JPH0345500A - Connecting device - Google Patents

Abstract

PURPOSE:To simplify a construction in a docking device connecting/separating one object to/the other object in space by providing such a construction in which a first and a second link part members which being interlocked in a movable member moving in a direct direction of an actuator are engaged with the engaged part of other object. CONSTITUTION:The docking mechanism 2 comprises a docking part 4 and a docking object 5 docking with the docking part 4, and the docking part 4 have a docking mechanism part 25, a complementary tracking sensor system 26, and a proximity sensor system 27. In a docking mechanism part 25, a nut 34 and a supporting fitting 35 are moved in an axial line direction by rotating a ball screw 31 with a motor 29, and a second link members 33a, 33b are rotated in an outer direction through a first link members 32a, 32b fixed on the one end of a supporting fitting 35, so that the inner surface of a recessed dent 10 of a docking object 5 is constrained. The complementary tracking sensor system 26 detects the direction of the object 5, and the proximity sensor system 27 detects the relative inclination of the object 5.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention relates to a coupling device that connects and separates objects, and is particularly useful in outer space, the basics of space bases and large antennas. It relates to docking devices used for connecting and separating structures and manipulators that move materials within the space base.

(Prior Art) A typical coupling device used for docking in outer space is configured such that a tapered cylindrical convex member fits into a concave member.

Typical coupling devices use a mechanism that pulls in the other party when coupling. As an example of this, a docking device is known which is configured to rotate a key-shaped pawl to pull in a mating bar. In this device, the mechanism itself has a complex and heavy structure in order to generate the retraction force.

As another example, U.S. Pat. No. 4,105,241'' discloses a coupling device in outer space.

This snare-shaped gripping mechanism is a mechanism that tightens a wire to grip an object, and then pulls in the object after gripping it. The feature of this mechanism is that it can be gripped reliably even if the positioning accuracy is rough.

(Problem to be solved by the invention) In conventional coupling devices used in outer space, even if the two approaches slowly, for example, when docking a space shuttle and a space base, the moment of coupling is small, but they do not connect to each other. It has the disadvantage of colliding with each other. Therefore, due to this drawback, there is a problem that the coupling device may be damaged or its durability may be reduced. In addition, a shock absorbing device such as a damper is required to soften the impact upon coupling.

In addition, devices using key-shaped claws not only require retracting force, but also have the problem that, as in the previous example, the two collide with each other when docking, damaging the coupling device and reducing durability. There is.

In addition, even in a mechanism using wire, collisions are unavoidable due to the action of pulling the mating member in during coupling, and the mechanism itself becomes complicated, causing problems such as the wire that performs the rough centering action becoming sagging.

As described above, in the conventional coupling device, it is necessary to generate a retracting force, which not only results in a complicated and heavy structure of the mechanism itself, but also has the drawback that the two may collide with each other. Therefore, there are problems in that the coupling device itself may be damaged or the durability of a part of the mechanism may be reduced, thereby limiting the period of use. Furthermore, a shock absorbing device such as a damper is required to soften the impact upon coupling, making the structure complicated.

The present invention has been made focusing on the above-mentioned problems,
The purpose is to simplify and lighten the structure of the connecting device, and to accurately detect the relative position of two objects to be connected.
An object of the present invention is to provide a connecting device in which two objects do not collide when connected.

[Configuration of the Invention (Means for Solving the Problems) The first object of the present invention is achieved by the following means. That is, an actuator including a movable member that moves in a linear direction, at least two first link members each having one end rotatably attached to the movable member, and one end rotatably attached to the other end of each first link member. a second link member movably connected;
a base that holds the actuator and to which the other end of the second link member is rotatably attached; a connecting means provided on one object; and a first or second link of the connecting means. The connecting device has an engaging portion that engages with the member, and an engaging means provided on the other object.

Further, the second object of the present invention is achieved by the following means. That is, an actuator including a movable member that moves in a linear direction, at least two first link members each having one end rotatably attached to the movable member, and one end rotatably attached to the other end of each first link member. a second link member movably connected;
a base that holds the actuator and to which the other end of the second link member is rotatably attached; a connecting means provided on one object; and a first or second link member of the connecting means. A coupling device comprising: an engaging part that engages with the other object, an engaging means provided on the other object, and a detection means that detects the relative position between the one object and the other object. It is.

