JPH0683978B2 - Fixing device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a fixing device capable of securely connecting and fixing two units to an accurate position by remote control.

[Prior Art] As a device for remotely joining and fixing one unit to the other unit, an industrial robot having a manipulator or articulated joint, or a connecting and fixing mechanism using a screw mechanism (bolt / nut) is used. is there.

[Problems to be Solved by the Invention] However, when one unit is remotely fixed to one unit by the fixing device, it is difficult to operate the unit, and a joint portion for providing a utility such as electricity is provided between the units. There is a problem that it is difficult to fix the positioning automatically, accurately and surely. In particular,
Since the fixing device for units used in a radioactive atmosphere or space is not an atmosphere in which humans can operate, a device that can automatically and accurately fix the positions of these units is required. Was there.

The present invention has been made to solve these problems, and an object of the present invention is to provide a fixing device capable of performing reliable joining by remote control.

[Means for Solving the Problems] In order to achieve the above object, the present invention is directed to centering while correcting the positional deviation of the other unit by remote operation from any one of the units that are close to each other. In the device for pulling and connecting and connecting the other unit to one unit, the fixing arm is provided so as to be openable and closable and movable up and down in a radial direction more than the direction of the outer circumference of the one unit. The arm engaging portion provided on the outer circumference of the unit and the connecting plate provided on the one unit for synchronously operating each fixing arm, and the connecting plate is fixed from the disengaged position to the fixed position. The lifting arm that reciprocates to the connecting plate and the fixing arm are connected to the connecting plate.When the connecting plate is at the detached position, the fixing arm is opened, and when the detached position is moved to the fixed position, the fixing arm is released. With a link mechanism that moves the fixing arm together with the connecting plate to the fixed position side when the connecting arm is rotated so that the connecting arm is in the fixed position, and locks the fixing arm in the closed state. Further, in a fixing device for connecting and fixing units to each other by remote control, a fixing arm radially provided in three or more directions on any one of the units,
A guide member that is provided corresponding to the fixing arm and that extends in the extension direction of the arm, a guide member that includes an oblique guide groove that branches downward inward from the middle of the straight guide groove, and the fixing arm is opened and closed. And a lifting mechanism for driving the link mechanism are provided, one end of the fixing arm has a hook-like grip for fixing and disengaging the arm engaging part of the other unit, and the other end has the above-mentioned gripping part. A drive unit for moving up and down in the oblique guide groove and the straight guide groove is provided, and an arm hinge for moving up and down in the straight guide groove is provided at an intermediate portion, and the elevating means has an outer end of a connecting plate that vertically moves up and down. The driving portion of the fixing arm and a support shaft provided near the lower portion of the branch portion of the straight guide groove are rotatably engaged with each other. Further, the three link members are configured in such a length relationship that the link hinge projects beyond the center of the direct guide groove to the outside when the connecting plate rises to the upper limit.

[Operation] The fixing device attached to one unit is brought close to the other unit. Then, first, the elevating means of the fixing device is actuated to raise the connecting plate, and at the same time, the linking mechanism attached to the connecting plate is rotated so as to synchronously close the fixing arm provided with three or more link mechanisms. Let
The positional deviation between one unit and the other unit is centered, and the fixed arm end is joined to the other unit. Further, the connecting plate is raised, the fixed arm retracts, the distance between the two units becomes closer, and they are aligned and fixed in contact. Further, the connecting plate is raised, and the lock mechanism provided in the link mechanism firmly fixes the other unit so that the fixing arm does not loosen by an external force.

In addition, the connecting plate of the fixing device is operated to lower the lifting mechanism so that the link mechanism projects the fixing arm and further opens it.The units connected and fixed by the fixing device are separated, and the joining and fixing between the units is removed. To be done.

As a result, the link mechanism and the lock mechanism are activated by the raising and lowering of one connecting plate, and the plurality of fixing arms provided in three or more directions are synchronously retracted, and the protrusion and the opening are opened and closed. It can be pulled out securely and is firmly fixed.

[Embodiment] A preferred embodiment of the present invention will be described with reference to the drawings.

In this example, the experimental equipment is connected and fixed to the experimental module at the space station, and the electric power, utilities such as Freon gas and argon gas are provided to the experimental equipment pump, gas tank, material experimental equipment, etc. in the space, It relates to space equipment that conducts alloy manufacturing experiments and biological experiments, then leaves and returns from the experimental module and analyzes the results on the earth.

As shown in FIGS. 1 and 2, the fixing device of this embodiment is attached to one joining unit 3 which is an experimental device, and the other joined unit 2 which is an experimental module.
The joining unit 3 is configured to be connected and fixed to the unit to be joined 2 in order to receive utility such as electricity from the unit.

