JPH0763245A - Holding releasing device - Google Patents

Abstract

PURPOSE:To provide a holding releasing device which can perform reholding and has a simple structure without necessitating any protective measures against shock. CONSTITUTION:A screw shaft 7 wherein the tip and root part are journalled to a shaft supporting member 4 erected on a holding part main body 1 is normal/reverse-rotational-driven, so as to advance and retreat a movable member 12 to be meshed with the screw shaft 7, and a holding link 15 and first, second and third links 17, 18, 19 are turned by this advancing/retreating movement, so as to perform engagement and release of the engagement of the holding link 15 with/from a body to be held 2. And holding and releasing of the body to be held 2 to/from the holding part main body 1 can be performed by performing engagement and release of the engagement. Since the turning movement of the holding link 15 is controlled by only the rotation of the screw shaft 7, accurate holding and releasing can be performed and also re-holding can be performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a holding and releasing device for holding and releasing a space structure such as a space manipulator.

[0002]

2. Description of the Related Art Space structures such as space manipulators, which are assembled on the ground and then mounted on a rocket or the like to be launched and used in outer space, are subjected to large gravitational acceleration and vibration during launch. In order to protect the drive unit of space structures from this large gravitational acceleration and vibration, keep the drive unit stationary until it is launched into a predetermined orbit, and after entering the orbit, drive unit etc. It is necessary to have a holding and releasing device that releases so as not to interfere with the original movement of the.

A holding / releasing device for holding / releasing such a space structure includes a. Simple structure and light weight b. Withstand shock and vibration at launch c. After release, do not block the functions of the drive unit, etc. d. It is required that the sliding parts such as bearings that require vacuum lubrication be as small as possible.

On the other hand, conventionally, when a space structure drive unit is launched, it is held so as not to move by a wire and a pulley, and when it is put into a predetermined space orbit, the pyrocutter is operated by remote control. 2. Description of the Related Art A holding / releasing device that cuts and releases a wire by an explosion of an explosive to make a drive unit and the like operable is known.

However, in the prior art using the above-mentioned pyro-cutter, the pyro-cutter has a simple structure and high reliability, but on the other hand, the impact force of the explosive explosive at the time of cutting the wire is large, and the pyro-cutter can be simultaneously applied to rockets and space structures. It is necessary to take measures to protect the peripheral equipment installed from the impact of explosive explosives. In addition, it is necessary to take measures to protect peripheral equipment from chemical pollution caused by explosive explosives.

[0006] In addition, since the use of the pyrocutter is limited to one time, it is not possible to confirm the operation by performing explosive explosives in advance, and it is necessary to rely on the indirect confirmation with the one produced at the same time. . Furthermore, since re-holding and releasing cannot be performed repeatedly, maintenance and inspection of space structures must be performed in an open state, which is difficult.

On the other hand, in the situation where manned space structures are being launched and put into orbit in outer space, protection measures are indispensable and, in particular, the meaning of ensuring the safety of passengers It also requires a perfect explosion-proof structure.
For this reason, the increase in weight due to the explosion-proof structure is unavoidable, and the weight to be launched is increased.

[0008]

As described above, the conventional pyro-cutter requires protection measures against the impact of explosive explosives, chemical protection, etc., and also confirms and reholds the operation in advance. However, the explosion-proof structure would increase the weight of manned space structures. The present invention has been made in view of such a situation, and the purpose thereof is to eliminate the need for protection measures against impacts, chemical pollution, etc., and to perform pre-operation confirmation and re-holding, and to make a manned space. It is an object of the present invention to provide a holding and releasing device having a simple structure that does not increase the weight of a structure.

[0009]