(Function) In the coupling device according to the present invention, a simple link mechanism is driven by an actuator, and the coupling is reliably achieved with a simple operation.

Further, the coupling device is provided with detection means for guiding and positioning the coupling position. The first sensor system in this detection means includes a laser beam emitter and a laser position detector, and the laser beam emitted from the laser beam emitter is incident on a laser beam reflector attached to the other object. . The laser beam reflector has the property of returning the incident laser beam in parallel, so the reflected laser beam is
The laser beam returns to the object from which it was emitted and enters the laser position detector. In this process, the direction of the other object to be connected can be determined from one object where the first sensor system is installed. Therefore, in the initial operation of connection, the direction of the connection target is detected by scanning the laser beam,
Thereafter, the connecting means can be brought closer to the object to be connected.

In addition, this first sensor system also acts as a sensor for detecting a positional deviation between the connecting means and the connecting object in the vicinity of the connecting position.

The second sensor system in the detection means includes a plurality of displacement sensors that operate near the connection position, and this sensor system has a function of detecting the inclination of the connection target in the vicinity of the connection position. Therefore, when the first sensor system detects the direction of the connection object and brings the connection means close to the connection object, this second sensor system
The relative inclination between the connecting means and the object to be connected can be detected, and the inclination can be corrected based on this detection signal.

The connecting means of the connecting device according to the present invention includes an actuator having a movable member that moves in a linear direction, at least two first link members whose one end is rotatably attached to the movable member, and each first link member. a second link member having one end rotatably connected to the other end of the link member; and a base holding the actuator and having the other end of the second link member rotatably attached; Further, the retaining means provided on the connecting object has an engaging portion that engages with the first or second link member of the connecting means. A connecting means is configured to be coupled to this engaging portion. Therefore, when the actuator is driven, the first link member moves, and along with that movement, the second link member rotates. This action causes the connecting means to be firmly fixed in conjunction with the retaining means.

Such a connecting means uses a simple link mechanism and is therefore lightweight and highly reliable. Furthermore, the direction and inclination of the object to be connected are detected by the first and second sensor systems, and the connecting means and the engaging means are guided to the connecting position.
Collision between the above-mentioned connecting means and the object to be connected is prevented, and since it is only necessary to operate the link mechanism at the time of connection, the operation is easy and reliable, and is particularly suitable for a docking mechanism used in a space environment.

Furthermore, by installing a roller at the joint between the first link member and the second link member, when the link mechanism is operated during connection, the roller rolls on the surface of the engagement means, reducing resistance. By making the engaging means a concave recess whose inside is wider than the opening, it becomes difficult for the connecting means to be removed from the engaging means after the connection is completed.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

1 and 2 show a first embodiment of a docking mechanism to which a coupling device according to the present invention is applied.

FIG. 1 shows the entire docking mechanism, and FIG. 2 shows a cross section of the docking mechanism.

The docking mechanism 2 according to the first embodiment is composed of a docking section 4 and a docking object 5 that is a partner for docking.
and a capture/tracking sensor system 2 as a first sensor system.
6, and a proximity sensor system 27 as a second sensor system.
It is equipped with

As shown in FIG. 2, the docking mechanism section 25 includes mechanism bases 28a and 28b arranged above and below. They are installed parallel to each other by a second bearing stand 38.

The first bearing stand 37 has a motor 2 as an actuator.
9 is installed. And the rotating shaft 29 of the motor 29
A ball screw 31 is connected to a through a coupling 30. The tip and base ends of this ball screw 31 are connected to bearings 36a fixed to first and second bearing stands 37 and 38.
, 36b. Further, a nut 34 is screwed onto the ball screw 31.
A support fitting 35 is fixed to the. Therefore, when the rotating shaft 29a of the motor 29 is rotated, the ball screw 31 is rotated, and the support fitting 3 is rotated along the axial direction of the ball screw 31.
5 moves. Note that the tip of the ball screw 31 and the bearing 36 holding the tip are covered with a cap 39.

