four sides of the balancer block 36 and the four sides of the case 44, and the balancer block 36 is arranged in the X axis direction and the Y axis direction with respect to the case 44 by the elastic members 50. The balancer block 36 is urged so as to be positioned at the center position (origin) of the case 44 that is the reference position in the two-dimensional direction.
On the upper surface of the balancer block 36, a recess 3610 that faces the recess 1610 is provided.

押し棒２０は、第１の取り付け板１６に第２の取り付け板２６に向かって出没可能に３本以上設けられている。
押し棒２０は、本実施の形態では４本設けられ、それら押し棒２０は、同一長さで互いに一体的に連結されている。
すなわち、各押し棒２０はそれぞれ挿通孔１６１２に挿通され、第１の取り付け板１６の対向面１６０２から背面１６０４にわたって延在し、軸受１６１４によって軸方向に移動可能に支持されている。
そして、各押し棒２０の背面１６０４側の端部が連結部材５２により一体的に連結され、連結部材５２は第１の取り付け板１６の凹部１６１０に収容できる形状で形成されている。
なお、連結部材５２の上面が凹部１６１０の天井面に当接した状態で、押し棒２０が第１の取り付け板１６の対向面１６０２から最も突出する上限位置となる。 Three or more push rods 20 are provided on the first mounting plate 16 so as to be able to project and retract toward the second mounting plate 26.
In this embodiment, four push rods 20 are provided, and these push rods 20 are integrally connected to each other with the same length.
That is, each push rod 20 is inserted through the insertion hole 1612, extends from the opposing surface 1602 of the first mounting plate 16 to the back surface 1604, and is supported by the bearing 1614 so as to be movable in the axial direction.
The end portions on the back surface 1604 side of the push rods 20 are integrally connected by the connecting member 52, and the connecting member 52 is formed in a shape that can be received in the recess 1610 of the first mounting plate 16.
In the state where the upper surface of the connecting member 52 is in contact with the ceiling surface of the recess 1610, the push bar 20 is the uppermost position where the push rod 20 protrudes most from the facing surface 1602 of the first mounting plate 16.

弾性部材２２は、第１の取り付け板１６に接近する方向に各押し棒２０を付勢するものである。
弾性部材２２は、連結部材５２の下面と、凹部１６１０の底面との間に複数設けられている。
本実施の形態では、弾性部材２２は、各押し棒２０の直下に位置するように４つ設けられている。
弾性部材２２は、各押し棒２０のうち一部の押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接し、残りの押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接しない片当たりが発生したときに、第２の取り付け板２６の対向面２６０２を第１の取り付け板１６の対向面１６０２に平行させる方向に、第２の取り付け板２６の対向面２６０２に当接した押し棒２０から第２の取り付け板２６に押圧力を与えることで第２の取り付け板２６を傾動させるに足る弾性力を有するように構成されている。 The elastic member 22 biases each push rod 20 in a direction approaching the first mounting plate 16.
A plurality of elastic members 22 are provided between the lower surface of the connecting member 52 and the bottom surface of the recess 1610.
In the present embodiment, four elastic members 22 are provided so as to be located immediately below each push rod 20.
In the elastic member 22, the tip of some of the push rods 20 of each push rod 20 abuts against the opposing surface 2602 of the second mounting plate 26, and the tip of the remaining push rod 20 is the second mounting plate 26. Of the second mounting plate 26 in the direction in which the facing surface 2602 of the second mounting plate 26 is parallel to the facing surface 1602 of the first mounting plate 16 when the one-side contact that does not contact the facing surface 2602 occurs. The second mounting plate 26 is configured to have an elastic force sufficient to tilt the second mounting plate 26 by applying a pressing force to the second mounting plate 26 from the push rod 20 in contact with the opposing surface 2602.