A holding / releasing device of the present invention includes a shaft supporting member provided upright on a main body of a holding portion, a screw shaft pivotally supported by the shaft supporting member, and driven to rotate in the forward and reverse directions. A movable member that is screwed into the screw shaft and moves back and forth in the screw shaft direction as the screw shaft rotates, and one end of which is rotatably attached to the tip end of the shaft support member in a plane parallel to the screw shaft direction. A plurality of rotatable holding links, locking end portions provided on the other end side of each of the holding links, a holding member main body, a holding link, and a movable member that are rotatably attached to the movable member. And a link member that rotates the holding link by the advancing / retreating operation of the holding member so that the locking end portion holds the held body. Is formed by the projections and depressions in the screw axis direction that are fitted when the holding part body holds the held body. And a retaining end portion that engages the held body with an engaging portion of the held body, and a holding end. It is characterized in that it is sandwiched between the link body and the main body, and further, the retained body is sandwiched between the locking end engaged with the engaging portion of the retained body and the link member. In addition, the holding portion main body in which the cylindrical holding portion is erected, the shaft supporting member erected substantially at the center of the holding portion, and the shaft supporting member is rotatably supported by the shaft supporting member. A screw shaft that is driven to rotate in the normal and reverse directions, a movable member that engages with the screw shaft and moves back and forth in the screw shaft direction as the screw shaft rotates, and one end of the shaft supporting member is rotatably attached to the tip end of the shaft supporting member. A plurality of holding links attached and rotating in a plane parallel to the screw axis direction, and locking ends provided on the other end side of each of the holding links. A link member that is rotatably attached to the holding portion main body, the holding link, and the movable member, and that turns the holding link by the forward / backward movement of the movable member; and the holding portion when the holding portion main body holds the held body. Of the cylindrical holding portion provided on the held body, which is coaxially abutted to the tip portion of the holding body and whose locking end portion engages with the engaging portion provided on the inner wall surface, and the holding portion and the holding portion. It is characterized by including a fitting portion formed by unevenness provided at each of the abutting portions.

[0010]

The holding / releasing device configured as described above is a movable member that is screwed to a screw shaft by forward / reverse rotation driving of a screw shaft axially supported by a shaft supporting member provided upright on the holding portion main body. Moves forward and backward, the holding link and the link member are rotated by this forward and backward movement, and the holding link is engaged with and released from the held body. By performing this engagement and disengagement, the held body can be held and released from the holding portion main body. As described above, since the rotation of the holding link is controlled via the link member only by the rotation of the screw shaft, even if a load acting to move the held body in the held state is applied, the Since the movement due to the load can be prevented and the load acting on the held body does not directly act, there is no fear of damaging the rotary drive source of the screw shaft. Further, in the case of re-holding the released one, the screw shaft is rotated and the holding link is rotated in a procedure substantially opposite to that when the released one, so that the reliable holding can be performed again. Further, such a series of holding / releasing and re-holding operations can be actually used after confirmation in advance.
In this way, with a simple configuration, it is possible to perform pre-operation check, re-holding, etc. without causing shock or scientific contamination.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment will be described with reference to FIGS. 1 is a vertical cross-sectional view of a holding state, FIG. 2 is a cross-sectional view of a fitting convex portion and a fitting concave portion in a fitted state, and FIG. 3 is a vertical cross-sectional view of the holding mechanism during operation. FIG. 5 is a vertical cross-sectional view of a released state, and FIG. 5 is a front view showing a modified example of a locking end portion of a holding link.

In FIGS. 1 to 4, reference numeral 1 is a main body of a holding portion such as a main body of a space structure, and 2 is a held body such as a driving portion of a space structure. The holding portion main body 1 is provided with a holding portion 3 which is formed in a cylindrical shape on the holding surface thereof and has a tip opening orthogonal to the axial direction. A holding mechanism 5 for holding the held body 2 is formed at the center of the inside of the holding portion 3 such that a substantially cylindrical shaft support member 4 is erected on the holding surface of the holding portion main body 1. There is. The shaft support member 4 is formed with four slits 6 extending in the standing direction at positions where the circumferential direction of the shaft support member 4 is evenly arranged.

Inside the shaft support member 4, a screw shaft 7 is rotatably supported by bearings 8 provided at the tip and the root of the shaft support member 4. A coupling 10 for connecting the electric motor 9 and the drive shaft is connected to the screw shaft 7 at the end portion on the root side, and the electric motor 9 is rotated in the normal and reverse directions as the electric motor 9 is rotated in the normal and reverse directions. There is. Further, a movable member 12 which is an output portion of the actuator 11 is screwed onto the screw shaft 7, and an arm portion 13 provided at a position where the movable member 12 is equally distributed through the slit 6 penetrates the slit 6. The movable member 12 reciprocates in the axial direction of the screw shaft 7 indicated by an arrow A by the forward and reverse rotations of the screw shaft 7.

Further, at the tip end of the shaft support member 4, four support arm portions 14 project outwardly corresponding to the four slits 6, and these support arm portions 14 hold four pieces. Link 1
Each one end is attached so that 5 can rotate in a plane parallel to the axial direction of the screw shaft 7. Further, four support portions 16 are provided near the inner wall of the holding portion 3 so as to correspond to the four holding links 15.