As shown in FIG. 1, the base ends of a pair of left and right first link members 32a, 32b are rotatably attached to the support fitting 35, and the first link members 32a.

32b extends forward. First link member 32a
, 32b, the tips of the second link members 33a, 33b are rotatably coupled to the tips of the second link members 33a, 32b.
, 33b extend rearward, and the base ends of the mechanism base 28
It is rotatably attached to b.

On the other hand, the docking object 5, a part of which is shown in FIG. That is, the depression 10 is formed in a tapered shape that expands rearward from the opening 12. Therefore, when the docking mechanism portion 25 engages with this concave recess 10, it is prevented from falling off.

Next, the operation of the docking section 4 according to the first embodiment will be explained.

First, when the motor 29 is driven to rotate the ball screw 31 from the state shown by the solid line in FIG. The attached first link members 32a, 3
2b is unfolded from the folded state at an acute angle with respect to the drive shaft. With the movement, the second link members 33a, 3
3b is rotated outward, and this action causes the docking mechanism portion 25 to expand within the concave recess 10 as shown by the two-dot chain line in FIG. As a result, the docking mechanism G525
is restrained and firmly fixed within the interior 11 of the recess 10. Since such a docking mechanism uses a simple link mechanism, it is lightweight and highly reliable.

Next, a sensor system according to the first embodiment will be explained.

As shown in FIG. 2, the acquisition and tracking sensor system 26 as the first sensor system includes a semiconductor laser projector (laser light emitter) 43, and this semiconductor laser projector 43 has the following features:
It is fixed to the sensor base 40 with a metal fitting 42. The sensor base 40 is fixed to the mechanism base 28b by a connecting member 41. A beam splitter 45 is arranged in front of the semiconductor laser projector 43, and the beam splitter 45 is fixed to the sensor base 40 with a metal fitting 44. A beam transmission hole 40a is formed in a portion of the sensor base 40 where the beam splitter 45 is installed.

A beam transmission hole 4 is provided on the back surface of the sensor base 40.
An optical filter 46 is attached to cover Oa. A condensing lens 48 is arranged below this optical filter 46 and is held by a lens holder 47. moreover,
A laser position detector 51 installed on four substrates is arranged below the condenser lens 48, and the four substrates are held by a plurality of foot fittings 50 fixed to the sensor base 4°. Note that the substrate 49 and the condensing lens 48 are covered by a cover 52 attached to the back surface of the sensor base 40.

In the supplementary tracking sensor system 26 configured in this manner, the laser beam emitted from the semiconductor laser projector 43 passes through the beam splitter 45 as shown by the arrow 60 in FIG. The laser beam enters a corner cube reflector (not shown) as a laser beam reflector. Since the corner cube reflector has the property of returning the incident laser beam in parallel, the reflected laser beam returns to the beam splitter 45 as shown by the arrow 61, is further reflected by the beam splitter 45, passes through the lens 48, and then returns to the laser beam. The light enters the position detector 51.

With such a detection means, the direction of the docking object 5 can be determined from the docking section 4 in which the acquisition and tracking sensor system 26 is installed. Therefore, in the initial operation of docking, the acquisition and tracking sensor system 26 or the docking section 4
The direction of the dotting object 5 is detected by moving the entire device and scanning the laser beam. Thereafter, the marking section 4 is brought closer to the object 5 to be marked. At this time, the docking section 4 is guided to the docking position and positioned without contacting the docking object 5, so that docking can be performed without impact. The final alignment of the docking mechanism depends on errors in the acquisition and tracking sensor system 26 and the proximity sensor system 27, which will be described later. Normally, this error is so small that the acceleration that occurs during docking is almost zero.

Next, a proximity sensor system according to the first embodiment will be explained.

As shown in FIG. 1, the proximity sensor system 27 as the second sensor system includes two displacement sensors 54a and 54b, and these displacement sensors 54a and 54b are attached to sensor mounting brackets on both sides of the sensor base 40. 55a and 55b, respectively. This proximity sensor system 27 has a function of detecting the inclination of the docking object 5 in the vicinity of the docking position. Therefore, when the acquisition and tracking sensor system 26 detects the direction of the docking object 5 and the docking section 4 approaches the docking object 5, the proximity sensor system 27 detects the relative position of the docking section 4 and the docking object 5. By moving the entire docking mechanism to correct this inclination in response to a signal indicating the inclination, the docking mechanism part 25 of the docking part 4 is inserted into the concave recess 10 of the docking object 5 without colliding with it.