第２の取り付け板２６は、矩形板状を呈し、第１の取り付け板１６の上方に配置されている。
第２の取り付け板２６は、第１の取り付け板１６に対向する平坦な対向面２６０２と背面２６０４とを有している。
第２の取り付け板２６には、複数の第２の継手３０Ｂが取着されている。
複数の第２の継手３０Ｂは、それらの軸心を第２の取り付け板２６の厚さ方向に合致させ、それらの先端部が対向面２６０２側に位置するように第２の取り付け板２６に組み込まれており、基端部には流体が流通するフレキシブルホース３２Ｂが接続されている。 The second mounting plate 26 has a rectangular plate shape and is disposed above the first mounting plate 16.
The second mounting plate 26 has a flat facing surface 2602 and a back surface 2604 facing the first mounting plate 16.
A plurality of second joints 30 </ b> B are attached to the second mounting plate 26.
The plurality of second joints 30 </ b> B are incorporated in the second mounting plate 26 so that their axial centers are aligned with the thickness direction of the second mounting plate 26, and their tips are located on the opposing surface 2602 side. A flexible hose 32B through which fluid flows is connected to the base end portion.

第２の取り付け板２６は、第２の基台２４を介して支持されている。
第２の基台２４は、不図示の移動装置によって移動可能に支持されるものであり、水平方向において互いに対向するブラケット５４を有し、それらブラケット５４には水平方向に延在する支軸５６の両端が支持されている。
第２の基台２４の周囲には、第２の取り付け板２６の背面２６０４に当接可能で、背面２６０４に当接することで第２の取り付け板２６の角度を規制するストッパ５８が設けられている。
第２の取り付け板２６は、背面２６０４から上方に延在する脚部６０を有し、脚部６０の上端は球面軸受６２を介し支軸５６にあらゆる方向に傾動可能に支持されている。 The second mounting plate 26 is supported via the second base 24.
The second base 24 is movably supported by a moving device (not shown), and has brackets 54 facing each other in the horizontal direction, and the support shafts 56 extending horizontally in the brackets 54. Are supported at both ends.
Around the second base 24, there is provided a stopper 58 that can contact the back surface 2604 of the second mounting plate 26 and regulate the angle of the second mounting plate 26 by contacting the back surface 2604. Yes.
The second mounting plate 26 has a leg portion 60 extending upward from the back surface 2604, and an upper end of the leg portion 60 is supported by the support shaft 56 via a spherical bearing 62 so as to be tiltable in any direction.

ガイド孔２８は、第２の取り付け板２６の厚さ方向に貫通して設けられ、ガイド孔２８の軸心は第２の取り付け板２６の厚さ方向と平行している。
ガイド孔２８は、２本のガイドピン１８と対応する第２の取り付け板２６の２箇所にそれぞれ設けられている。
本実施の形態では、ガイド孔２８は第２の取り付け板２６に組み込まれた摩擦係数の小さい滑り部材６４で形成されている。
ガイド孔２８のうち第２の取り付け板２６の対向面２６０２側の部分は、第１の取り付け板１６の対向面１６０２に至るほど内径が大きくなるテーパ部で形成され、ガイドピン１８の先端部が円滑にガイド孔２８に挿入されるように図られている。
そして、ガイドピン１８およびガイド孔２８は、第１の取り付け板１６および第２の取り付け板２６を接近させてガイドピン１８をガイド孔２８に挿入させることによって、複数の第１の継手３０Ａの軸心と複数の第２の継手３０Ｂの軸心とが合致した状態となるように構成されている。 The guide hole 28 is provided penetrating in the thickness direction of the second mounting plate 26, and the axial center of the guide hole 28 is parallel to the thickness direction of the second mounting plate 26.
The guide holes 28 are respectively provided at two locations on the second mounting plate 26 corresponding to the two guide pins 18.
In the present embodiment, the guide hole 28 is formed by a sliding member 64 having a small friction coefficient incorporated in the second mounting plate 26.
A portion of the guide hole 28 on the facing surface 2602 side of the second mounting plate 26 is formed with a tapered portion whose inner diameter increases toward the facing surface 1602 of the first mounting plate 16, and the tip portion of the guide pin 18 is formed. It is designed to be smoothly inserted into the guide hole 28.
The guide pin 18 and the guide hole 28 are inserted into the guide hole 28 by bringing the first attachment plate 16 and the second attachment plate 26 closer to each other, thereby allowing the shafts of the plurality of first joints 30A to be inserted. The center and the shaft centers of the plurality of second joints 30B are configured to coincide with each other.