Then, the first portion is provided in the middle portion of the holding link 15.
One end of the link 17 is rotatably attached, one end of the second link 18 is rotatably attached to the support 16, and the arm 13 of the movable member 12 is attached. The third link 19 has one end rotatably attached. Further, the other ends of the links 17, 18 and 19 are connected to each other so as to be rotatable about a common rotation axis. In addition,
Each of the links 17, 18 and 19 rotates within a plane substantially the same as the plane on which the holding link 15 rotates.

Since the holding link 15 and each of the links 17, 18 and 19 constituting the holding mechanism 5 are connected to the movable member 12 of the output portion of the actuator 11 as described above,
The movable member 12 reciprocates in the axial direction of the screw shaft 7 by the forward / reverse rotation of the screw shaft 7 caused by the forward / reverse rotation of the electric motor 9, and along with this reciprocal movement, the locking end 20 of the other end of the holding link 15 is indicated by an arrow. Move as indicated by B.

On the other hand, the held body 2 is provided with a held portion 21 which is formed in a cylindrical shape like the holding portion 3 of the holding portion main body 1 and has a tip opening, and the tip portion of the held portion 21 is further provided. An engaging portion 22 formed of an inner flange is provided on the. Further, a plurality of fitting concave portions 25 and fitting convex portions 26 having inclined side surfaces are provided on the annular tip surfaces 23 and 24 of the holding portion 3 of the holding portion main body 1 and the held portion 21 of the held body 2. It is provided at each position.

When the held body 2 is held by the holding portion main body 1, the tip end surface 23 of the holding portion 3 and the tip end surface 24 of the held portion 21 come into contact with each other and are fitted into the fitting recess 25. The convex portion 26 fits. Further, the movable member 12 is moved to the most proximal position of the screw shaft 7 by the rotational driving of the screw shaft 7 by the electric motor 9, and the holding link 15 causes the holding portion 15 and the tip end surface 23 of the held portion 21 as shown in FIG. , 24, which are substantially parallel to the holding mechanism 5 included in the cylindrical held portion 21.
The retaining end portion 20 of the retaining link 15 of FIG.
Engage 2.

As a result, the translational load (load) acting on the held body 2 held by the holding portion main body 1 in the direction parallel to the distal end surface 24 is the holding link 15 of the holding mechanism 5 and the first, second, and second. 3 is received by the displacement constraint of the links 17, 18, and 19, and the axial translational load of the screw shaft 7 is similarly held by the holding link 15 of the holding mechanism 5 and the first, second, and third links 17, 18, 19 and the holding portion 3 of the holding portion main body 1 are constrained by displacement. Further, with respect to the rotational load about the axis parallel to the tip surface 24, the holding link 15 of the holding mechanism 5 and the first, second and third links 17, 18,
19 and the holding portion 3 of the holding portion body 1 are constrained by displacement, and further, with respect to a rotational load about the axis of the screw shaft 7, the holding portion 3 of the holding portion body 1 and the fitting recess 25 are fitted. It is received by displacement restraint by fitting the fitting convex portion 26.

Since the displacement is constrained in this way, each load acting on the held body 2 does not directly act on the actuator 11 while being held, damage to the actuator 11 can be eliminated, and high holding is achieved. Rigidity can be obtained.

When the held body 2 is released from the holding part body 1, the actuator 11 is operated, that is, the movable member 12 is moved from the root side of the screw shaft 7 to the tip side thereof. The screw shaft 7 is rotationally driven by. With the movement of the movable member 12, as shown in FIG. 3, the third link 19 is moved so as to pull up the other end of the second link 18 connected to the other end, and at the same time, the first link is moved.
The other end of the link 16 is pushed and moved. As a result, the engagement between the engaging end portion 20 of the holding link 15 and the engaging portion 22 of the held body 2 is released.

When the movable member 12 further moves and moves to the most distal position of the screw shaft 7, as shown in FIG. 4, the holding link 15 and the first link 17 become larger than the diameter of the tip opening of the held portion 21. It is folded up small. As a result, the held object 2
Is released, and can be separated from the holding unit main body 1 in the axial direction of the screw shaft 7.

