JPH04135192A - Moving apparatus for gripping mechanisms - Google Patents

Abstract

PURPOSE:To enable driving and moving of the gripping mechanisms with use of a single drive source by providing a drive means for, after the gripping mechanisms have reached an operational limit therefor, moving a support member, against the urging force of an elastic element, in a direction intersecting the drive direction of the gripping mechanisms. CONSTITUTION:When gripping mechanisms (grippers) 63, 65 are driven by operation of a driver 47 and, as a result, reaches an operational limit therefor, a support member 67 is moved, against the urging force of an elastic element 75, in a direction intersecting the drive direction of the gripping mechanisms 63, 65, whereby the gripping mechanisms 63, 65 are moved in a posture wherein they are supported in their states at the elastic marginal positions. In this way, operation of the single driver 47 drives the gripping mechanisms 63, 65 and also moves the same.

Description

Detailed Description of the Invention [Objective of the Invention (Industrial Application Field) The present invention provides a method for moving a holding mechanism in a direction crossing the driving direction of the holding mechanism after reaching the operating limit position. The present invention relates to a holding mechanism moving device.

(Prior Art) As shown in FIG. 3, for example, a space robot 1 is used as a holding mechanism moving device that moves a holding mechanism that holds an object to be held in a direction crossing the driving direction of this holding mechanism.
There is a capture coupling device 5 for coupling the space equipment 3 to the spacecraft.

Such a holding mechanism moving device will be explained using FIG. 4.

A pulley 9 is attached to the output shaft 7a of the motor 7, and an endless belt 15 is wound between the pulley 9 and a pulley 13 attached to one end of the ball screw shaft 11.

Both ends of the ball screw shaft 11 are rotatably supported by bearings 21.23 supported by blocks 17.19. A nut member (not shown) is screwed onto this ball screw shaft 11, and when the Hall screw shaft 11 is rotated by the driving force of the motor 7 transmitted through the endless heald 15,
This NAND member is adapted to move in the longitudinal direction of the ball screw shaft 11.

A support plate 25 disposed along a direction perpendicular to the Hall pin axis 11 is connected to the NAND member. A pair of guides 27a are provided on both sides of the support plate 25,
The support plate 25 is guided along the longitudinal direction of the ball screw shaft 11 by the guides 27a and 27b.

A holding mechanism 28 is provided on the support plate 25. This holding mechanism 28 includes blocks 31a and 31b fixed to both sides of the support plate 25, a guide 35 and a ball screw shaft 33 that are hung between these blocks, and a motor 3 that rotationally drives the screw shaft 33. It consists of one and.

The screw grooves of the screw shaft 33 are formed in opposite directions on both sides, and are screwed into threaded holes (not shown) formed at the bases of the grippers 29a and 29b, respectively. This screw shaft 33
One end thereof is connected to a drive shaft 39a of a motor 39 via a cup link 37.

When the screw shaft 33 is rotated by the driving force of the motor 39,
This driving force is transmitted to the grippers 29a and 29b via the screw shaft 33, and the grippers 29a and 29b can move toward or away from each other to hold or separate the object to be held.

(Problem to be solved by the invention) However, in the above-mentioned holding mechanism moving device, two motors are used, one for clamping the object to be held and the other for moving the holding mechanism while holding the object to be held. A driving source is required. This increases the cost and the weight of the device. For example, when applied to the above-mentioned space robot capture and coupling device, there are problems such as a large amount of flight fuel being required.

The present invention was made to solve the above problems, and its purpose is to:
It is an object of the present invention to provide a holding mechanism moving device capable of driving and moving a holding mechanism with one drive source.

[Structure of the Invention (Means for Solving the Problems)] In order to achieve the above object, the present invention includes an elastic element that urges the support member in a direction crossing the direction in which the object to be held is held; The holding mechanism guided and supported by the supporting member biased by the element is driven until it reaches its operating limit, and when the holding mechanism reaches its operating limit, the supporting member is driven against the biasing force of the elastic element. The present invention is characterized by comprising a driving means for moving the holding mechanism by moving the member in a direction crossing the driving direction of the holding mechanism.