次に、オートカップリング装置１０の作用について説明する。
図１を参照して第１の継手３０Ａと第２の継手３０Ｂとを接合する場合について説明する。
まず、不図示の移動装置によって第２の基台２４を介して支持された第２の取り付け板２６の対向面２６０２が第１の取り付け板１６の対向面１６０２に対向するように位置決めされる。
次いで、移動装置によって第２の取り付け板２６が下降され、第１の取り付け板１６に接近する方向に移動される。
やがて、ガイドピン１８がガイド孔２８に挿通されることで、複数の第１の継手３０Ａの軸心と複数の第２の継手３０Ｂの軸心とが合致し、その状態で第２の取り付け板２６が第１の取り付け板１６に接近していく。 Next, the operation of the auto coupling device 10 will be described.
A case where the first joint 30A and the second joint 30B are joined will be described with reference to FIG.
First, the facing surface 2602 of the second mounting plate 26 supported by the moving device (not shown) via the second base 24 is positioned so as to face the facing surface 1602 of the first mounting plate 16.
Next, the second attachment plate 26 is lowered by the moving device and moved in a direction approaching the first attachment plate 16.
Eventually, when the guide pin 18 is inserted into the guide hole 28, the shaft centers of the plurality of first joints 30A coincide with the shaft centers of the plurality of second joints 30B, and in this state, the second mounting plate 26 approaches the first mounting plate 16.

このとき、ガイドピン１８とガイド孔２８との間に摩擦が生じ、図示するように第２の取り付け板２６が第１の取り付け板１６に対して傾斜したとする。
このとき、各押し棒２０のうち一部の押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接し、残りの押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接しない片当たりが発生する。
すると、第２の取り付け板２６の対向面２６０２を第１の取り付け板１６の対向面１６０２に平行させる方向に、第２の取り付け板２６の対向面２６０２に当接した押し棒２０から第２の取り付け板２６に弾性部材２２の押圧力を与えることで第２の取り付け板２６を傾動させる。 At this time, it is assumed that friction is generated between the guide pin 18 and the guide hole 28, and the second mounting plate 26 is inclined with respect to the first mounting plate 16 as illustrated.
At this time, the tip end portions of some of the push rods 20 abut on the facing surface 2602 of the second mounting plate 26, and the tip portions of the remaining push rods 20 face the second mounting plate 26. One-sided contact that does not contact the surface 2602 occurs.
Then, in the direction in which the facing surface 2602 of the second mounting plate 26 is parallel to the facing surface 1602 of the first mounting plate 16, the push rod 20 that is in contact with the facing surface 2602 of the second mounting plate 26 makes the second The second mounting plate 26 is tilted by applying a pressing force of the elastic member 22 to the mounting plate 26.