In order to re-hold the held body 2 that has been released, the holding mechanism 5 of the holding portion main body 1 is first folded and then the holding portion 3 and the tip opening of the held portion 21 are opened. The central axes are made to coincide or substantially coincide with each other, and the held body 2 is moved so as to bring the held portion 21 closer to the holding portion 3 while maintaining this state. Then, the tip end surface 24 of the held portion 21 is seated on the tip end surface 23 of the holding portion 3 to form the configuration shown in FIG. At this time, the held portion 21 is fitted so that the fitting concave portion 25 and the fitting convex portion 26 are fitted to each other.
Is rotated around the central axis of the tip opening as needed.

After that, the actuator 11 is operated to move the movable member 12 to the root side of the screw shaft 7. At this time, when the central axes of the tip end openings of the holding portion 3 and the held portion 21 do not match, the inner surface of the held portion 21 is corrected by the tip of the locking end portion 20 of the holding link 15. Guide the vehicle so that it will be in the regular holding position. Then, the holding mechanism 5 rotates respectively, the locking end portion 20 of the holding link 15 is engaged with the engaging portion 22 of the held portion 21, and the held body 2 is held by the holding portion main body 1.

Since this embodiment is constructed as described above, when the held body 2 is held, it can be held with a sufficient holding force, and when it is released, it is chemically contaminated without impact. Since there is no such thing, it is not necessary to take protection measures against impacts and pollution on peripheral devices. Further, the held body 2 once released can be repeatedly held again, and maintenance and inspection of space structures can be easily performed.

Furthermore, since the use is not limited to one time, it is possible to confirm the advance operation before launching with a rocket, and it becomes possible to obtain a highly reliable operation, so that it will not operate after launch. The risk of is also reduced.

Further, when it is installed in a manned space structure, the explosion-proof structure is not required, so that the increase in weight is not seen, and the launch load can be reduced.

In this embodiment, the engaging end 20 of the holding link 15 is formed by an arcuate tip, but as shown in FIG. 5, the tip of the holding link 27 is rotated by a disc. The child 28 may be provided as a locking end 29, and the locking end 29 may be engaged with the engaging portion 22 of the held portion 21 when holding the held body 2. By doing so, even when the held body 2 is guided to the holding position, it can be smoothly performed, friction during the holding operation can be reduced, and the actuator 11 can be downsized.

Next, a second embodiment will be described with reference to FIGS. 6 to 8. 6 is a vertical cross-sectional view of the holding state, FIG. 7 is a vertical cross-sectional view of the released state, and FIG. 8 is a perspective view of a main part.
6 to 8, reference numeral 30 denotes a holding portion main body such as a space structure main body, and 31 denotes a held body such as a space structure driving portion. Further, a link support member 33 having a first fitting recess 32 is provided near the shaft support member 4 provided upright on the holder body 30. Further, four holding links 34 are provided on the support arm portion 14 at the tip of the shaft support member 4 and the screw shaft 7 is provided.
Each one end is attached so as to be rotatable in a plane parallel to the axial direction of the. The holding link 34 is provided near the locking end portion 20 with the first and second fitting convex portions 35, 3
6 is provided. The first fitting convex portion 35 fits into the first fitting concave portion 32 of the link supporting member 33 when the holding portion main body 30 holds the held body 31.

The reference numeral 37 designates four first fixing members provided on the holding portion main body 30 so as to correspond to the four holding links 34.
Similarly, reference numeral 38 denotes four second support portions which are also provided on the holding portion main body 30 and are spaced apart from the first support portion 37.

Further, 39 is a holding mechanism for holding the held body 31, and one end portion of the first link 40 is rotatably attached to the holding link 34 of the holding mechanism 39 at an intermediate portion thereof. Has been done. Further, one end of the second link 41 is rotatably attached to the first support portion 37, and one end of the third link 42 is rotatably attached to the arm 13 of the movable member 12. It is attached.

One end of the fourth link 43 is rotatably attached to the first support portion 37, and one end of the fifth link 44 is attached to the second support portion 38. It is rotatably attached. Both ends of the sixth link 45 are rotatably attached to the other end of the fourth link 43 and the other end of the fifth link 44, respectively. In addition to the sixth link 45, one end of a seventh link 46 is rotatably attached to the portion.

Also, the first, second and third links 40, 4
The other ends of the first and the second links 42 and the other end of the seventh link 46 are rotatably connected to each other about a common rotating shaft. In addition, each link 40, 41, 42, 43, 44,
Reference numerals 45 and 46 respectively rotate within a plane substantially the same as the plane on which the holding link 34 rotates.

The holding link 34 and the links 40, 41, 42, 43, 44, 4 constituting the holding mechanism 39 as described above.
5 and 46 are connected to the movable member 12 at the output portion of the actuator 11, the movable member 12 reciprocates in the axial direction of the screw shaft 7 by the forward and reverse rotation of the screw shaft 7 due to the forward and reverse rotation of the electric motor 9. Along with this reciprocating movement, the holding link 34
The locking end portion 20 at the other end of is moved as indicated by arrow C.

On the other hand, the held body 31 is provided with a held portion 47 formed in a cylindrical shape and having a tip opening orthogonal to the axial direction, and the tip portion of the held portion 47 is constituted by an inner flange. The engaging portion 48 is provided.
In addition, the engaging portion 48 has a second portion provided on the holding link 34.
A second fitting concave portion 49 is provided in which the fitting convex portion 36 is fitted when the holding portion main body 30 holds the held body 31.

When the held body 31 is held by the holding portion main body 30, first, the held body 31 and the holding portion main body 30 are covered by the cylindrical holding portion 31 on the holding mechanism 39. Further, the second fitting concave portion 49 is positioned so as to correspond to the second fitting convex portion 36 of the holding link 34. After that, the movable member 12 is moved to the most proximal position of the screw shaft 7 by the rotational driving of the screw shaft 7 by the electric motor 9.

As a result, as shown in FIG. 6, the holding link 34 of the holding mechanism 39, which is provided so as to be enclosed in the cylindrical held portion 47, is substantially parallel to the tip opening surface of the held portion 47. At the same time, the other end of the fourth link 43 attached to the first support portion 37 and the sixth link 4 connected to the fifth link 44 attached to the second support portion 38.
5 contacts the tip surface of the held portion 47 from the outside. At the same time, the first fitting protrusion 35 of the holding link 34 fits into the first fitting recess 32 of the link support member 33, and the second fitting protrusion 36 fits into the second fitting of the held portion 31. The engaging end portion 20 of the holding link 34 is engaged with the engaging portion 48 from the inner side by fitting in the fitting recess 49. In this way, in the held body 31, the held portion 47 is held by being held between the holding link 34, the fourth link 43, and the sixth link 45.

In this way, the translational load (load) acting on the held body 31 held by the holding section body 30 in the direction parallel to the front end opening surface is the first fitting convex section 35 and the first fitting. Recess 3
2 and the second fitting convex portion 36 and the second fitting concave portion 49.
And the holding link 34 of the holding mechanism 39 configured to fit with each other, and the first, second, third, fourth, fifth, sixth and seventh links 40, 41, 42, 43, 44,4
5, 46 and the link support member 33 are constrained by displacement.

Regarding the axial translational load of the screw shaft 7 and the rotational load about the axis in the direction parallel to the tip end opening surface of the held body 31, the holding link 34 of the holding mechanism 39 and the first and the first. The second, third, fourth, fifth, sixth and seventh links 40, 41, 42, 43, 44, 45 and 46 are constrained by displacement constraint.

Further, regarding the rotational load about the axis of the screw shaft 7, the holding link 34 of the holding mechanism 39 and the first, second, third, fourth, fifth, sixth and seventh links 4 are provided.
0, 41, 42, 43, 44, 45, 46 and the link support member 33 are constrained by displacement constraint.

Since the displacement is constrained in this way, each load acting on the held object 31 while being held does not directly act on the actuator 11, and the load of the actuator 11 is the same as in the first embodiment. It is possible to eliminate breakage and obtain high holding rigidity.

When the held body 31 is released from the holding portion main body 30, the actuator 11 is operated, that is, the movable member 12 is moved from the root side of the screw shaft 7 to the tip side thereof. The screw shaft 7 is rotationally driven by. With the movement of the movable member 12, the third link 42 moves so as to pull up the other end of the first link 40 connected to the other end, and at the same time, the other end of the second and seventh links 41, 46. Also move to pull up.

As a result, the locking end portion 2 of the holding link 34 is
The engagement between 0 and the engaging portion 48 of the held body 31 is released, the first fitting convex portion 35 and the first fitting concave portion 32 are fitted, and the second fitting convex portion 36 is made. The fitting with the second fitting recess 49 is also released. Further, the fifth link 44 is rotated by pulling the seventh link 46, and the fourth link 43 is also pulled and rotated via the sixth link 45. As a result, the contact state between the tip end surface of the held portion 47 of the held body 31, the other end portion of the fourth link 43, and the sixth link 45 connected to this is released.