(Function) In the present invention having the above configuration, when the holding mechanism is driven by the drive device and reaches the operating limit position, the supporting member is moved in a direction perpendicular to the driving direction of the holding mechanism against the urging force of the elastic element. The holding mechanism moves while being held at the elastic limit position.

As described above, according to the present invention, one drive device can
It is possible to drive the holding mechanism and to move this holding mechanism.

(Example) Next, an example of a capture and coupling device to which the holding mechanism moving device according to the present invention is applied will be described.

First Embodiment The catching and coupling device 45 shown in FIG.
A pulley 51 fixed to the tip of the pulley 51, an endless belt 53 wound between the pulley 51 and the pulley 49,
A moving member 57 that is screwed onto the ball screw shaft 55 and moves in the axial direction of the ball screw shaft 55 as the ball screw shaft 55 rotates.
and is provided.

A holding mechanism 43 is connected to the moving member 57. This holding mechanism 43 includes connecting members 59.61 which are rotatably connected to the movable member 57 by a pin 62 at one end, and rotatably connected to the other ends of these connecting members 59,61 by a pin 64.66. The support plate 67 is formed with a pair of grip bars 63, 65, a connecting portion Lt 59, 61 thereof, and guide holes 67a, 67b through which the clippers 63, 65 are guided and supported.

The pair of grippers 63 and 65 are disposed in a direction perpendicular to the axial direction of the ball pin shaft 55, and move toward and away from each other to grip the object to be captured 69.

Both sides of the support plate 67 are guided by guides 71 and 73 arranged along the axial direction of the ball screw shaft 55, respectively. Further, elastic elements 75 are arranged at both ends of the support plate 67. These elastic elements 75 are connected to the mainspring spring 7
7 is wound around a drum 79 and then its tip is connected to a support plate 67. Therefore, the support plate 67 is urged downward in FIG.

Note that the elastic element 75 may be any element other than the above-mentioned configuration as long as it biases the support plate 67 with a substantially constant biasing force regardless of the amount of displacement.

Next, a description will be given of the capturing operation of the capturing and coupling device 43 configured as described above to capture an object to be captured.

When the motor 47 is driven to rotate, this driving force is generated by the endless heald 5.
3 to the ball screw shaft 55 for rotation. When the ball train shaft 55 rotates, the moving member 57 moves toward the upper part of the ball train shaft 55 in the axial direction. When the moving member 57 moves, the connecting members 59.61 rotate about the pin 62 in a direction toward each other, and the grippers 63.65 move in a direction toward each other along the guide holes 67a, 67b.

When the grippers 63, 65 grip the object to be captured 69, they reach the operating limit position, and in this state, the support plate 67 is held against the elastic element 7.
It moves upward in FIG. 1 against the urging force of 5.

Next, while holding the captured object 69, the holding mechanism 43
When releasing the gripped object 69 after moving the support plate 67, the driving force of the motor 47 causes the ball screw shaft 55 to rotate in the opposite direction to the above, moving the moving member 57 downward. is moved downward along guides 71 and 73. When the moving member 57 is further moved downward after the support plate 67 is located at the end of the kite 71.73, the connecting member 59
．． 6], the grippers 63 and 65 are rotated around the pin 62 in a direction that separates them from each other, and the grippers 63 and 65 are rotated around the pin 62 in a direction that separates them from each other.
Move to the center.

As a result, the captured object 69 held by the grippers 63, 65 is released.

Furthermore, the holding mechanism that has captured the object to be captured can be moved by the driving force of one drive device (motor 47).

Therefore, since the number of motors can be reduced by one, cost and weight can be reduced.

