JPS62116400A - Coupling guide apparatus - 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 [Field of Industrial Application] The present invention relates to a joining guide device for guiding two objects when joining them in a space equivalent to zero gravity, such as outer space or water.

[Conventional technology]

Generally, when two objects (devices or parts) are connected in a space equivalent to zero gravity, a taper pin is attached to one side of the device 1 as a means for guiding both objects to a predetermined position, as shown in FIG. 12, for example. 3 and its receiving portion 4 were attached to the device 2 on the other side, respectively, and the taper pin 3 was pushed into the receiving portion 4 by gravity or mechanical force.

For example, if the two devices 1 and 2 are rectangular devices that are stacked one on top of the other as shown in FIG. 4, or circular devices as shown in FIG. The first
The taper pin 3 and the receiving part 4 shown in the figure are attached to the respective devices 1 and 2, and the upper device 1 is grasped with a manipulator and moved to a position where the taper pin 3 enters the receiving part 4 of the lower device 2. , apply mechanical force to push it into place. Guided by the taper pin 3 and the receiving part 4, the center lines of both members of the coupling part 5 coincide, and they approach each other to a predetermined position. Next, the actuator 6 is actuated to automatically tighten the coupling portion 5 by the tightening mechanism interlocked therewith.

[Problem that the invention seeks to solve]

In spaces equivalent to zero gravity, such as outer space or underwater, the positioning accuracy of manipulators that are remotely controlled is poorer than in a cabin, and the pushing and pulling forces are also weak (for example, with a space manipulator, the positioning accuracy is on the order of tens of meters, and the pushing and pulling forces are on the order of tens of thousands of meters). Kg). Therefore, with the above-mentioned conventional coupling guide device, it is very difficult to align the center lines of both members of the coupling portion 5 of the device 1.2, guide them to a predetermined position, and pull apart the coupling portion when removing the device. Ta.

The present invention has been made to solve the problems of the prior art, and makes it easy to align the center line of the connecting part of two objects, guide them to a predetermined position, and separate them in a space equivalent to zero gravity. It is an object of the present invention to provide a coupling guide device that can perform the following steps.

[Means for solving problems]

In order to achieve this object, the present invention includes a convex portion made of a magnetic material protrudingly provided on one side of two objects to be combined in a space equivalent to zero gravity, and a convex portion that fits into the convex portion. a recess made of a non-magnetic material provided in the object on the other side;
The device is characterized by comprising a coil wound around the recess and a current supply means connected to the coil.

[Effect]

In the coupling guide device according to the present invention, by energizing a coil wound around a recess made of a non-magnetic material provided in an object on the other side, magnetic A magnetic attraction or repulsion is generated between the convex part made of the body and the four parts made of non-magnetic material provided on the other object. As a result, when joining both objects, the center line of the joining part of both objects is aligned by magnetic attraction force,
And guidance to a predetermined position is easily performed.

Furthermore, when separating the joint, the magnetic repulsion facilitates the separation operation.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings. FIG. 1 shows the configuration of a coupling guide device according to an embodiment of the present invention, which is provided protruding from the lower surface of an object 1 on one side (for example, the upper device 1 in FIG. 4 or 5). A tapered convex portion 11 made of a magnet and a non-contact portion provided on the upper surface of the object 2 on the other side (for example, the lower device 2 in FIG. 4 or 5) so as to be able to fit into the convex portion 11. It is composed of four inverted tapered parts 12 made of a magnetic material and a coil 13 wound around the four parts 12.

A power supply means (not shown) is connected to the coil 13.

It is assumed that the magnet constituting the convex portion 11 is magnetized, for example, as shown in the figure, with the lower end thereof being magnetized to the S pole and the upper end thereof being magnetized to the N pole. FIG. 2(a) is a plan view of the convex portion 11 seen from the bottom side of the upper device 1, and FIG. 2(b) is a plan view of the four portions 12 seen from the top side of the lower device 1. This coupling guide device is, for example, the fourth
As shown by the symbol 7 in the figure and FIG. 5, it is arranged near the coupling part 5.

A mode in which such a coupling guide device 7 is used for guiding devices 1 and 2 together by the coupling portion 5 in a space equivalent to zero gravity will be described. First, using a manipulator or the like, the upper device 1 is grasped by remote control from the cabin and carried close to the lower device 2.

As a result, the convex portion 11 is located near the concave portion 12.

In this state, when the grip of the manipulator is released or the joints are released, the upper device 1 becomes floating above the lower device 2. This state is shown in FIG.

Next, when a current {circle around (2)} is applied to the coil 13 in the direction shown in FIG. 3 by means of an energizing means (not shown), a magnetic field H is generated in the direction shown in FIG. As a result, the lower end (S pole) of the convex portion 11 is exposed to the magnetic field H, since the lower the center line of the coil 13, the stronger the magnetic field H becomes.
Due to the magnetic attraction effect and the tapered shape of the convex part 11, the coil 13 is drawn into the four parts 12 toward the lower part of the center line.