When the movable member 12 further moves and moves to the most distal end position of the screw shaft 7, the holding link 34 and the first link 40 are smaller than the diameter of the tip opening of the held portion 47 as shown in FIG. It is folded up small. As a result, the held object 3
1 is released, and can be separated from the holding portion main body 30 in the axial direction of the screw shaft 7.

In order to re-hold the released held body 2, the holding mechanism 39 of the holding portion main body 30 is first folded and then the axial center of the screw shaft 7 and the held portion 47 are held. The center axes of the tip openings are made to coincide or substantially coincide with each other, and the held body 31 is moved so as to bring the held portion 47 closer to the holding mechanism 39 while maintaining this state.
Then, the tip portion of the holding mechanism 39 is included inside the held portion 47, and the configuration shown in FIG. 7 is obtained. At this time, the first fitting convex portion 35 and the second fitting convex portion 36
Correspond to the first fitting recess 32 and the second fitting recess 49.
If necessary, the held portion 47 is rotated around the central axis of the tip opening so as to be fitted into.

After that, the actuator 11 is operated to move the movable member 12 to the root side of the screw shaft 7. At this time, when the axial center of the screw shaft 7 and the central axis of the tip end opening of the held portion 47 are not aligned, the inner surface of the held portion 47 is corrected by the tip of the locking end portion 20 of the holding link 34. And guide to the regular holding position. Then, the holding mechanism 39 is rotated to engage the locking end portion 20 of the holding link 34 with the engaging portion 48 of the held portion 47, and the held body 31 is held by the holding body 30.

Since this embodiment is constructed as described above, the same operation and effect as those of the first embodiment can be obtained.

Next, a third embodiment will be described with reference to FIGS. FIG. 9 is a vertical cross-sectional view of the holding state, FIG. 10 is a cross-sectional view taken along arrow XX in FIG. 9, and FIG. 11 is a view showing a holding portion and a held portion, and FIG. ) Is a cross-sectional view, FIG. 11B is a cross-sectional view taken along line ZZ in FIG. 11A, FIG. 12 is a front view showing a part of the released state in a cross section, and FIG. It is sectional drawing of the principal part of the modified example of a holding part.

In FIGS. 9 to 12, reference numeral 50 is a holding portion main body such as a space structure main body, and 51 is a held body such as a space structure driving portion. A holding portion 52 is erected on the holding surface of the holding portion main body 50, and a substantially cylindrical shaft support member 53 is erected on the holding portion 52 so as to be spaced apart from the holding portion 52. A holding mechanism 54 that holds 51 is configured. The shaft support member 53 has a slit 5 extending in the standing direction at a portion of the shaft support member 53 facing the holding portion 52 in the middle portion thereof.
5 is formed.

Inside the shaft support member 53, the screw shaft 7 constituting the actuator 56 is rotatably supported. A movable member 57, which is an output portion of the actuator 56, is screwed onto the screw shaft 7, and the arm portion 13 provided on the movable member 57 penetrates the slit 55. The movable member 57 reciprocates in the axial direction of the screw shaft 7 indicated by the arrow A by the forward and reverse rotations of the screw shaft 7.

Further, at the tip end portion of the shaft support member 53, a support arm portion 58 is projected outward in correspondence with the slit 55,
One end is attached to the support arm 58 so that the holding link 59 can be rotated in a plane parallel to the axial direction of the screw shaft 7. Further, the supporting portion 6 is provided on the side surface of the holding portion 52 facing the slit 55 so as to correspond to the holding link 59.
0 is provided.

The first portion is provided in the middle portion of the holding link 59.
One end of the link 61 is rotatably attached, one end of the second link 62 is rotatably attached to the support 60, and the arm 13 of the movable member 57 is attached. The third link 63 has one end rotatably attached. Further, the other ends of the links 61, 62, 63 are connected to each other so as to be rotatable about a common rotation axis. In addition,
Each of the links 61, 62, 63 rotates in a plane substantially the same as the plane in which the holding link 59 rotates.

Since the holding link 59 and the links 61, 62, 63 constituting the holding mechanism 54 are connected to the movable member 57 at the output portion of the actuator 56, the screw shaft 7 can be moved by forward and reverse rotations. The member 57 is the screw shaft 7.
And reciprocates in the axial direction, and with this reciprocation, the locking end 20 at the other end of the holding link 59 moves as indicated by arrow B.

