JPH0771422A - Coupling - Google Patents

Abstract

PURPOSE:To provide uniform mechanical rigidity even against a load from any direction, regardless of a posture, by fitting both adapters with a lock mechanism working on the operation of a hydraulic cylinder along a peripheral direction. CONSTITUTION:A base side adapter 1 is fitted with a piston 5, a piston rod 7 and air pressure feed ports 27 and 26 for use at the time of coupling and separation in such state as connected to one another via a coupling side with a forward end side adapter 2. A spherical bearing 9 is fixed to the piston rod 7 via a shaft 8 and an open/close shaft 10 is provided along the axial extension line of the piston rod via the bearing 9. Furthermore, three sets of lock levers 11 are provided at the end of the adapter 1 via a pin 12 along a peripheral direction, and the forward ends thereof are coupled to the recessed section of the shaft 10. A spring 6 is housed between a robot side adapter plate 3 and the piston 5, and generates a reaction force equal to or over the total deadweight of the forward end side. Also, the adapter 2 is provided with guide holes 23 and 24, while the adapter 1 is provided with locating pins 20 and 21 coupled to the holes 23 and 24.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint applied to a place where a person cannot enter such as a nuclear facility.

[0002]

2. Description of the Related Art FIGS. 5 and 6 are explanatory views of a conventional joint used in a place where people cannot enter such as in a nuclear facility. In the figure, this joint can be attached / detached and exchanged by handling it directly by hand. By coupling the base side adapter 50 and the tip side adapter 51, the joint has mechanical rigidity to connect the members, and electrical connection. The connector also has a function of connecting at the same time. The base side adapter 50 utilizes a cylinder 55 having a piston 56 and a piston rod 57 and its operation,
Two sets of levers 60 swinging around pins 58 and 59 as fulcrums
Is provided, and the lock pin 54 fixed to the mating tip side adapter 51 is pulled in or pushed out. Further, two sets of positioning pins 52 and guide holes 5 are provided for each of the base side adapter 50 and the tip side adapter 51.
3 is provided.

FIG. 6 shows moments in the X-axis direction and the Y-axis direction with respect to mechanical rigidity and a torque load about the Z-axis, and two sets of levers 60 arranged to face each other by 180 ° as described above. In the attachment / detachment mechanism using the lock pin 54, rigidity can be obtained by the two positioning pins 52 against a torque load, and a force can be received at the farthest position against a moment load in the Y-axis direction, which is advantageous. However, with respect to the moment load in the X-axis direction with the arrangement direction of the lever 60 as the axis, a large load cannot be supported because the lever 60 that receives a force is at the rotation axis, and mechanical rigidity It is inferior in terms of aspect.

[0004]

As described above, in the case of a joint used in a place where a person cannot enter, it is possible to easily attach / detach or replace the joint by remote operation, and especially the mechanical connection between the members. It is necessary to have a joint that unifies all systems such as joints, piping, joints for hoses, and connectors for electrical wiring, and obtains mechanical rigidity against moment and torque load in any posture. In addition, it is necessary to have a confirmation function of attachment / detachment operation that is indispensable by remote control, but such a joint is not found at present.

[0005]

SUMMARY OF THE INVENTION The joint according to the present invention is intended to solve the above-mentioned problems, and a plurality of sets of positioning are provided so that the base side adapter and the tip side adapter can be fitted to each other's connection surfaces. In a joint for connecting and disconnecting through a pin and a guide hole to attach and detach a member or system, a lock that is evenly arranged in the circumferential direction of both adapters and operates by a fluid pressure cylinder to connect and disconnect both adapters. It is characterized by a structure provided with a mechanism.

Further, in the joint according to the present invention, the base side adapter and the tip side adapter are coupled and separated via a plurality of sets of positioning pins and guide holes provided so that they can be fitted to the mutual connection surfaces. In a joint for connecting and disconnecting a system, a lock mechanism that is evenly arranged in the circumferential direction of both adapters and operates by a fluid pressure cylinder to connect and disconnect the two adapters, and a lock mechanism incorporated in both adapters And a sensor for detecting coupling and disconnection.

Further, in the joint according to the present invention, the base side adapter and the tip side adapter are coupled and separated via a plurality of sets of positioning pins and guide holes provided so that they can be fitted to their mutual connection surfaces. The joint for attaching and detaching the system is provided with a lock mechanism that is evenly arranged in the circumferential direction of the both adapters and operates by a fluid pressure cylinder to connect and disconnect the two adapters, and the lengths of the plurality of positioning pins. Are characterized by different configurations.