Second Embodiment Next, a second embodiment will be explained with reference to FIG. The capture and coupling device 82 of this embodiment uses a wire 83 and a pulley 85 instead of the connecting members 59 and 61 of the first embodiment,
This is an example in which elastic elements are connected to grippers 63 and 65.

As shown in FIG. 2, the moving member 57 is provided with a pin 58. The wire 83 is then wound around the pin 58, and further around the pulley 85 for about 1/4 turn, and then connected to the grippers 63, 65.

Also connected to the grippers 63, 65 are elastic elements 81, respectively. These elastic elements 81 are constructed by connecting one end of a mainspring spring 77 to each gripper 63.65, and are biased in a direction in which the grippers 63.65 are separated from each other.

The capture and coupling device 82 configured in this way is connected to the motor 47.
When the ball screw shaft 55 rotates due to the driving force, the moving member 57 moves upward and pulls the wire 83. wire 8
3 is pulled upward, the grippers 63 and 65 move toward each other against the biasing force of the elastic element 81,
Holds six objects to be captured. In this state, the gripper 63
．． 65 is the operating limit position, and further upward movement of the moving member 57 causes the support plate 67 to move against the biasing force of the elastic element 75.

In addition, when releasing the captured object from the state in which it is held, the motor 47 is driven to move the moving member 57 while holding the grippers 63 and 65 or the six captured objects.
When the support plate 67 is moved downward, the support plate 67 is moved downward.

When the support plate 67 reaches its operating limit, the biasing force of the elastic element 81 causes the clippers 63 and 65 to move away from each other.

This allows the captured object 69 to be released.

Therefore, the driving force of the motor 47 drives the holding mechanism;
Since the holding mechanism can be moved, the number of motors can be reduced compared to the conventional method, reducing cost and weight.

The present invention described above is applicable to a supplementary coupling device for capturing space equipment in a space robot, a device for moving a holding mechanism to take out objects from a dangerous place, or a device for moving a holding mechanism to take out objects from a nuclear reactor container. It can be applied to a moving device for a holding mechanism used when the device is inserted into a device.

Furthermore, the elastic element is not limited to the above embodiment, and may be any other elastic element whose biasing force is approximately constant regardless of the amount of displacement.

[Effects of the Invention] As described above, the holding mechanism moving device according to the present invention drives and holds the holding mechanism until the holding mechanism guided and supported by the support member biased by the elastic element reaches its operating limit. a driving means for moving the holding mechanism by moving the supporting member in a direction intersecting the driving direction of the holding mechanism against the biasing force of the elastic element after the mechanism reaches its operating limit; An excellent effect can be obtained in that a single drive source can drive the holding mechanism and move the holding mechanism.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a first embodiment of a capture and coupling device to which a holding mechanism moving device according to the present invention is applied, FIG. 2 is a front view showing a second embodiment of the capture and coupling device, and FIG. FIG. 4 is a state diagram showing the relationship between a space robot and space equipment, and is a front view showing a conventional holding mechanism moving device. 45.82...Capturing and coupling device 47...Motor 57...Five moving members, 61...Connecting member 63.65...Gripper 67...Support plate 69...Captured object 71.73 ... Guide 75.81 ... Elastic element 77 ... Mainspring spring 79 ... Drum 83 ... Wire 85 ... Pulley

Claims (1)

[Claims] (1) A holding mechanism moving device that holds an object to be held by a holding mechanism guided and supported by a support member and moves the holding mechanism in a direction intersecting the holding direction, the holding mechanism moving device comprising: a holding mechanism guided and supported by a support member; an elastic element that urges the support member in a direction crossing the support member; and the holding mechanism guided and supported by the support member urged by the elastic element is driven until it reaches its operating limit, and the holding mechanism driving means for moving the holding mechanism by moving the supporting member in a direction intersecting the driving direction of the holding mechanism against the biasing force of the elastic element when the holding mechanism reaches its operating limit; A holding mechanism moving device characterized by: