JPH06500752A - Interface for track exchange equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Interface for track exchange equipment Background of the invention The present invention provides an interface for a track exchange device relating to an end effector and a clamp claw. Regarding the face. Furthermore, the invention is particularly suitable for use with manipulators. Regarding the interface designed to. In particular, the present invention can be used in the space industry. This invention relates to an interface for a track exchange device for

The interface is based on the type of orbit that came to be used during the use of satellites. It has been designed for use with road exchange equipment. has ever been designed The interface has a V-shaped configuration. This V-shaped interface The end effector used with the U-shaped It has lugs that protrude into the shaped recess. However, this V-shaped interface The face is quite large and has a microinterface for mounting on small exchange devices. Not suitable for use as a face. A wide range of small exchange devices is required as a track exchange device in applications and similar applications. Aerospace In industry, both large and micro interfaces are required. I know it's important.

The H-shape according to the prior art has a length of approximately 4.5 inches (approximately 110!L) and a width. 2.5 inch (approximately 6.3 au) and 0.5 inch (approximately 1.3 ao) thick - provides a face-to-face. The microinterface preferably has about 1. 5 inches x 1.5 inches x 1.5 inches (approx. 3.8 an x approx. 3.8 cm x approx. 3. The object of the present invention is to provide a The purpose is to provide a micro interface.

Brief description of the drawing FIG. 1 is a top view of an interface constructed in accordance with an embodiment of the invention.

Figure 2 is a partial cross-section of the interface of Figure 1 attached to the interface. side view showing how it would be engaged by the end effector in use. It shows.

FIG. 3 is a top view of an interface constructed in accordance with another embodiment of the present invention. Ru.

4 is an end view of the assembly of FIG. 3; FIG.

Figure 5 shows how to removably attach the exchange device to the system in which it will be used. FIG. 3 is a front view of an interface with a latching mechanism for

6 is a side view, partially in section, of the interface of FIG. 5; FIG.

FIG. 7 is a bottom view of the interface of FIG. 6.

Figure 8 shows the interface and the exchange device can be inserted into the system. Partially sectional with a coupling suitable for mounting the exchange device in order to FIG.

FIG. 9 is constructed with respect to an embodiment of the invention in which the interface connects the switching device to it. A screw mechanism showing how to secure it into the system in which it is intended to be used. 2 is a partially sectional side view of an interface formed as an integral part of a structure; FIG. Ru.

Figure 1O is a cross-sectional view of the interface in Figure 9, viewed from the latch stop. It is.

FIG. 11 shows the interface of FIG. FIG. 4 is a side view, partially in section, showing the manner in which the connector is engaged by the connector;

3 illustrates an interface configured for an embodiment of the present invention;

Said interface IO consists of fairly rigid bodies 12a and 12b. It has a main body 12, each of which grows a finely divided membranous portion 14. this finely The resulting membranous portion 14 forms a square cross section with side surfaces 16, 18, 20, and 22. ing. Said sides 16 and 20 extend together with each other to the outside of the 24, forming a single-shaped clamping surface, generally designated by the number 24; A top portion 26 is present. The sides 18 and 22 are one with the other and the first forming a figure-shaped clamping surface extending outwardly from the numeral 2. 8 and has a top 30. Said V-shaped clamping surface 24.28 It projects laterally outward on both sides of the shaped part. Third and fourth V-shaped clamps Surfaces 32, 34 are located opposite each other and each have a top 36, 38. Exists.

Main body part! 2a, 12b also includes a body 12 having an upper end 40 and a lower end 42. Both of them protrude outward from the membrane part 14. The upper inclined part 44 is on top. formed on the end portion 40 and inward toward the side surface 16.18.20.22 of the membrane portion 14; Sloped to the side. The lower inclined portion 46 is formed on the lower end portion 42 and is located on the side of the membrane portion 14. It is inclined towards the plane 16.18.20.22. What are the inclined parts 44 and 46? It functions to guide the effector 100 and hold it vertically, and engages with the membrane part 14. let

The body portions 12a, 12b also had a passageway 50 therethrough along a central bearing 52. It makes up the main body. The passage 50 is countersunk and provided with a shoulder 54. Ru.

In use, the track exchange device 58 is attached to the system with which it is to be used. Therefore, bolts 56 are used for attachment. The device 58 is used in a space satellite. It may also be an orbit exchange unit (OUR).

A mounting hole 48 is formed in the main body 12, and a mounting screw 59 passes through the hole 48. 2 to the track exchange device 58.

The interface IO shown in Figures 1 and 2 is a small orbital exchange device. It may be proportionately smaller to be suitable for use with. for example, The axial length of the membrane portion 14 may be 0.4 inch (approximately fan), and The axial length and height of portions 44 and 46 is 0.25 inches (approximately 0.63a11). You can. The length of each diagonal of the square cross section of the membrane portion 14 is 1.125 inches (approx. 2.86 cm) and has an overall height of 1.25 inches (approximately 3 ．． 170! +) may be used.

The diagonal length of each of the top and bottom sections is 2°15 inches (approximately 5.46 inches). an), and the length of each side of the upper and lower parts 40.42 is It may be 1.625 inches (approximately 4.tsa).

Figures 3 and 4 show another embodiment of the invention, generally designated by the number 10a. The interface shown is in the form of two separate segments 12a, 12b. consisting of a pair of body parts, which are connected to both sides of the exchange device in the form of a connector 62. attached to the side. Segments 12a, 12b are shown in FIGS. The V-shaped clamping surface can be used to exhibit the same condition as described above. It is placed on both sides. In the embodiment shown in FIGS. 3 and 4, Attached to parts that are functionally the same as the corresponding parts described in Figure 1 and the second cause. Reference numbers other than 12a and 12b are distinguished by the suffix "a#".

Interface 10a further includes two torque transmitting latching mechanisms 64. It is distinguished from the interface 10 in that One each is located at the top of the lamp surface. Each latch mechanism 64 has a lock pin 6 6 and a biasing pin 68.

Each latching pin 66 is slidably mounted within the lower portion 42a and is shown in FIG. The extent position as shown in FIG. 4 and its insertion into the lower part 42a. It moves between the tract position and the main body! 2a, 1 2b is formed with an elongated groove 7o for each latch mechanism 64. It extends inside the tops of the lamp surfaces 24a, 28a. Each clutch biasing pin 68 is attached to the clasp pin 66 and extends at right angles thereto; It is slidably mounted in the elongated groove 7o. There is a pressure inside each passage 74. A compression spring 72 is mounted and presses against the associated biasing pin 68, thus increasing the The biasing pin is normally pressed to the extent position shown in FIG.

When in use, the claws of the end effector 100 are connected to V-shaped clamps arranged at both ends. When moved in the direction of engagement with the pump surfaces 24a, 28a, the pawl initially engages the latch biasing pin. 68 and the pawl moves toward the V-shaped clamping surface, the latch biasing pin 68 Each will be moved inward towards the other. Due to this action, the stopper pin 6 6 will be moved from its extent position to the tract position. result as a switching device or connector 62 to the system 59 connected thereto. It can be removed from the

If connector 62 is to be attached to system 59, end effector the claws close again on the V-shaped clamping surfaces 24a, 28a, releasing the latch biasing pin 68. inward to move the stopper pin 66 to the retracted position. connector - 62 until the end effector mates with the corresponding portion 76 of system 59. can be handled by moving the vector. Next, the end effector is The detent pin 66 is operable to release the clamping surface and the detent pin 66 is connected to the compression spring 7. It can be expanded outward to the extent position by the force of 2. then the stopper The pin 66 enters a corresponding hole 78 formed in the system 59, resulting in a Nectar 62 is locked into system 59.

Figures 5, 6 and 7 are based on the same basics as previously shown in Figures 1 and 2. 10b shows an interface 10b having a structure and a latching mechanism 64b. It has been added. The latch mechanism 64b is inserted into the alignment hole formed in the lower end portion 42b. It consists of a catch pin 66b slidably attached to the holder. Each retaining pin 6 6b grows a compression spring 72b, which normally removes the stopper pin 66b. Pushing it to the tent position. The latch biasing pin 68b is attached to each stopper pin 66b. 7 and is slidably mounted within groove 70b (FIG. 7).

Further, the latch biasing pin 68b is arranged such that the claw of the end effector 100 is attached to the clamp surface 24. b, when moving in the direction to engage with 28b, it automatically moves toward axis J1152b. is driven inward to retract the catch pin 66.

FIG. 8 shows a connecting collar 80, which is attached to the end effect with raised clamping pawls. System 5, such as installing interface IOb without the help of a computer. It may also be used as a connector attached to 9c. The opposite side for this color 80 A pair of mounting holes 66c arranged in The radius increases in the counterclockwise direction and reaches a maximum in the seating area 84. It has a radial undulation of In this case, the stopper pin 78C enters the collar 80 through the axially extending groove 8a. It's becoming more and more immersive. Interface 10b is then rotated clockwise; The catch pin 66b moves along the ramp 82 and is driven inward. clasp pin 78c is aligned with hole 66c, compression spring 72c pushes detent pin 78c into hole 66c. c and move them outward until they are located in the extent position. This collection With the help of the collar, the astronaut can attach the interface using the clamping claws. Let IOb be the shape of the fuse box as shown in Figures 9@, 1 (1, and 11). It can be manually attached or detached from the system 59c.

FIGS. 9, 10, and 11 show interface 1Ob (FIGS. 5 to 11). It has the same structure as Fig. 8) and is attached to the exchange device t58b in the form of an electric fuse. The attached interface 10d is shown. In Figure 11, the end Fector's claw 100 is suitable for use with the interface. It is shown in Each of the pawls 100 has a V-shaped notch formed on its inner surface. This is the V-shaped clamping surface 24d, 28d (first 10).

As illustrated in FIG. When driven inward by the effector pawl 100, the attachment 66b is retracted. is driven toward the starting position. The end effector is then actuated to open fuse 58d. The threaded portion is engaged with the tapped hole until it is fully seated. Then the end effector -'s nail lo.

is separated 1 to release the interface so that compression spring 72d is attached. 66d outward to the extent position, and in that position the attachment is through the lock hole 78. d, and the fuse is a receiver of a system 59d for seating and using the fuse. With respect to the hinge part 102, it is held in the operating position.

From what has been said so far, the interface of the present invention is a pair of It has a simple structure with V-shaped clamping surfaces placed on both sides of the You'll understand. This V-shaped clamping surface requires considerable torque or As such, it may be laterally tightened by the end effector. This The screws are arranged so that the raceway crosses into operative engagement with fuse 58d or a corresponding threaded socket. It acts to drive the switching device rotationally.

Furthermore, by providing a narrow colloidal section, shoulders are provided above and below the colloidal section. Some vertical or axial loads may be applied to the interface. It becomes. The shoulder is preferably in the form of a ramp sloped towards the colloid. and engages the clamping pawl on the end effector with the clamping surface on the interface. This shows the effect of guiding in the vertical direction.

This replaceable latch mechanism attaches to the interface and replacement modules and the support structure of the system to which they are mounted during use. It functions to lock the device in a predetermined position. The latch pin is said support when the effector pawl is moved into engagement with the V-shaped clamping surface. is automatically released from the holding structure, allowing the exchange device to be removed from the system. .

All of these features are similar to the traditional figure-of-eight interface that has been proposed for some time. can be built into a much smaller interface than the Microinterface for use in connection with small track exchange equipment It can also function as a traditional figure-eight interface. Handled by a dual-purpose end effector that can be operatively engaged with I can. This type of end effector is a dual function end effector U.S. Patent Application Circular 07159 filed October 4, 1990 by the applicant entitled 3.648.

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Claims (6)

[Claims] 1. Track exchange device interface to end effector and clamp pawl a) each end is between an upper slope part, a lower slope part, and the upper and lower slope parts; comprising two substantially rigid body portions having a waist portion with a small radius that allows for b) The vertically sloping parts of each of the main body parts are slanted inwardly toward the sides of the waist-rest part. The side surfaces converge outward to form a substantially V-shaped club extending laterally. form the pump surface, c) said two body parts have generally V-shaped clamping surfaces opposite each other; extending outwardly in the direction and attached to the track exchange device; d) The inwardly sloping sloping portion is connected to the end effector clamping pawl and the track exchange device. vertically to resist the displacement action of a vertical load applied between engaged with; e) A substantially V-shape is added between the clamp pawl of the end effector and the track exchange device. to force them into laterally tightening engagement against the moving action of the applied torque; An interface characterized by: 2. An interface according to claim 1, in which the radius has a small waist. The undersides together form a square cross-section, with the V-shapes extending 180 degrees from each other. Interfaces spaced diagonally apart. 3. The interface according to claim 1, wherein the body portions include a pair of body portions. , each of which has a V-shape formed thereon; and the segments are arranged in a V-shape on both opposite sides of the track exchange device. interface that can be installed on. 4. The interface according to claim 1, further comprising: removably attach to the system in which you are installing the replacement device. A torque-transmitting latch that can be operated by a clamping pawl on the end effector latching device, said latching device having a catch device mounted on each body portion; This is an extension that protrudes laterally from the part to which it is attached. between the extended position and the retracted position in which it was located. from the position toward the main body part (the clasp), and Furthermore, the latching device is configured to hold the catch device in the extended position. an interface containing an elastic device for 5. In the interface according to claim 4, each V-shaped apex defines a longitudinally extending ridge, and the latching device further includes a longitudinally extending ridge. for a ridge that moves with and extends longitudinally with respect to the It has latch biasing members extending in parallel, and each latch biasing member is connected to the stopper. Laterally from its associated ridge when the plating device is in the extended position From an outwardly located first position, said associated detent device is in said retracted position. position, then move from its associated ridge to a second position located inwards. and each latch biasing member moves into engagement with the clamping surface. Each latch biasing member is in the first position when engaged by the end effector. By moving from interface that can be moved from the to the retraction device. 6. The interface according to claim 5, wherein the small radius waist The undersides together form a square cross section and are arranged on opposite sides of the first and second sets. a first set of ridges, each latch biasing member having one ridge of the first set; related, the second set of ridges being engageable by the end effector; An interface spaced from the latch biasing member.