This makes it easy to align the center lines of both members on the device 1.2 side in the coupling portion 5 and guide them to a predetermined position. Thereafter, the coupling between the devices 1 and 2 is completed by actuating the actuator 6 and actuating the coupling portion 5 by the tightening mechanism interlocked therewith. The tightening method may be a conventional twist lock type, a cam type, a set of screws, etc.

On the other hand, when a current is passed through the coil 13 in the opposite direction to that described above, the direction of the generated magnetic field is also reversed, so that the convex portion 11 is pushed up by the magnetic repulsion force caused by the magnetic field. Thereby, both members of the joint portion 5 can be separated.

In addition, the magnetic attraction force and the magnetic repulsion force in center line alignment and guidance of the coupling part 5, and in the separation operation may be used in cooperation with the manipulator, or may be used independently. Further, since these forces can be changed by temporally controlling the current flowing through the coil 13, the coupling and separation at the coupling portion can be smoothly performed.

6 and 7 show other examples of the convex portion provided on one side of the object. In FIG. 6, a magnet portion 15 is attached via a tapered non-magnetic material portion 14, In the figure, a convex portion 16 made of a high magnetic permeability material is used instead of a magnet.

8 and 9 are other examples of recesses provided in the object on the other side, and in FIG. 8, a core 17 made of a high magnetic permeability material is placed inside the four parts 12 in order to efficiently generate a magnetic field. are doing. In FIG. 9, a core 17 made of a high magnetic permeability material is similarly used, but the central part 17a in particular has a tapered shape to strengthen the magnetic field at the lower part, and the peripheral part 17a of the core 17 has a tapered shape to strengthen the magnetic field.
By extending 7b upward, the magnetic field generated by the coil 13 is concentrated at the center of the coil 13.

Further, in FIG. 9, the shape of the four parts 12 is made into a pincushion shape, and the number of turns of the coil 13 is increased in the vertically central part, so that the magnetic field becomes stronger in the central part.

FIG. 10 shows an embodiment in which the coupling guide device according to the present invention is applied to the end of the manipulator grip. That is,
Since space manipulators have poor positional accuracy, it is necessary to easily align and guide the gripping portion, and the present invention facilitates this. FIG. 10 shows a convex portion as a gripped portion provided on the device 21 side, and is composed of a non-magnetic portion 22 and a magnet portion 23 provided at the tip thereof. FIGS. 11(a) and 11(b) are a front view and a cross-sectional view of the manipulator gripping portion, in which a coil 27 is wound around a recess formed by the gripping portion outer cylinder 24, claws 25, and guides 26.

〔Effect of the invention〕

As explained above, according to the present invention, a convex portion made of a magnetic material is provided on one side of the object, and a recessed portion made of a non-magnetic material is provided on the other side of the object so as to fit into the protrusion, By winding a coil around the recess and energizing the coil, the magnetic field is used to guide the coupling, making it difficult to maintain the positional accuracy of the manipulator, for example, and to prevent its pressing. Even in space equivalent to zero gravity such as outer space or underwater, where sufficient force and pull-out force cannot be obtained, it is extremely easy to align the center line of a joint that joins two objects, pull it into a predetermined position, and pull it apart. I can do it.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a coupling guide device according to an embodiment of the present invention, FIGS. 2(a) and 2(b) are plan views of a convex portion and four parts of the device, and FIG. 3 is an operation of the device. 4 is a plan view and a front view showing an example of a device to which the device of the present invention is applied, and FIG. 5 is a plan view and a front view showing another example of a device to which the device of the present invention is applied. A front view, FIGS. 6 to 9 are views showing other configuration examples of the main parts of the coupling guide device according to the present invention, and FIG. 10 is a grasped part showing an embodiment in which the present invention is applied to the end of a manipulator grip. 11 is a front view and a sectional view of the manipulator gripping portion in the same embodiment, and FIG. 12 is a diagram showing the configuration of a conventional coupling guide device. 1... Upper device (object on one side), 2... Lower device (
Object on the other side), 5...Joining portion, 6...Actuator, 7...Joining guide device, 11...Convex portion, 12...
・Concave portion, 13... Coil, 14... Non-magnetic material part, 1
5... Magnet part, 16... Convex part made of high magnetic permeability material, 17... Core made of high magnetic permeability material, 22... Non-magnetic body part, 23... Magnet part, 24...・Gripping part outer cylinder,
25...Claw, 26...Guide, 27...Coil. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 1 (a) (b) Figure 2 [L Figure 3 (a) Figure 4 (b) (a) Figure 5 Figure 6 (b) Figures, 7 Figure 8 Figure 0 Figure 10 Figure 12 (a) (b) Figure 11

Claims (1)

[Claims] In a joining guide device that provides guidance when joining two objects in a space equivalent to zero gravity, a convex part made of a magnetic material protrudingly provided on one side of the object, and a convex part made of a magnetic material provided on the other side so as to fit into the convex part. A coupling guide device comprising: a recess made of a non-magnetic material provided in an object; a coil wound around the recess; and an energizing means connected to the coil.