In the docking mechanism 2 configured in this way, the direction and inclination of the docking object 5 can be detected by the acquisition/tracking sensor system 26 and the proximity sensor system 27, and the docking part 4 can be guided to the docking position. Collision with the docking object 5 can be prevented. In addition, the docking mechanism section 25 has a simple configuration of simply expanding the link mechanism, so it is lightweight and highly reliable, and is particularly useful as a docking mechanism used in a space environment.

Further, by forming the concave depression installed in the docking object 5 so that the inside is wider than the population, strong docking that is difficult to fall out can be realized.

Furthermore, during docking, the link mechanism and the inside of the recess are in surface contact with each other, resulting in extremely high rigidity during docking.

Next, a second embodiment of the coupling device according to the present invention will be described with reference to FIG. In FIG. 3, the same members as those in FIG.

FIG. 3 depicts a docking mechanism to which the coupling device according to the second embodiment is applied. This docking mechanism 65
Now, instead of the ball screw 31, a hollow ball screw 6 is used.
6 is used, and the laser beam emitted from the semiconductor laser projector 43 of the acquisition/tracking sensor system 26 passes through this hollow portion. Therefore, the laser beam
The light is emitted as shown by an arrow 63 in the figure. Further, a first gear 69 is fixed to the base end of the hollow ball screw 66, and a gear 68 fixed to the rotating shaft 29a of the motor 29 is meshed with the six first gears.

Therefore, the hollow ball screw 66 is rotationally driven by the motor 29.

Furthermore, in the docking mechanism 65 according to the second embodiment, the first link member 3 is rotatably attached to the support fitting 35.
2a, 32b and a second link member 33a rotatably attached to the mechanism base 28b.

Rollers 70a and 70b with built-in bearings are attached to the connecting portions 64a and 64b with 33b.

Furthermore, two stoppers 71a and 71b are attached to both sides of the front part of the sensor base 40 to restrain the docking position with the docking target object 5, and these stoppers 71a
, 71b, a buffer material 72a.

72b is attached.

With the docking mechanism configured in this way, the acquisition and tracking sensor system 26 can be formed more compactly than the docking mechanism of the first embodiment, and it is also possible to form a three-dimensional docking mechanism by using three sets of link mechanisms in the docking section. It becomes easier. In addition, by installing a roller at the connecting part of the link mechanism, alignment between the docking part 4 and the object to be docked 5 can be easily performed, and even if the above-mentioned sensor system fails, the tip of the docking mechanism part 25 will not be docked. Once the object 5 reaches the inside of the concave depression 10, the roller 70a can be moved by simply opening the link mechanism.

70b can roll inside the recess 10 and dock automatically. Also, a stopper 71a.

71b has a function of restraining the docking position with respect to the docking object 5, and furthermore, the stoppers 71a, 72
By attaching cushioning materials 72a and 72b to b, the impact at the time of docking can be alleviated.

The docking section 4 in the second embodiment supports the docking object 5 with a roller and a stopper during coupling, and is therefore suitable for cases where coupling and separation are frequently performed.

In addition, in the above embodiment, a planar structure was explained, but
- It is extremely easy to apply the present invention to the three-dimensional structure within the membrane.

Next, a third embodiment of the coupling device according to the present invention will be described with reference to FIG. Note that in FIG. 4, the same members as in FIGS. 1 and 2 are given the same reference numerals and detailed explanations will be omitted.

The docking mechanism 100 shown in FIG. 4 is a three-dimensionally formed coupling device. The docking part 4 of the docking mechanism 100 includes a substantially cylindrical /X housing 101,
Inside the housing 101, a motor 29 and a ball screw 31 rotatably connected to the motor 29 via a coupling 30 are arranged, as in the first and second embodiments, and the front part of the ball screw 31 is connected to the housing. It protrudes forward from the opening 101. A nut 34 having a support fitting 35 is screwed onto the ball screw 31, and three first link members 32a, 32b, and 32c are pivotally attached to the support fitting 35 at intervals of 120 degrees in the circumferential direction. There is. These first link members 32a.