これにより第２の取り付け板２６は、当接した押し棒２０から離間する方向に傾動され、すなわち第２の取り付け板２６の対向面２６０２が第１の取り付け板１６の対向面１６０２と平行に近づくように傾動される。
そのため、ガイドピン１８の軸心とガイド孔２８の軸心とが合致することによりガイドピン１８とガイド孔２８との摩擦が軽減され、したがって、ガイドピン１８がガイド孔２８に円滑に挿入される。
この状態で、さらに第２の取り付け板２６を下降させ、第１の取り付け板１６に第２の取り付け板２６を接近させることによって、複数の第１の継手３０Ａの軸心と複数の第２の継手３０Ｂの軸心とが合致した状態となり、やがて複数の第１の継手３０Ａと複数の第２の継手３０Ｂとが接続され、これら継手を介して流体の流通が可能な状態となる。 As a result, the second mounting plate 26 is tilted away from the abutting push rod 20, that is, the facing surface 2602 of the second mounting plate 26 approaches parallel to the facing surface 1602 of the first mounting plate 16. So that it is tilted.
Therefore, the friction between the guide pin 18 and the guide hole 28 is reduced by matching the axial center of the guide pin 18 and the axial center of the guide hole 28, and therefore the guide pin 18 is smoothly inserted into the guide hole 28. .
In this state, the second mounting plate 26 is further lowered to bring the second mounting plate 26 closer to the first mounting plate 16, whereby the shaft centers of the plurality of first joints 30 </ b> A and the plurality of second mounting plates 26 are moved. The shaft center of the joint 30B is in agreement, and eventually the plurality of first joints 30A and the plurality of second joints 30B are connected, and the fluid can flow through these joints.

次に、図２を参照して第１の継手３０Ａと第２の継手３０Ｂとを分離する場合について説明する。
第１の継手３０Ａと第２の継手３０Ｂとが接続された状態で、不図示の移動装置によって基台を介して支持された第２の取り付け板２６が第１の取り付け板１６から離間する方向に移動される。
すると、ガイドピン１８がガイド孔２８に挿通された状態で第２の取り付け板２６が第１の取り付け板１６から離間していく。
このとき、ガイドピン１８とガイド孔２８との間に摩擦が生じ、図示するように第２の取り付け板２６が第１の取り付け板１６に対して傾斜したとする。
このとき、各押し棒２０のうち一部の押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接し、残りの押し棒２０の先端部が第２の取り付け板２６の対向面２６０２に当接しない片当たりが発生する。 Next, a case where the first joint 30A and the second joint 30B are separated will be described with reference to FIG.
The direction in which the second mounting plate 26 supported by the moving device (not shown) via the base is separated from the first mounting plate 16 in a state where the first joint 30A and the second joint 30B are connected. Moved to.
Then, the second mounting plate 26 is separated from the first mounting plate 16 in a state where the guide pin 18 is inserted into the guide hole 28.
At this time, it is assumed that friction is generated between the guide pin 18 and the guide hole 28, and the second mounting plate 26 is inclined with respect to the first mounting plate 16 as illustrated.
At this time, the tip end portions of some of the push rods 20 abut on the facing surface 2602 of the second mounting plate 26, and the tip portions of the remaining push rods 20 face the second mounting plate 26. One-sided contact that does not contact the surface 2602 occurs.

すると、弾性部材２２により、第２の取り付け板２６の対向面２６０２を第１の取り付け板１６の対向面１６０２に平行させる方向に、第２の取り付け板２６の対向面２６０２に当接した押し棒２０から第２の取り付け板２６に押圧力を与えることで第２の取り付け板２６を傾動させる。
これにより第２の取り付け板２６は、当接した押し棒２０から離間する方向に傾動され、すなわち第２の取り付け板２６の対向面２６０２が第１の取り付け板１６の対向面１６０２と平行に近づくように傾動される。
そのため、ガイドピン１８の軸心とガイド孔２８の軸心とが合致することによりガイドピン１８とガイド孔２８との摩擦が軽減され、したがって、ガイド孔２８がガイドピン１８から離間する方向に円滑に移動する。
この状態で、さらに第１の取り付け板１６から第２の取り付け板２６を離間させることによって、複数の第１の継手３０Ａと複数の第２の継手３０Ｂとが分離され、これら継手を介した流体の流通が停止された状態となる。 Then, by the elastic member 22, the push rod that is in contact with the facing surface 2602 of the second mounting plate 26 in a direction in which the facing surface 2602 of the second mounting plate 26 is parallel to the facing surface 1602 of the first mounting plate 16. The second mounting plate 26 is tilted by applying a pressing force from 20 to the second mounting plate 26.
As a result, the second mounting plate 26 is tilted away from the abutting push rod 20, that is, the facing surface 2602 of the second mounting plate 26 approaches parallel to the facing surface 1602 of the first mounting plate 16. So that it is tilted.
Therefore, the friction between the guide pin 18 and the guide hole 28 is reduced by matching the axial center of the guide pin 18 and the axial center of the guide hole 28, and therefore the guide hole 28 is smoothly moved away from the guide pin 18. Move to.
In this state, by further separating the second mounting plate 26 from the first mounting plate 16, the plurality of first joints 30A and the plurality of second joints 30B are separated, and the fluids through these joints The distribution of is stopped.

以上説明したように本実施の形態によれば、第１の取り付け板１６および第２の取り付け板２６を接近離間させる際に、第２の取り付け板２６の傾きが生じても、第１の取り付け板１６に設けた複数の押し棒２０と、各押し棒２０を付勢する弾性部材２２とによって第２の取り付け板２６を傾動することで傾きを低減することができる。
したがって、複数の第１の継手３０Ａと複数の第２の継手３０Ｂとの接続、分離を円滑に行なう上で有利となり、また、複数の第１の継手３０Ａと複数の第２の継手３０Ｂとに無理な力を掛けないので、継手の耐久性を確保する上でも有利となる。 As described above, according to the present embodiment, when the first mounting plate 16 and the second mounting plate 26 are moved closer to and away from each other, even if the second mounting plate 26 is inclined, the first mounting plate The tilt can be reduced by tilting the second mounting plate 26 by the plurality of push rods 20 provided on the plate 16 and the elastic member 22 that biases each push rod 20.
Therefore, it is advantageous in smoothly connecting and separating the plurality of first joints 30A and the plurality of second joints 30B, and the plurality of first joints 30A and the plurality of second joints 30B are advantageous. Since an excessive force is not applied, it is advantageous in securing the durability of the joint.

次に比較例について図３を参照して説明する。
比較例は、本実施の形態から押し棒２０および弾性部材２２を取り除いたものであり、その他の部分の構成は同一であるので、本実施の形態と同一の部分、部材には同一の符号を付してその説明を省略する。 Next, a comparative example will be described with reference to FIG.
In the comparative example, the push rod 20 and the elastic member 22 are removed from the present embodiment, and the configuration of the other parts is the same, so the same reference numerals are used for the same parts and members as in the present embodiment. A description thereof will be omitted.

比較例において、第１の継手３０Ａと第２の継手３０Ｂとを接合する場合について説明する。
実施の形態と同様の手順で、第２の取り付け板２６の対向面２６０２が第１の取り付け板１６の対向面１６０２に対向するように位置決めされ、第２の取り付け板２６が第１の取り付け板１６に接近する方向に移動される。
やがて、ガイドピン１８がガイド孔２８に挿通されることで、複数の第１の継手３０Ａの軸心と複数の第２の継手３０Ｂの軸心とが合致し、その状態で第２の取り付け板２６が第１の取り付け板１６に接近していく。
このとき、ガイドピン１８とガイド孔２８との間に摩擦が生じ、図示するように第２の取り付け板２６が第１の取り付け板１６に対していったん傾斜すると、第２の取り付け板２６が第１の取り付け板１６に接近するにつれて摩擦がより増加するように第２の取り付け板２６の傾斜が助長されてしまう。 In the comparative example, a case where the first joint 30A and the second joint 30B are joined will be described.
In the same procedure as in the embodiment, the second mounting plate 26 is positioned so that the facing surface 2602 of the second mounting plate 26 faces the facing surface 1602 of the first mounting plate 16, and the second mounting plate 26 is the first mounting plate. 16 is moved in a direction approaching 16.
Eventually, when the guide pin 18 is inserted into the guide hole 28, the shaft centers of the plurality of first joints 30A coincide with the shaft centers of the plurality of second joints 30B, and in this state, the second mounting plate 26 approaches the first mounting plate 16.
At this time, friction is generated between the guide pin 18 and the guide hole 28, and when the second mounting plate 26 is once inclined with respect to the first mounting plate 16 as shown in the drawing, the second mounting plate 26 is The inclination of the second mounting plate 26 is promoted so that the friction increases as it approaches the first mounting plate 16.

