JPH03245989A - Holding lever - Google Patents

Abstract

PURPOSE:To surely hold a removed part and to disperse no part even in the agravity environment like a space, by forming the structure of a robot manipulator or human worker gripping a holding lever at the time of a bonding mechanism being released, in the case of performing the release motion of the bonding. CONSTITUTION:A holding lever fixing part 1 and holding lever movable part 2 which make a set have holding parts h2 and h2 forming the 1st holding part H1 and 2nd holding part H2 in the same shape formed on a holding lever fixing part 1 by the combination, in the case of the both being combined integrally with the holding lever movable part 2 being accepted to the recessed part 1A of the holding lever fixing part 1. Accordingly, at the assembly time, namely in the case of the lever fixing part 1 and lever movable part 2 being integrally assembled, the holding part H1 formed at the lower part of the 1st holding lever fixing part 1 is held and at the assembly release time a hand is used for the motion of gripping the holding h2, h2 of the lever fixing part 1 and lever movable part 2 simultaneously.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripping lever for holding a split part that can be attached to and removed from a main body of a prefabricated structure.

[Prior Art] Conventionally, in order to facilitate the replacement of malfunctioning parts in space equipment, a configuration has been proposed in which replacement parts are unitized as divided parts, and the divided parts can be attached to and removed from the main equipment. There is. Furthermore, a configuration has been proposed in which a large parabolic antenna is 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 the manipulator to grip the divided portion of the target main body device.

In the example of unitizing the replacement parts, a gripping part for gripping the manipulator and a coupling device for coupling and uncoupling the dividing part and the main body side fixing part are provided. In addition, a separate handle is provided for use by humans. This example is described by Sano et al. in the Proceedings of the 5th Space Station Conference, pages 53-54, under the title ``Research on ORU Exchange Mechanism.''

[Problems to be Solved by the Invention] In the conventional gripping part for replacement parts, parts can be replaced by assembly and removal by a robot manipulator and a human, but the configuration of the gripping part by the manipulator and the screw part for assembly and removal are difficult. The problem was that the drive mechanism was complicated. Furthermore, it is necessary to prepare both a gripping mechanism using a manipulator and a gripping section for a human, resulting in an increase in the number of parts.

When removing a component in a weightless environment such as outer space, it is necessary to securely hold the component using a manipulator or the like so that the component does not dissipate due to free movement in space. In the conventional mechanism, when the removal work is performed by a human being, the handle for performing the uncoupling operation is separated, so there is a big problem that it is necessary to use both hands when uncoupling.

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

[Means for Solving the Problems 1] In order to achieve the above-mentioned object, the gripping lever according to the present invention is such that the gripping lever holds a divided portion that is attachable to and detachable from the main body of a prefabricated structure. and a set of a grip lever fixed part and a grip lever movable part, and the grip lever fixed part supports the divided part and includes a first grip part that is gripped by a manipulator or the like. The gripping lever movable part performs an operation for releasing the connection of the divided part to the main body part, and is pivoted to be openable and closable around an axis with respect to the gripping lever fixing part, and the said gripping lever movable part is configured to perform an operation to release the connection with the main body part of the divided part, and is pivoted to be openable and closable around an axis with respect to the gripping lever fixing part, and the said connection with the opening and closing operation A command for a release operation is outputted via a displacement transmission mechanism to an external drive mechanism for driving a mechanism that performs an operation for releasing the connection of the split portion to the main body, and further includes: the grip lever fixed portion and the grip lever movable portion; Each of the gripping levers has a gripping portion which, when combined together, forms a second gripping portion having the same shape as the first gripping portion of the gripping lever fixing portion.

[Example] Specific examples of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing the configuration of a grip lever according to the present invention.

In the figure, the gripping lever according to the present invention has a divided part 5 that can be attached to and detached from the main body of the assembly type structure.
It has a grip lever fixed part l and a grip lever movable part 2 that form a pair.

The grip lever fixing part 1 is fixed to the divided part 5, and the grip lever fixing part 1 has a recess 1a formed on its side to receive the grip lever movable part 2 forming the set,
Two bearings lb, lb are provided at the upper end of the recess 1a, and a movable mechanism 3 constituted by a rotary bearing is incorporated into each bearing 1b, Ib, and between the two movable mechanisms 3, 3. The coupling shaft 3a is horizontally suspended. The grip lever movable part 2 is for performing an operation for uncoupling the divided part 5 from the main body of the assembled structure, and the grip lever movable part 2 opens and closes around the coupling shaft 3a with respect to the grip lever fixed part l. When the grip lever movable portion 2 is closed, the grip lever movable portion 2 is in close contact with the grip lever fixing portion 1 and is received in the recess 1a of the grip lever fixing portion 1. Note that although the movable mechanism 3 is constructed of a rotary bearing, it is not limited to this.

Further, it is equipped with a displacement transmission mechanism lO that transmits the displacement of the grip lever movable part 2 to the outside, and an external drive mechanism 11 that drives an external mechanism by the displacement of the grip lever movable part 2 transmitted by the displacement transmission mechanism 10. There is.

Moreover, the grip lever fixing part 1 is provided with a first grip part H1 held by a manipulator (including a human hand) at the lower part thereof. Furthermore, the grip lever fixed part 1 and the grip lever movable part 2 that form a pair are the grip lever movable part 2.
is received in the recess 1a of the grip lever fixing part 1 and when both are combined together (indicated by the broken line in FIG. 1), the first grip formed in the grip lever fixing part 1 by the combination. It has a gripping portion h1゜h forming a second gripping portion H3 having the same shape as the portion H1.