Further, the holding shelf 6 has a fitting concave portion 64 formed on the rear surface side of the holding portion 52 facing the shaft supporting member 53.
5 is provided so that the locking end portion 20 of the holding link 59 that has rotated above the fitting recess 64 faces. In addition, the holding portion 52 and the holding link 59 form the locking end portion 2
When 0 faces the fitting recess 64, they intersect so as to limit the movement of the holding link 59 in the direction orthogonal to the rotation direction.

On the other hand, a held portion 66 is provided on the held body 51 so as to project laterally. This held portion 66
Is the two support arms 67 protruding from the side surface of the held body 51.
And a locking block 70 in the shape of a rectangular parallelepiped which is sandwiched between the support arms 67 and is rotatably provided on the rotary shaft 68 via a bush 69. Further, a fitting convex portion 71 with which the fitting concave portion 64 is engaged is provided on one surface of the locking block 70.

Then, when the held body 51 is held by the holding portion main body 50, first, the fitting convex portion 71 of the locking block 70 of the held body 51 is fitted into the fitting concave portion 64 of the holding portion 66. Let When the screw shaft 7 is driven to rotate by the electric motor 9, the movable member 57 is moved to the most proximal position of the screw shaft 7.
Is moved to press the locking block 70 by rotating the holding link 59 in a direction in which the fitting convex portion 71 and the fitting concave portion 64 are closely fitted.

As a result, the translational load in the direction parallel to the direction orthogonal to the central axis of the shaft support member 53 acting on the held body 51 held by the holding portion main body 50 and the axial translational load of the screw shaft 7 are , Both by the displacement restraint of the holding link 59 of the holding mechanism 54 and the first, second, and third links 61, 62, 63, and the displacement restraint of the fitting portion between the fitting convex portion 71 and the fitting concave portion 64. ing.

The holding mechanism 54 is also provided with respect to a rotational load about an axis in a direction orthogonal to the central axis of the shaft support member 53.
Holding link 59 and first, second and third links 61,
62, 63, the fitting convex portion 71, and the fitting concave portion 64 are received by displacement restraint of fitting portions.

Since the displacement is constrained in this way, each load acting on the held object 51 does not directly act on the actuator 56 while being held, damage to the actuator 56 can be eliminated, and high holding is achieved. Rigidity can be obtained. Regarding the movement around the rotation shaft 68 to which the locking block 70 is rotatably attached, free movement is guaranteed within a predetermined rotation range.

When the held body 51 is released from the holding portion main body 50, the movable member 57 is moved to the tip side of the screw shaft 7 by operating the actuator 56. With the movement of the movable member 57, as shown in FIG. 12, the holding mechanism 54 moves the third link 63 to pull up the other end of the second link 62 connected to the other end, and at the same time, to move the first link. The other end of the link 61 is pushed and moved.

As a result, the locking end portion 2 of the holding link 59 is
The pressing of the locking block 70 by 0 is released, and the fitting convex portion 71 of the locking block 70 becomes detachable from the fitting concave portion 64. In this state, the held body 51 is shown in FIG.
When it is moved to the right in (a), the locking block 70 rotates clockwise and the fitting convex portion 71 separates from the fitting concave portion 64, and the release is completed.

In order to re-hold the held object 51 that has been released, the holding mechanism 54 of the holding section body 50 is first folded as shown in FIG. 12, and then the holding shelf section 65 is fitted. The fitting convex portion 71 is arranged above the concave portion 64, and the actuator 56 is operated in this state to move the movable member 57 to the root side of the screw shaft 7. At this time, even if the fitting convex portion 71 is not arranged immediately above the fitting concave portion 64, the engaging end portion 20 of the holding link 59 presses the fitting concave portion 64, so that the inclined surfaces of the fitting concave portion 64 and the fitting convex portion 71 are displaced. While making corrections, guide the user to reach the regular holding position. Then, the holding mechanism 54 rotates, and the locking end portion 20 of the holding link 59 presses the locking block 70 in which the fitting convex portion 71 is fitted in the fitting concave portion 64, and the held body 51 is held.
Are held by the holding unit main body 50.

Since this embodiment is constructed as described above, this embodiment can obtain the same action and effect as the first embodiment, and uses the pivotally supported locking block 70. The held body 51 can be held in a state in which it can be rotated within a predetermined range.

