JPH03170277A - Grip lever - Google Patents

Abstract

PURPOSE:To obtain a grip lever usable in common between automatic operation by a robot manipulator and manual operation by an operator by providing a displacement transmitting mechanism for transmitting the displacement of a grip lever moving portion to the outside and an outside driving mechanism for driving an outside mechanism in accordance with the displacement of the grip lever moving portion. CONSTITUTION:A displacement transmitting mechanism 10 is mounted on a grip lever moving portion 2 to transmit the displacement of the grip lever moving portion 2 to the outside. The displacement transmitting mechanism 10 has the other end mounted with an outside driving mechanism 11, thereby to allow the outside mechanism to be driven in accordance with the displacement of the grip lever moving portion 2. The displacement transmitting mechanism 10 may be so constructed that a wire passes through a snaky pipe to transmit the displacement resulting from held grip lever to the driving mechanism 11 through the wire.

Description

[Detailed Description of the Invention] [Industry-12 Field of Application] The present invention is an assembly type #1! This invention relates to a gripping lever that holds a handle and a removable divided portion to the main body of a structure.

[Conventional technology]

Conventionally, in order to facilitate the replacement of malfunctioning parts in space equipment, a proposal has been made in which replacement parts are made into units and can be attached to and removed from the main equipment. It has also been proposed that a large parabolic antenna be divided into several parts and assembled in space. In either case, in order to perform assembly/replacement work using a robot manipulator, it is necessary to provide a gripping lever for gripping the manipulator on the target divided portion.

In the example of unitizing the replacement parts, a gripping part for gripping the manipulator and a coupling machine ellipse for coupling and uncoupling the dividing part and the main body curved fixing part are provided. In addition, a separate handle is provided for manual operation. This example is shown by Sano et al.
It is described on pages 53-54 of the Proceedings of the 5th Space Station Conference under the title ``Research on U Switch Yang''.

[Problem to be solved by the invention]

With the conventional gripping part for replacement parts, the parts can be replaced by assembly and removal using a robot 1 to a manipulator and by hand, but the configuration of the gripping part by the manipulator and the drive mechanism of the screw part for assembly and removal are complicated. There was an issue of becoming. Furthermore, it is necessary to prepare both the gripping structure by the manipulator and the gripping part by hand, which poses a problem in that the number of parts increases.

When removing parts in a weightless environment such as outer space, it is necessary to securely hold the removed parts using a manipulator or the like so that the parts do not dissipate due to free movement in space.

In the conventional mechanism described above, when the removal work is performed manually, the operation for uncoupling and the handle for holding the parts are separated, so the operator has to use both hands when uncoupling. There was a big problem.

An object of the present invention is to provide a gripping lever that solves these problems.

[Means to solve the problem]

In order to achieve the above object, the gripping lever according to the present invention is a gripping lever that holds a divided part that can be taken and removed from the main body of a prefabricated structure, and the gripping lever is fixed to the divided part. A lever fixing part, a grip lever moving part slidably attached to the split part, a slider that slidably holds the grip lever moving part with respect to the split part, and a slider that allows displacement of the grip lever moving part to be transferred to the outside. It has a displacement transmitting mechanism 474 for transmitting the displacement, and an external drive 474 for driving the external mechanism by the displacement of the grip lever moving part.

〔Example〕

Hereinafter, a specific example of the present invention will be explained with reference to the drawings. Fig. It has a grip lever fixing part 1 that holds a divided part 5 that can be attached to and removed from the main body of the silk stand type structure, and a grip lever moving part 2 that is movable with respect to the grip lever fixing part 1.

The gripping lever fixing part 1 is screwed and fixed to the divided part 5, and the divided part 5 is handled by gripping the gripping lever fixing part 1 by the hand of the robot 1, manipulator, or human hand.

On the other hand, the grip lever moving section 2 is used to perform an operation for uncoupling the dividing section 5 from the main body section. Grip lever fixing part 1
The pedestal IC is provided with a recess ID for receiving the grip lever moving part 2 in parallel to the side of the grip lever fixing part 1.

In the present invention, sliding mechanisms 3 and 4 are provided to slidably hold the grip lever moving section 2 relative to the divided section 5.

As an example, the slider ellipse has a linear bearing 3 and a linear guide 4.
It can be configured by In addition, the pedestal 1C of the gripping lever fixing part 1 is formed with a gripping part IB for gripping the robot 1 by the manipulator's hand, etc., and the gripping lever is fixed in close contact with the left and right sides 5 as shown by dotted lines in FIG. Gripping portions 1A and 2B having the same shape as the gripping portion IB are formed between the portion 1 and the gripping lever moving portion 2.

This allows you to hold the grip part IB of the grip lever fixing part 1 when threading, and to hold the grip part IB of the grip lever fixing part 1 when releasing the threading.
The hand of the same robot 1/manipulator can be used for the operation of simultaneously grasping the gripping part 1A of the gripping part 1A and the gripping part 2A of the gripping lever moving part 2.