そのため、第１の取り付け板１６および第２の取り付け板２６を円滑に接近、離間させことが難しくなり、第１の継手３０Ａと第２の継手３０Ｂとの接続を円滑に行なう上で不利が生じる。
また、ガイドピン１８とガイド孔２８との摩擦を軽減するためにガイドピン１８の外径とガイド孔２８の内径との差を大きくすると、第１の継手３０Ａの軸心と第２の継手３０Ｂの軸心とのずれも生じやすくなることから、第１の継手３０Ａと第２の継手３０Ｂとの接続の際にこれら継手に加わる力が増加しがちとなり継手の耐久性の向上を図る上で不利が生じる。
また、以上の現象は、第１の継手３０Ａと第２の継手３０Ｂとを分離する際にも同様に生じる。
したがって、比較例に比べ本実施の形態では、継手同士の接続、分離を円滑に行なう上で有利となり、また、継手に無理な力を掛けないので継手の耐久性を確保する上でも有利となる。 Therefore, it becomes difficult to smoothly approach and separate the first mounting plate 16 and the second mounting plate 26, and there is a disadvantage in smoothly connecting the first joint 30A and the second joint 30B. .
Further, when the difference between the outer diameter of the guide pin 18 and the inner diameter of the guide hole 28 is increased in order to reduce the friction between the guide pin 18 and the guide hole 28, the shaft center of the first joint 30A and the second joint 30B. When the first joint 30A and the second joint 30B are connected, the force applied to these joints tends to increase, so that the durability of the joint can be improved. There is a disadvantage.
The above phenomenon occurs similarly when the first joint 30A and the second joint 30B are separated.
Therefore, compared with the comparative example, the present embodiment is advantageous in smoothly connecting and separating the joints, and is also advantageous in ensuring the durability of the joint because an excessive force is not applied to the joint. .

１０……オートカップリング装置、１２……第１の基台、１４……支持台、１６……第１の取り付け板、１６０２……対向面、１６０４……背面、１８……ガイドピン、２０……押し棒、２２……弾性部材、２４……第２の基台、２６……第２の取り付け板、２６０２……対向面、２６０４……背面、２８……ガイド孔、３０Ａ……第１の継手、３０Ｂ……第２の継手、３４……脚部、３６……バランサーブロック、４２……ストッパ、５２……連結部材、５８……ストッパ。   DESCRIPTION OF SYMBOLS 10 ... Auto-coupling device, 12 ... 1st base, 14 ... Supporting base, 16 ... 1st mounting plate, 1602 ... Opposite surface, 1604 ... Back surface, 18 ... Guide pin, 20 …… Push bar, 22 …… elastic member, 24 …… second base, 26 …… second mounting plate, 2602 …… opposite surface, 2604 …… back surface, 28 …… guide hole, 30A …… first 1 joint, 30B ... second joint, 34 ... leg, 36 ... balancer block, 42 ... stopper, 52 ... connecting member, 58 ... stopper.

Claims (4)