In the joint according to the present invention, the base side adapter and the tip side adapter are coupled and separated via a plurality of sets of positioning pins and guide holes provided so that they can be fitted to the mutual connection surfaces. In a joint for connecting and disconnecting a system, a lock mechanism that is evenly arranged in the circumferential direction of both the adapters and operates by a fluid pressure cylinder to connect and disconnect the two adapters; And a spring that maintains the connection between the two adapters when the cylinder loses its function.

[0009]

That is, in the joint according to the present invention, the base side adapter and the tip side adapter are joined and separated through a plurality of sets of positioning pins and guide holes provided so that they can be fitted to their mutual connection surfaces. Or, the lock mechanism is evenly arranged in the circumferential direction of both adapters in the joint for connecting and disconnecting the system, and it is operated by the fluid pressure cylinder to connect and disconnect both adapters. By opening and closing a plurality of lock mechanisms that are evenly arranged, a uniform force is generated in each lock mechanism by one fluid pressure cylinder, and a uniform mechanical force is applied to loads from any direction regardless of posture. The rigidity is obtained, and the maximum force is obtained even when a moment load from the outside is applied in one direction, so that one-sided contact does not occur. The rigidity is maintained by the strength of the positioning pin and the guide hole against the load torque from the outside. Further, with respect to the load moment, rigidity is obtained by the strength of the lock mechanism.

Further, in the joint according to the present invention, the base side adapter and the tip side adapter are joined and separated through a plurality of sets of positioning pins and guide holes provided so that they can be fitted to their mutual connection surfaces. Alternatively, the lock mechanism is evenly arranged in the circumferential direction of both adapters in the joint for connecting and disconnecting the system, and the fluid pressure cylinder operates to connect and disconnect both adapters, and a sensor is incorporated in both adapters to connect both adapters. And the separation are detected, the same operation and effect as the above-mentioned joint can be obtained, and each operation such as connection and separation of both adapters is confirmed.

Further, in the joint according to the present invention, the base side adapter and the tip side adapter are joined and separated through a plurality of sets of positioning pins and guide holes provided so that they can be fitted to each other's connection surfaces. Alternatively, the lock mechanism is evenly arranged in the circumferential direction of both adapters in the joint for connecting and disconnecting the system, and the hydraulic cylinders actuate to connect and disconnect both adapters. Therefore, the same operation and effect as the above-described joint can be obtained, and the positioning by remote control can be easily performed.

Further, in the joint according to the present invention, the base side adapter and the tip side adapter are joined and separated through a plurality of sets of positioning pins and guide holes which are provided so as to be able to fit to each other's connecting surfaces. Alternatively, the lock mechanism is evenly arranged in the circumferential direction of both adapters in the joint for connecting and disconnecting the system, and the fluid pressure cylinder operates to connect and disconnect both adapters. The connection of both adapters is maintained when the function of the is lost, and the same action and effect as the above joint can be obtained, and even if the fluid pressure source supplied to the fluid pressure cylinder is lost for some reason, The function of is maintained.

[0013]

1 to 3 are explanatory views of a joint according to an embodiment of the present invention. In the figure, the joint according to the present embodiment is used in a place where people cannot enter such as in a nuclear facility, and as shown in FIG.
Between the joint axes of the manipulator 43 or between the tip of the manipulator 43 and the tool, the joint shaft of the manipulator 43 or the manipulator 43 can be remotely operated for maintenance of the nuclear facility even in a radiation area where a person cannot enter. The tool 43 can be easily attached and detached, and can be replaced. When replacing the joint shaft having the main joints 46a and 46b, the lift provided in the greenhouse 40 from the outside of the shielding wall 45. Heavy equipment 41 and detachment,
This can be performed via the exchange mount 42, the handling manipulator 43 and the shielding window 44, which are provided so as to penetrate the inside and outside of the greenhouse 40.

That is, as shown in FIG. 2, the present joint is divided into a robot side base adapter 1, an adapter plate 3 and a tool side tip side adapter 2, and the base side adapter 1 and the tip side adapter 2 are connected to each other. It is designed to be connected to each other at the connection surface between them. The base side adapter 1 has a central portion including a piston 5, a piston rod 7, a passage for supplying and discharging air pressure into the cylinder 4 of the piston 5, and an air pressure supply port 27 for connection thereof and an air pressure supply port 26 for separation thereof. Pressure ports are provided respectively, and seals 14 to 19 are incorporated in the sliding surface, the joint surface, etc. for maintaining airtightness. A spherical bearing 9 is integrally fixed to the piston rod 7 via a shaft 8, and an opening / closing shaft 10 is attached to the piston rod 7 on an extension of the axial center of the piston rod 7. At the end of the base side adapter 1, the pins 1 are evenly arranged in the circumferential direction.
3 sets of lock levers 1 rotatably supported via 2
1 is provided, and its tip is fitted in the recess of the opening / closing shaft 10. The base end of each lock lever 11 is provided with a notch groove 32 for receiving, retracting, and pushing out the lock pin 13 in the distal end side adapter 2 described later. The tip side adapter 2 has a plurality of lock levers 11
A lock pin 13 is provided that matches each of the cutout grooves 32. A spring 6 is built in between the adapter plate 3 on the robot side and the piston 5. The spring 6 generates a reaction force equal to or more than the total weight of the tip side including the tip side adapter 2.

As shown in FIG.
The guide holes 23 and 24 are provided at several places, and the positioning pins 20 and 21 are attached to the base side adapter 1 so as to fit into the guide holes 23 and 24. The positioning pins 20 and 21 have a tapered portion at the tip for facilitating the guide, and the positioning pin 21
After positioning the longer one of the two in one guide hole 24, turn it in the circumferential direction and change the length of each so that the shorter positioning pin 20 can be easily inserted into the next guide hole 23. It has a structure that can be easily performed. These two sets of positioning pins 20, 21,
The guide holes 23 and 24 are arranged as shown in FIG.
It is designed so that the base side adapter 1 and the tip side adapter 2 can obtain only one type of connection while avoiding the symmetrical position of °.

In addition to the pneumatic pressure supply to the cylinder 4, the joint is also provided with a pneumatic line joint for feeding from the base side adapter 1 to the tip side adapter 2 and a connector for electric wiring such as power lines and signal lines on their connecting surfaces. As shown in FIG. 2, a plurality of nipples 22 and seals 17 are installed on the connection surface of the base side adapter 1 as a joint of the pneumatic line, and the nipple 2
The tip end side adapter 2 is provided with a hole to be fitted into the adapter 2.
Regarding electrical wiring, an electric connector (receptacle) 28 is attached to the base side adapter 1 as shown in FIG.
An electric connector (plug) 31 suitable for the electric connector (receptacle) 28 is provided on the tip side adapter 2. Further, since the attachment / detachment is performed by remote control, three sets of non-contact sensors 29 are provided in the joint so that confirmation of the attachment / detachment operation can be obtained.
a, 29b, 29c and magnets 30a, 30b, 3
0c is built in so that the state of access positioning between the adapter plate 3 and the base side adapter 1 at both stroke ends of the cylinder 4 and between the base side adapter 1 and the tip side adapter 2 can be detected as shown in FIG. 1 for each
They are provided in groups.

By attaching and detaching this joint as shown in FIG. 4, the robot side and the tool side are connected and separated. That is, when the tool-side tip-side adapter 2 is connected to the robot-side base-side adapter 1, the opening / closing shaft 10 moves downward while the cylinder 4 pushes down the piston 5 with the air pressure from the air pressure supply port 26 during separation. The cutout groove 32 of the lock lever 11 faces obliquely upward to receive the lock pin 13 of the distal end side adapter 2. The positioning of the base-side adapter 1 and the tip-side adapter 2 is performed by feeding the tip-side adapter 2 onto the connection surface of the base-side adapter 1 and the two sets of positioning pins 20 and 21 and the guide holes 23 and 24 to the tip-side adapter 2. Invite 2 mechanically. Then, the lock pin 13 fixed to the distal end side adapter 2 is received by the notch groove 32 of the lock lever 11. At this time, it is determined whether or not the positioning pins 20 and 21 of the tip-side adapter 2 are normally inserted by the combination of the non-contact sensor 29c provided on the base-side adapter 1 and the magnet 30c provided on the tip-side adapter 2. Is detected, and the confirmation of the positioning state is obtained. The air pressure port can be switched by a solenoid valve or the like (not shown), and the air pressure port for sending air pressure into the cylinder 4 is replaced to connect the pneumatic pressure supply port 2
Pneumatic air is sent from 7 into the cylinder 4, and the piston 5
Is lifted together with the opening / closing shaft 10 and the like to rotate the lock lever 11, and the tip end side adapter 2 integrated with the lock pin 13 is drawn and firmly coupled by the force of the cylinder 4.
This combined state indicates the non-contact sensor 29b and the magnet 30b.
It is confirmed by the detection signal. The structure is such that the posture of the joint is maintained by the force of the spring 6 so that the function of the joint is not lost even in the event of an abnormality such as the loss of air pressure in this coupled state. When the robot-side base-side adapter 1 and the tool-side tip-side adapter 2 are separated, the procedure is reversed from the above procedure. That is, the air pressure supply port 2 when connected
7 is opened, pneumatic air is supplied from the air pressure supply port 26 at the time of separation, the notch groove 32 of the lock lever 11 is lifted, and the lock pin 13 is pushed up. At this time, a signal from the non-contact sensor 29a and the magnet 30a is used to detect that the distal end side adapter 2 is separated, and the separated state is confirmed.

For joints used in places where people cannot enter, they can be easily attached / detached or replaced by remote control. Especially, mechanical joints between members, pipes, joints for hoses, electric wiring, etc. It is necessary to have a joint that unifies all the systems, such as the connector, and mechanical rigidity against moment and torque load can be obtained in any posture, and attachment / detachment that is indispensable by remote control. The operation confirmation function is required, but this joint has a connection surface between the base adapter 1 and the tip adapter 2 so that the base adapter 1 and the tip adapter 2 can be aligned by remote control. Two sets of positioning pins 20 and 21 and their guide holes 23 and 24 are provided so as to face each other. Insertion and in the different ones of of,
Positioning is easy. Further, the cylinder 4 and the opening / closing shaft 10 at the end of the piston rod 7 of the cylinder 4 via the spherical bearing 9 are provided in the base side adapter 1, and three sets are rotatably supported at the end of the base side adapter 1. The lock levers 11 are evenly arranged in the circumferential direction and connected to the opening / closing shaft 10. A notch groove 32 is provided at the base end of the lock lever 11 so that a lock pin 13, which will be described later, can be received, pulled in, and pushed out. Further, a lock pin 13 is provided inside the distal end side adapter 2 so as to face the proximal end of the lock lever 11, and the base side adapter 1 and the distal end side adapter 2 can be connected and separated by the operation of the cylinder 4. Has become. In addition, a plurality of other pipes connected from the base side adapter 1 to the tip side adapter 2, joints for hoses, connectors for electric wiring, etc. are also arranged on the connection surface.
It has a structure that can be attached and detached at the same time. Further, a total of three non-contact sensors 29c for confirming the positioning of the base-side adapter 1 and the tip-side adapter 2 and three non-contact sensors 29a, 29b for detecting attachment / detachment at the upper and lower limits of the cylinder 4 are provided. The structure is such that each operation can be confirmed. Further, a spring 6 is built in the cylinder 4 so that the function of the joint is maintained even if the air pressure source supplied to the cylinder 4 is lost for some reason. Further, by using the joint having such a structure between the joint axes of the manipulator 43, or between the joint and the tool, a uniform rigidity can be easily obtained by remote control regardless of the posture, and at the same time, other systems can be used. It can be connected or separated and replaced including the joint. The mechanism for opening and closing the three sets of lock levers 11 evenly arranged in the circumferential direction through the spherical bearing 9 at the end of the piston rod 7 of the cylinder 4 generates uniform force on each lock lever 11 by one cylinder 4. In addition, the maximum force can be obtained even from the moment load from the outside in one direction, and it does not hit one side. This is because the opening / closing shaft 10 having the spherical bearing 9 arranged in the center is tilted toward the lock lever 11 side where no force is applied and the force is uniformly applied to all the lock levers 11, so that any direction is irrespective of the posture. An advantageous rigidity can be obtained even from a load from. Further, with respect to the load torque from the outside, the positioning pins 20 and 21 of the base side adapter 1 and the guide holes 23 and 2 of the tip side adapter 2 are provided.
The rigidity of the lock lever 11 of the base side adapter 1 and the lock pin 13 of the tip side adapter 2 can provide the rigidity for the load moment. If the number of the lock lever 11 and the lock pin 13 is two or less, or if the arrangement is uneven, the balance is lost.