32 b and 32 c extend forward, and second link members 33 a, 33 b, and 33 c are pivotally fixed at each tip. Second link members 33 a, 33 b, 33
Each base end of the housing 101 extends rearward and is pivoted to a flange 104 as a mechanism base formed in the opening of the housing 101.

On the other hand, the cylindrical docking object 5 is formed with a conical depression 108 whose interior is wider than the entrance, and the docking mechanism 25 can be engaged with this concave depression 108. Further, inside the recess 108, a second link member 33a is provided.

Three link holders 105a that accommodate 33b and 33C
, 105b, and 105c are installed.

These link holders 105a, 105b, 105c include
A groove having a tapered cross section is formed, and when the second link members 33a, 33b, 33c are accommodated in this groove, mechanical play can be eliminated.

Further, in this third embodiment, a laser sensor system 106 that combines an acquisition and tracking sensor system and a proximity sensor system is installed in the housing 101. This laser sensor system 106 includes at least three laser projectors 102a.
, 102b, 102C and a laser position detector (not shown). On the other hand, dotting object 5
The laser projectors 102a, 102b,
102 c i,: Corner cube reflector 103a at the corresponding position.

103b and 103c are installed.

Next, the operation of the laser sensor system 106 will be explained.

Individual laser projectors 102a, 102b.

The laser beam emitted from 102C is transmitted to corner cube reflectors 103a and 103b by an optical system similar to the capturing and tracking sensor system described in FIG.

It enters 103C, is reflected back, and is detected by a laser position detector. Using this basic detection means and the three laser projectors, the docking object 5 is translated (two axes)
It is possible to detect deviations in rotation around the central axis. Individual corner cube reflectors 103a, 103b, 1
03c can be recognized by different markings on the mirror surface constituting the corner cube reflector. Furthermore, by applying pulse modulation to the intensity of the laser beam with a laser projector and measuring it with a laser position detector, it is possible to detect the distance to each corner cube reflector. If each distance can be measured, it becomes possible to calculate the inclination (two axes) of the docking object 5.

Therefore, by using the above detection means, it is possible to guide the docking section 4 to the docking position without contacting the docking object 5.

Regarding this guiding means, using outer space as an example, if the object to be docked is stationary, the docking section may be fixed to the tip of the manipulator and moved. Furthermore, if the docking section and the object to be docked are moving relative to each other, the corner cube reflector may be captured by a laser projector and the docking section or the object to be docked may be moved using a thruster or the like.

The docking mechanism constructed in this manner has a simple construction in which the link mechanism is widened as in the first and second embodiments, and is lightweight, highly reliable, and enables highly rigid docking. In addition, since the link holder 105 is formed with a groove having a tapered cross section, mechanical play during docking is prevented, and stronger docking can be achieved. Furthermore, since it uses a laser sensor system that combines the acquisition and tracking sensor system and the proximity sensor system into one, the Senna system becomes compact, and it is possible to provide a docking mechanism that is both lightweight and highly reliable. .

FIG. 5 shows a fourth embodiment of the coupling device according to the invention. This fourth embodiment includes a mechanism base 110 and a movable member 111 that moves back and forth on the outer surface of the mechanism base 110, and a linear actuator 112 is attached to the movable member 111. Furthermore, the movable member 111 includes two first link members 113a.

113b is rotatably attached to the shaft, and the first link member 113
a and 113b extend diagonally forward and inward. And each first link member 113a.

A second link member 114a is provided at the tip of 113b.

114b are each pivoted, and the second link members 114a, 1
The base end of 14b extends rearward and is pivoted to the front edge of mechanism base 110.

On the other hand, the docking object 5 is formed with an engaging convex portion 115 having an inverted groove. And the second of the above two
The link members 114a and 114b are connected to the docking object 5.
The spacing is wider than the outer diameter of the engaging protrusion 115. Therefore, when the docking section 4 according to the fourth embodiment is to be engaged with the docking object 5, the docking section 4 or the docking object 5 is moved, and the engaging protrusion 115 of the docking object 5 is connected to the docking section 4. It is accommodated in the space between the two link members 114a and 114b.

Then, the linear actuator 112 is driven to move the movable member 111 forward. Along with the movement, the first
The link members 113a, 113b rotate inward, and the connecting portions 116a, 116b with the second link member move inward. As a result, the distance between the coupling parts 116a and 116b is narrowed, and the engagement protrusion 115 of the docking target 5 is gripped by the second link members 114a and 114b. This fourth embodiment can also achieve the same effects as the previous embodiments.

In addition, in the fourth embodiment, a planar structure was explained, but
It is natural that this structure can be applied to three-dimensional structures.

[Effects of the Invention] As described above, in the coupling device according to the present invention, the direction and inclination of the coupling target are detected by the first sensor system and the second sensor system or the composite sensor system in the detection means, and the coupling is performed. Since the means can be guided to the connecting position and positioned, collision between the connecting means and the object to be connected, which has been a problem in the past, is prevented. Moreover, since the connecting means according to the present invention has a simple structure that only operates a link mechanism, it is lightweight and highly reliable, and is particularly suitable as a docking mechanism used in a space environment.

Furthermore, by making the retaining means installed on the connection object a concave recess whose interior is wider than the opening, the function of the connection device is enhanced, and a stronger connection that is difficult to remove after connection can be realized.

Furthermore, by installing a roller at the joint between the first link member and the second link member, even if the sensor system fails, the tip of the connecting means can reach the inside of the concave recess serving as the engaging means. If so, simply open the linkage and the rollers will roll inside the recess to automatically achieve the connection.

[Brief explanation of drawings]

FIG. 1 is a partially sectional plan view showing a docking mechanism according to a first embodiment of the present invention, FIG. 2 is a vertical cross-sectional view of the docking mechanism shown in FIG. 1, and FIG. A partially sectional plan view showing a docking mechanism according to a second embodiment,
FIG. 4 is a perspective view of a docking mechanism according to a third embodiment of the present invention, and FIG. 4 is a plan view schematically showing a docking mechanism according to a fourth embodiment of the present invention. 2...Docking mechanism, 4...Docking part (connection means), 5...Docking object, 10...Concave depression (retaining means) , 11...
...Interior, 12...Opening, 25...
... Docking mechanism section, 26 ... Capture and tracking sensor system (first sensor system), 27 ... Proximity sensor system (second sensor system), 28a, 23b
...Mechanism base, 29...Motor (actuator), 32a, 32b...First link member, 33a, 33b...Second link member, 35 ...Supporting metal fittings (movable member), 43...
... Semiconductor laser projector (laser light emitter), 51.
・・・・・・Shiza position detector, Ib...Roller, 5...Engagement convex part (engagement means)

Claims (7)

[Claims] (1) A coupling device that connects objects, including an actuator that includes a movable member that moves in a linear direction, at least two first link members that are rotatably attached at one end to the movable member, and each At the other end of the first link member,
It is composed of a second link member whose one end is rotatably connected, and a base that holds the actuator and whose other end is rotatably attached. A connecting device comprising: a connecting means provided on the other object and having an engaging portion that engages with the first or second link member of the connecting means. (2) Claim (1) further comprising a detection means for detecting the relative position between the one object and the other object.
). (3) The detection means includes a first sensor system that has a function of detecting the direction of an object to be connected, and a second sensor system that has a function of detecting the relative inclination of this object. The coupling device according to claim 2, characterized in that: (4) The detection means is provided on one object together with the connection means, and includes a composite sensor system having a function of detecting the direction of the other object and a function of detecting the relative inclination of the other object. The coupling device according to claim 2, characterized in that: (5) The first sensor system includes a laser beam emitter, a laser position detector, and a laser beam reflector attached to the other object, and the second sensor system is located near the connection position. 4. The coupling device according to claim 3, further comprising a plurality of operative displacement sensors. (6) The connecting device according to any one of the above claims, wherein the engaging means is a concave recess whose interior is wider than the opening. (7) The connecting device according to any one of the above claims, characterized in that a roller is installed at a connecting portion between the first link member and the second link member.