第１の基台であらゆる方向に傾動可能に支持された支持台と、
複数の第１の継手が取着され前記支持台に２次元方向に移動可能に支持され前記２次元方向の基準位置となる中立位置に付勢された第１の取り付け板と、
複数の第２の継手が取着され前記第１の取り付け板の上方に前記第１の取り付け板に対向して配置され第２の基台であらゆる方向に傾動可能に支持された第２の取り付け板と、
前記第１の取り付け板および前記第２の取り付け板の一方に設けられたガイドピンと、他方に設けられたガイド孔とを備え、
前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させ、前記複数の第１の継手の軸心と前記複数の第２の継手の軸心とを合致させた状態で、前記複数の第１の継手と前記複数の第２の継手とを接続、分離するオートカップリング装置であって、
前記第１の取り付け板に前記第２の取り付け板に向かって出没可能に設けられ、同一長さを有し互いに一体的に連結され前記ガイドピンの軸心または前記ガイド孔の軸心と平行する３本以上の押し棒と、
前記第１の取り付け板に設けられ、前記第２の取り付け板に接近する方向に前記各押し棒を付勢する弾性部材とを備え、
前記弾性部材は、前記各押し棒のうち一部の押し棒の先端部が前記第２の取り付け板に当接し、残りの押し棒の先端部が前記第２の取り付け板に当接しない片当たりが発生したときに、前記第２の取り付け板を前記第１の取り付け板に平行させる方向に、前記第２の取り付け板に当接した前記押し棒から前記第２の取り付け板に押圧力を与えることで前記第２の取り付け板を傾動させるに足る弾性力を有するように構成されている、
ことを特徴とするオートカップリング装置。 A support base supported to be tiltable in all directions by the first base;
A first mounting plate attached with a plurality of first joints, supported by the support base so as to be movable in a two-dimensional direction, and biased to a neutral position serving as a reference position in the two-dimensional direction;
A second attachment in which a plurality of second joints are attached and arranged above the first attachment plate so as to face the first attachment plate and supported by the second base so as to be tiltable in any direction. The board,
A guide pin provided on one of the first attachment plate and the second attachment plate, and a guide hole provided on the other,
By approaching and separating the first attachment plate and the second attachment plate, the guide pin is inserted into and removed from the guide hole, and the shaft centers of the plurality of first joints and the plurality of second portions are inserted. An auto coupling device that connects and separates the plurality of first joints and the plurality of second joints in a state in which the shaft centers of the joints are matched.
The first mounting plate is provided so as to protrude and retract toward the second mounting plate, have the same length, are integrally connected to each other, and is parallel to the axis of the guide pin or the axis of the guide hole. 3 or more push rods,
An elastic member provided on the first mounting plate and biasing each push bar in a direction approaching the second mounting plate;
In the elastic member, one end of a part of the push rods abuts against the second mounting plate, and the other end of the push rod does not abut against the second mounting plate. When this occurs, a pressing force is applied to the second mounting plate from the push rod in contact with the second mounting plate in a direction in which the second mounting plate is parallel to the first mounting plate. It is configured to have an elastic force sufficient to tilt the second mounting plate.
An auto-coupling device characterized by that. 前記第１の取り付け板は、前記第２の取り付け板に対向する対向面と、その反対に位置する背面とを有し、
前記第１の取り付け板の前記背面に、下方に延在する脚部が設けられ、
前記脚部の下部に、前記支持台に２次元方向に移動可能に支持され前記中立位置に付勢されたバランサーブロックが連結され、
前記各押し棒は、前記第１の取り付け板の前記対向面から前記背面にわたって延在し、前記各押し棒の前記背面側の端部が連結部材により一体的に連結され、
前記弾性部材は、前記連結部材と前記バランサーブロックとの間で前記各押し棒に対応した箇所にそれぞれ設けられている、
ことを特徴とする請求項１記載のオートカップリング装置。 The first mounting plate has a facing surface that faces the second mounting plate and a back surface that is opposite to the facing surface.
Legs extending downward are provided on the back surface of the first mounting plate,
A balancer block connected to the support base so as to be movable in a two-dimensional direction and biased to the neutral position is connected to the lower portion of the leg portion,
Each push bar extends from the opposing surface of the first mounting plate to the back surface, and the back side end of each push rod is integrally connected by a connecting member,
The elastic members are respectively provided at locations corresponding to the push rods between the connecting member and the balancer block.