As described above, two sets of positioning pins 2 are provided on the connection surfaces of the base side adapter 1 and the tip side adapter 2, respectively.
0 and 21 and the guide holes 23 and 24 are provided to face each other,
Since the positioning pins 20 and 21 are provided with tapered portions at their tips and have different lengths, the positioning pins 20 and 21 can be easily positioned and inserted by remote control. Further, the cylinder 4 is provided in the base side adapter 1, and the spherical bearing 9 is provided at the end of the piston rod 7 of the cylinder 4.
The opening / closing shaft 10 is provided via the
Sets of rod levers 11 rotatably supported at the ends of
Are evenly arranged in the circumferential direction and connected to the opening / closing shaft 10, and the lock pin 1 of the tip side adapter 2 is attached to the tip of the lock lever 11.
Notch groove 32 that can receive, pull in, and push out
By providing the above, the base side adapter 1 and the tip side adapter 2 can be connected or separated by the operation of the cylinder 4. Also, by arranging the pipes connecting the base side adapter 1 to the tip side adapter 2 and the joints for hoses and the connectors 28, 31 for electrical wiring on the connection surface, these joints, connectors 28, 31 can be attached and detached at the same time. It has become. In addition, between the base side adapter 1 and the tip side adapter 2, by providing three non-contact sensors 29 for detecting the respective upper and lower limits of the cylinder 4, a total of three non-contact sensors 29 are provided.
A confirmation of each operating condition is obtained. Further, by incorporating the spring 6 in the cylinder 4, the function as a joint is maintained even if the air pressure source supplied to the cylinder 4 is lost for some reason. By incorporating the joint having such a structure between the joint shafts of the manipulator 43, or between the joint shaft and the tool, uniform rigidity can be obtained from any direction, and the member can be easily operated by remote control. In addition to being able to connect, disconnect, and replace the joints of other systems as well, the length of the manipulator arm, the shaft configuration, etc. can be changed to expand the maintenance range. It should be noted that the pneumatic pressure of the cylinder 4 can be reduced by connecting the base side adapter 1 and the tip side adapter 2 in advance with a wire or the like in anticipation of a trouble that may occur in the manipulator 43 used in a narrow space for some reason. Only by doing so, the joint can be self-separated, which is advantageous for emergency recovery.

[0020]

The joints according to the present invention are constructed as described above, and uniform mechanical rigidity can be obtained against loads from any direction regardless of the posture. By using it for such purposes, it is possible to easily connect, separate, and replace members or systems by remote control.

[Brief description of drawings]

FIG. 1 is a front view of a joint according to an embodiment of the present invention.

FIG. 2A is a sectional view, and FIG. 2B is a sectional view.
FIG.

3A is a sectional view taken along the line aa in FIG. 2B, FIG. 3B is a sectional view taken along the line bb, and FIG. 3C is a sectional view taken along the line cc.

FIG. 4 is an explanatory view of these actions.

FIG. 5 (a) is a front view of a conventional joint, and FIG. 5 (b).
Is a top view of the tip side adapter, FIG.
FIG. 6D is a front view of the base side adapter, and FIG.

FIG. 6 is an explanatory view of its operation.

[Explanation of symbols]

 1 Base side adapter 2 Tip side adapter 3 Adapter plate 4 Cylinder 5 Piston 6 Spring 7 Piston rod 8 Shaft 9 Spherical bearing 10 Open / close shaft 11 Lock lever 12 Pin 13 Lock pin 14 Seal 15 Seal 16 Seal 17 Seal 18 Seal 19 Seal 20 Positioning Pin 21 Positioning pin 22 Nipple 23 Guide hole 24 Guide hole 25a Pneumatic port 25b Pneumatic port 25c Pneumatic port 26 Pneumatic supply port for separation 27 Pneumatic supply port for connection 28 Electrical connector (receptacle) 29a Non-contact sensor 29b Non-contact sensor 29c Non-contact sensor 30a Magnet 30b Magnet 30c Magnet 31 Electric connector (plug) 32 Notch groove 40 Greenhouse 41 Lifting device 42 Frame 43 Manipulator 44 Blocking Shielding window 45 Shielding wall 46a Joint (base side) 46b Joint (tip side)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tamotsu Ishizaka 2-8-25 Niihama, Arai-cho, Takasago, Hyogo Prefecture Takahishi Engineering Co., Ltd.

Claims (4)

[Claims] 1. A joint for connecting and disconnecting a base side adapter and a tip side adapter through a plurality of sets of positioning pins and guide holes, which are provided so as to be able to fit to each other's connection surfaces, and for attaching or detaching a member or system. A joint mechanism provided with a lock mechanism that is evenly arranged in the circumferential direction of the two adapters and that is operated by a fluid pressure cylinder to connect and disconnect the two adapters. 2. The joint according to claim 1, further comprising a sensor incorporated in the both adapters to detect coupling and disconnection of the both adapters. 3. The joint according to claim 1, wherein lengths of the plurality of positioning pins are different from each other. 4. The joint according to claim 1, further comprising a spring provided adjacent to the fluid pressure cylinder for maintaining connection of the two adapters when the fluid pressure cylinder loses its function.