As a result, the assembly is performed at a certain time, that is, when the grip lever fixed part 1 and the grip lever movable part 2 are combined together, the grip part H1 formed at the lower part of the first grip lever fixed part 1 is When the grip lever fixed part 1 and the grip lever movable part 2 are disassembled, that is, when the grip lever movable part 2 is rotationally displaced relative to the grip lever fixed part 1 in the opening direction, the grip lever fixed part 1 and the grip lever movable part 2 are formed with The hand of the same robot manipulator can be used for the operation of simultaneously grasping the grasping portions h□ and h3.

When considering the convenience of work by the robot manipulator, cutouts IA and 2A are provided in the gripping parts of the gripping lever movable part 1 and the gripping lever movable part 2, and the gripping part of the gripping lever fixed part 1 is provided. By providing a notch 1B in H1 and making the shape match the shape of the fingers of a hand attached to the robot manipulator, it is possible to improve the reliability of the gripping operation. Furthermore, the shape of the notch IA and the notch IB provided in the grip lever fixing part 1 that integrates the two people at the time when the gripping of the gripping lever movable part 2 is finished, that is, in the state shown by the broken line in FIG. If the same shape is taken into consideration, assembly using the same hand will be convenient for operation and removal. However, the cutouts IA, 1B, and 2A are not essential for constructing the grip lever according to the present invention.

In the grip lever according to the present invention, a displacement transmission mechanism IO for transmitting the displacement of the grip lever movable part 2 to the outside is attached to the grip lever movable part 2. By attaching the external drive mechanism 11 to the other end of the displacement transmission mechanism IO, it becomes possible to drive the external mechanism by displacement of the grip lever movable section 2. As the displacement transmission mechanism IO, a configuration in which a wire is passed through a flexible tube is used, and the displacement generated by gripping the grip lever movable part 2 is transmitted to the drive mechanism 11 through the wire. It is clear that in addition to the configuration shown in the drawings, a configuration using a link mechanism or a gear such as a gear is also applicable. In addition, although an L-shaped lever is used as an example of the drive mechanism 11, it can be expanded to use a drive mechanism that releases the assembly mechanism by utilizing the rotational movement of the gripping lever movable part 2 by means such as a rack and a pinion. It is.

FIG. 2 is a perspective view of an assembled device using a gripping lever according to the present invention. The figure shows an example of an assembled large parabolic antenna. In this antenna, the central mirror 2 on the main body side is fixed.
0, a plurality of split mirrors 21 are assembled along its circumferential direction. The central mirror 20 on the main body side has a latch mechanism 32 and a latch release button 31 for fixing and holding the split mirror 21.
shall have.

Although not shown in the figure, a mechanism for coupling with the latch mechanism 32 is provided on the side of the split mirror 21 that is in contact with the central mirror 20. Additionally, an external drive mechanism 11 shown in FIG. 1 is provided to push the latch release button 31.

In the embodiment shown in the figure, the lower notch IB of the gripping lever fixing part l is gripped by a manipulator, and the split mirror 2
It is possible to assemble the division @21 to the central mirror 2o by moving it so as to press it against the central mirror 2o. Also, in the assembled state, the grip lever fixing part l
The latch release button 31 can be operated via the drive mechanism 11 by simultaneously gripping the upper notch IA and the notch 2A of the gripping lever movable part 2 with a manipulator and driving the gripping lever movable part 2. . By this operation, it is possible to separate the split mirror 21 assembled to the central mirror 20.

In the above series of assembling operations, the central mirror 2o and the divided mirror 2 are
1, the split mirror 21 is held by the hand of the robot manipulator,
Even in a zero-gravity environment, there is no fear that the divided mirror 21 will be scattered due to free movement. Furthermore, as is clear from the configuration of the gripping bar, it can be easily handled by humans as well as by the hand of a robot manipulator.

[Effects of the Invention] According to the present invention described above, a gripping lever that can be commonly used by both a robot manipulator and a human can be obtained with a simple mechanism. Therefore, there is no need to increase the number of parts to apply to both.

In addition, when performing a coupling release operation, the robot manipulator or human operator grasps the gripping lever once the coupling mechanism is released, so the removed parts are securely held and can be used in a space similar to outer space. A major advantage is that even in a zero gravity environment, there is no risk of parts scattering due to free movement in space. Therefore, when the removal work is performed by a person, the work can be performed with only one hand, and it is possible to improve work efficiency and reliability.

On the other hand, when a robot manipulator is used, there is also the great advantage that assembly and disassembly operations can be performed using the same hand and the same fingertip shape.

According to the present invention described above, a gripping lever that solves the above-mentioned conventional problems can be obtained.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a perspective view showing the configuration of a gripping lever according to the present invention;
FIG. 2 is a perspective view showing an assembly type device using a gripping lever according to the present invention.

Claims (1)

[Claims] (1) A gripping lever that holds a divided part that can be attached to and removed from the main body of a prefabricated structure, the gripping lever having a set of a gripping lever fixing part and a gripping lever movable part, the gripping lever fixing part includes a first gripping portion that supports the divided portion and is gripped by a manipulator, and the gripping lever movable portion performs an operation for uncoupling the divided portion from the main body portion. The grip lever is pivotally supported around an axis so as to be openable and closable about the grip lever fixing part, and the command for the uncoupling operation accompanying the opening/closing operation is transmitted via a displacement transmission mechanism to perform the uncoupling operation of the split part with respect to the main body part. It outputs to an external drive mechanism for driving the mechanism, and furthermore, when the grip lever fixed part and the grip lever movable part are combined together, the grip lever fixed part A gripping lever comprising a gripping portion forming a second gripping portion having the same shape as the first gripping portion.