The auto-coupling device according to claim 1. 前記第２の取り付け板は、前記第１の取り付け板に対向する対向面と、その反対に位置する背面とを有し、
前記第１の基台には、前記支持台に当接することで前記支持台の傾動角度を規制するストッパが設けられ、
前記第２の基台には、前記第２の取り付け板の背面に当接することで前記第２の取り付け板の傾動角度を規制するストッパが設けられている、
ことを特徴とする請求項１または２記載のオートカップリング装置。 The second mounting plate has a facing surface facing the first mounting plate, and a back surface positioned opposite to the facing surface.
The first base is provided with a stopper that regulates the tilt angle of the support by contacting the support.
The second base is provided with a stopper that regulates the tilt angle of the second mounting plate by contacting the back surface of the second mounting plate.
The auto-coupling device according to claim 1 or 2, 第１の基台であらゆる方向に傾動可能に支持された支持台を設け、
複数の第１の継手が取着され前記支持台に２次元方向に移動可能に支持され前記２次元方向の基準位置となる中立位置に付勢された第１の取り付け板を設け、
複数の第２の継手が取着され前記第１の取り付け板の上方に前記第１の取り付け板に対向して配置され第２の基台であらゆる方向に傾動可能に支持された第２の取り付け板を設け、
前記第１の取り付け板および前記第２の取り付け板の一方にガイドピンを、他方にガイド孔を設け、
前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させ、前記複数の第１の継手の軸心と前記複数の第２の継手の軸心とを合致させた状態で、前記複数の第１の継手と前記複数の第２の継手とを接続、分離するオートカップリング方法であって、
前記第１の取り付け板に、同一長さを有し互いに一体的に連結され前記ガイドピンの軸心または前記ガイド孔の軸心と平行する３本以上の押し棒を前記第２の取り付け板に向かって出没可能に設け、
前記第１の取り付け板に、前記第２の取り付け板に接近する方向に前記各押し棒を付勢する弾性部材を設け、
前記第１の取り付け板および前記第２の取り付け板を接近、離間させることによって、前記ガイドピンを前記ガイド孔に挿脱させる際、前記各押し棒のうち一部の押し棒の先端部が前記第２の取り付け板に当接し、残りの押し棒の先端部が前記第２の取り付け板に当接しない片当たりが発生したときに、前記第２の取り付け板を前記第１の取り付け板に平行させる方向に、前記第２の取り付け板に当接した前記押し棒から前記第２の取り付け板に前記弾性部材の弾性力を与えることで前記第２の取り付け板を傾動させるようにした、
ことを特徴とするオートカップリング方法。 A support base supported by the first base so as to be tiltable in all directions is provided.
A plurality of first joints are attached and supported by the support base so as to be movable in a two-dimensional direction, and a first attachment plate biased to a neutral position serving as a reference position in the two-dimensional direction is provided.
A second attachment in which a plurality of second joints are attached and arranged above the first attachment plate so as to face the first attachment plate and supported by the second base so as to be tiltable in any direction. A board,
A guide pin is provided on one of the first attachment plate and the second attachment plate, and a guide hole is provided on the other.
By approaching and separating the first attachment plate and the second attachment plate, the guide pin is inserted into and removed from the guide hole, and the shaft centers of the plurality of first joints and the plurality of second portions are inserted. An auto coupling method for connecting and separating the plurality of first joints and the plurality of second joints in a state where the shaft centers of the joints are matched,
Three or more push rods having the same length and being integrally connected to each other to the first mounting plate and parallel to the axis of the guide pin or the axis of the guide hole are used as the second mounting plate. To be able to invade
The first mounting plate is provided with an elastic member that biases each push rod in a direction approaching the second mounting plate,
When the guide pin is inserted into and removed from the guide hole by moving the first mounting plate and the second mounting plate closer to or away from each other, the distal end portion of some of the pressing rods is The second mounting plate is parallel to the first mounting plate when a contact occurs that abuts against the second mounting plate and the tip of the remaining push rod does not contact the second mounting plate. The second mounting plate is tilted by applying an elastic force of the elastic member to the second mounting plate from the push rod in contact with the second mounting plate in a direction to be
An automatic coupling method characterized by the above.
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