Further, the long ones can be easily held by arranging the above-mentioned ones so as to be separated from each other and symmetrically arranged so as to form a pair. Further, as shown in FIG. 13, when the locking block 70 is attached, if the supporting arm 67 is provided at a large interval and the long rotating shaft 72 constitutes the held portion 73, the held body 51 can be formed.
Can be rotated in a predetermined range, and can be held in a state in which the axial movement of the rotating shaft 72 is possible in a predetermined range.

It should be noted that the present invention is not limited to the above-mentioned embodiments, but can be implemented with various modifications without departing from the scope of the invention.

[0066]

As is apparent from the above description, according to the present invention, the screw shaft having the tip end portion and the root portion pivotally supported by the shaft support member erected on the main body of the holding portion is normally and reversely driven. The movable member screwed with the screw shaft advances and retreats, and the holding link and the link member are rotated by this forward and backward movement to engage and disengage the holding link with the held body. It is possible to provide a device that does not require protection measures against chemical pollution, can perform operation confirmation and re-holding in advance, and can provide a simple structure that does not increase the weight of manned space structures. Play.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing a holding state in a first embodiment of the present invention.

FIG. 2 is a cross-sectional view showing a fitted state of a fitting convex portion and a fitting concave portion in the first embodiment of the present invention.

FIG. 3 is a vertical cross-sectional view showing a state in the middle of operation of the holding mechanism according to the first embodiment of the present invention.

FIG. 4 is a vertical sectional view showing a released state in the first embodiment of the present invention.

FIG. 5 is a front view showing a modified example of the locking end portion of the holding link according to the first embodiment of the present invention.

FIG. 6 is a longitudinal sectional view showing a holding state in the second embodiment of the present invention.

FIG. 7 is a vertical sectional view showing a released state in the second embodiment of the present invention.

FIG. 8 is a perspective view showing a main part of the second embodiment of the present invention.

FIG. 9 is a vertical sectional view showing a holding state in the third embodiment of the present invention.

10 is a cross-sectional view taken along line XX in FIG.

11A and 11B are views showing a holding portion and a held portion in a third embodiment of the present invention, FIG. 11A being a sectional view and FIG.
1 (b) is a cross-sectional view taken along line ZZ in FIG. 11 (a).

FIG. 12 is a front view, partly in section, showing the released state in the third embodiment of the present invention.

FIG. 13 is a cross-sectional view showing the main parts of a modified example of the held portion according to the third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Holding part main body 2 ... Held object 3 ... Holding part 4 ... Shaft support member 7 ... Screw shaft 9 ... Electric motor 12 ... Movable member 15 ... Holding link 17 ... 1st link 18 ... 2nd link 19 ... 3rd Link 20 ... Locking end 21 ... Held part 22 ... Engagement part

Claims (2)

[Claims] 1. A shaft support member provided upright on the holding portion main body,
A screw shaft that is axially supported by the shaft support member and is driven to rotate forward and backward, a movable member that is screwed into the screw shaft and moves back and forth in the screw axis direction as the screw shaft rotates, and a tip of the shaft support member. A plurality of holding links, one end of which is rotatably attached to the portion and which rotates in a plane parallel to the screw axis direction, and locking ends provided on the other end side of each of the holding links. , The holding portion main body, the holding link, and the movable member are rotatably attached to each other, and the forward and backward movements of the movable member cause the holding link to rotate to hold the held body by the locking end portion. A holding / releasing device, comprising: 2. A holder main body in which a cylindrical holder is erected, a shaft support member which is erected substantially at the center of the holder, and a shaft which is axially supported by the shaft support member and is driven to rotate in the forward and reverse directions. The screw shaft, a movable member that is screwed onto the screw shaft and moves back and forth in the screw shaft direction as the screw shaft rotates, and one end of the shaft support member is rotatably attached to the tip end of the screw shaft. A plurality of holding links that rotate in a plane parallel to the direction, a locking end portion provided on the other end side of each of the holding links, the holding portion main body, the holding link, and the movable member. Link members that are rotatably attached to each other and that rotate the holding link by advancing and retracting the movable member, and abutting coaxially with the tip of the holding portion when the holding portion main body holds the held body, and A circle provided on the held body in which the locking end portion engages with an engagement portion provided on the inner wall surface. A holding / releasing device, comprising: a cylindrical held portion; and a fitting portion formed by unevenness provided at a contact portion between the holding portion and the held portion.