Considering the convenience of climbing the robot manipulator, the gripping parts IA, IB, and 2A of the gripping lever fixing part 1 and the gripping lever moving part 2 are cut out in a rectangular shape 6j, and the notches LA, It is possible to improve the reliability of the gripping operation by matching the shape of the IB, 2A with the shape of the fingers of the hand attached to the robot manipulator. Further, at the time when the movement of the gripping gear moving unit 2 due to gripping is completed, that is, the first point. If it is considered that the combined shape of the notches IA and 2A in the state shown by the dotted line in the figure is the same shape as the notch IR provided in the grip lever fixing part, assembly with the same hand will be possible. Convenient for installation and removal operations. However, the aforementioned notches 1, IB, and 2A are not essential for constructing the grip lever according to the present invention.

In the holding lever according to the present invention, a displacement transmitter is provided for the holding lever moving part 2 to transmit the displacement of the holding lever moving part 2 to the outside! Install IA10. By attaching an external drive R horizontal 11 to the other end of the displacement transmission mechanism 10, it becomes possible to drive an external mechanism by displacement of the grip lever moving section 2. As the displacement transmission mechanism 10, a coffin can be considered in which a wire is passed through a flexible tube and the displacement generated by gripping the grip lever is transmitted to the drive mechanism 11 through the wire. It is clear that in addition to the horizontal cross-section shown in the figure, a cross-section using a link mechanism or a gear is also applicable. In addition, an L-shaped lever was used as an example of the external drive side 11, but a rack and pinion were used to convert the parallel movement of the gripping lever moving part 2 into rotational movement to release the 4-piece assembly mechanism. It may also be used as a Zuru Yokosei.

FIG. 2 is a perspective view showing an assembly type device using a gripping lever according to the present invention. The figure shows an example of an assembled large parallax antenna. This antenna has a fixed main body (lt
A plurality of divided mirrors 21 are assembled in pairs 1 to 1 to the central mirror 20. A latch mechanism 32 for fixing and holding the split mirror 21 and a latch release button 31 are provided on the central mirror 20 on the wooden body side. Not shown in the figure, the split mirror 21
The latch machine is on the side in contact with the central mirror 20! A mechanism for coupling with f432 is provided.

Further, in the embodiment shown in the figure, the external drive mechanism 11 in the grip lever of the present invention is provided at a position where the latch release button 31 can be operated.
It is possible to assemble the split mirror 21 to the center mirror 20 by grasping the + notch 1B with a manipulator and moving it so as to press it against the center mirror 20 of the split mirror 21. In this state, simultaneously grip the notch 1A of the upper l111 of the grip lever fixed part 1 and the notch 2A of the grip lever moving part 2 with the manipulator, and move the grip lever moving part 2 horizontally parallel to the grip lever fixed part 1. When it is moved, the displacement of the grip lever moving section 2 is transmitted to the external drive mechanism 11 via a displacement transmission mechanism (not shown), and the external drive mechanism 11 operates the latch release button 31. This operation makes it possible to separate the split mirror 21 from the central mirror 20.

In the series of unseating operations, the central mirror 20 and the divided mirror 2
In the state where the connection between the parts 1 and 1 is released, the divided mirror 21 is held by the hand of the robot manipulator, and there is no fear that the divided mirror 21 will be dissipated due to free movement even in a zero gravity environment. Furthermore, as is clear from the configuration of the gripping lever, it can be easily handled by a human as well as by the hand of a robot manipulator.

〔Effect of the invention〕

As described above, according to the present invention, it is possible not only to obtain a gripping lever that can be commonly used for automatic operation by a robot manipulator and manual operation by a human hand, but also to reduce the number of parts.

In addition, when performing a coupling release operation, the robot 1 to the manipulator or the operator grasps the gripping lever when the coupling machine ellipse is released, so the removed parts can be held securely and the parts can be held in space. Even in a zero-gravity environment, there is no risk of parts scattering due to free movement in space. Therefore, when removing the parts manually, the work can be done with only one hand.
It is possible to improve work efficiency and reliability.

On the other hand, when a robot manipulator is used, there is a great advantage in that it is possible to carry out the assembling and removing operations using the same hand and the same fingertip shape.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the gripping lever according to the present invention, not showing its construction;
FIG. 2 is a perspective view showing an assembly type device using a gripping lever according to the present invention. 1...Gripping lever fixing part 2...Gripping lever moving part 10 3, 4...Sliding mechanism 10...Displacement transmission mechanism 11...External drive mechanism Patent applicant Nihon Kachiki Co., Ltd. 1 1

Claims (1)

[Claims] (1) A grip lever that holds a divided part that can be attached to and removed from the main body of a prefabricated structure, comprising a grip lever fixing part fixed to the divided part, and a grip slidably attached to the divided part. a lever moving section; a sliding mechanism that slidably holds the grip lever moving section with respect to the divided section; a displacement transmission mechanism that transmits the displacement of the grip lever moving section to the outside; and a displacement transmission mechanism that transmits the displacement of the grip lever moving section to the outside. A gripping lever comprising an external drive mechanism that drives the mechanism.