The main body 1 of this fixing device is formed with a communication pipe 8 for communicating between a utility supply port (not shown) of the unit to be joined 2 and a utility receiving port (not shown) of the unit 3 to be joined. Utilities such as electric power are provided from the joining unit 2 to the joining unit 3.

On the outer periphery of the fixing device body 1, three fixing arms 4 are radially provided at equal intervals. These fixing arms 4
Each of them is configured so that the unit to be joined 2 can be connected, fixed, and detached by being pulled in and projected by the direct guide groove 25 and being rotated about the arm hinge 5 to open and close. The outer end of the arm 4 is matched with the arm engaging portion 9 of the unit 2 to be joined, and a fishhook-shaped gripping portion 6 for aligning, fixing and releasing is formed, and the fixing arm 4 is provided at the inner end. A drive end 7 for opening and closing is formed. The arm hinge 5 and the drive end 7 are slidably engaged with the guide member 21.

The guide member 21 includes the unit 2 to be joined and the unit 3 to be joined.
And a straight guide groove 25 formed in a straight line between them and a diagonal guide groove 26 formed in a V shape from a substantially central portion of the groove 25 toward the central portion of the apparatus main body 1. The arm hinge 5 of the fixing arm 4 is slidably fitted in the straight guide groove 25, and the drive end 7 is slanted from the oblique guide groove 26 to the straight guide groove 25.
Are engaged with each other so as to slide toward the joining unit 3 side.

The fixing arm 4 is provided with a link mechanism 11 that opens and closes the fixing arm 4. The link mechanism 11 is composed of an action link member 12 and first and second driven link members 13 and 14. This 3
One end of each link member of the book is rotatably engaged with the link hinge 15. The other end of the action link member 12 is engaged with a connecting plate 20 described later, and the first driven link member
The other end of 13 is engaged with the drive end 7 of the fixing arm 4. The other end of the second driven link member 14 is rotatably engaged with the support shaft 30 protruding from the main body 1 as a fulcrum.

The link mechanism 11 is provided with a lock mechanism 22 for fixing and holding the fixing arm 4. The lock mechanism 22 is constructed so that the fixing arm 4 joins and fixes the unit 2 to be joined, and the link mechanism 11 is further strengthened by the toggle action to form a boosting link, thereby maintaining the closed state. Then, the link hinge 15 of the link mechanism 11 forming the lock mechanism 22 is maintained in the closed state, and the lock fixing portion 27 that restricts the movement of the hinge 15 is provided.

A Y-shaped connecting plate 20 for opening and closing the three fixing arms 4 in synchronization is provided. One end of the action link member 12 of the link mechanism 11 is engaged with the connecting plate 20. An appropriate number of guide members 28 are provided through the connecting plate 20 so as to guide the connecting plate 20 to move up and down.

The elevating means 24 is engaged with the connecting plate 20. The elevating means 24 is composed of a drive device 33 and a ball screw 31 which is rotationally driven by the drive device 33 via a gear 32, and the ball screw 31 is screw-engaged at the central portion of the connecting plate 20 to drive the drive device.
The connecting plate 20 is reciprocally moved up and down from the detached position to the fixed position while being guided by the guide member 28 by driving 33.

Next, an embodiment of the fixing device according to the present invention will be described.

In order to receive the utility, the joining unit 3 which is the experimental device first approaches the unit to be joined 2, which is the experimental module, by a remote manipulator or the like until the gap thereof approaches 100 mm. The fixing device according to the present embodiment is operated to align and fix the utility receiving port of the joining unit 3 and the supply port of the joined unit 2.
When approaching, the fixing arm 4 of the fixing device main body 1 is in an opened state, and thus the connecting plate 20 connected to the fixing arm 4 via the link mechanism 11 is in a lowered state.

Here, the drive device 33 of the elevating means 24 is driven, and the ball screw 31 is rotated via the gear 32 so as to raise the connecting plate 20. Then, as the connecting plate 20 rises, the fixing arm 4 is operated so as to be closed.

As shown in FIG. 3, as the connecting plate 20 rises, the action link member 12 of the link mechanism 11 engaged with the connecting plate 20.
Causes the second driven link member 14 to rotate about the support shaft 30 as a fulcrum to push up the first driven link member 13. By this action, the first driven link member 13 moves the driving end portion 7 of the fixing arm 4 along the oblique guide groove 26 of the guide member 21. Therefore, the fixing arm 4 is rotated from the position shown in FIG. 3A to the position B. When the connecting plate 20 is further raised, the fixing arm 4 connected to the action link member 12 is connected.
The drive end 7 of the above moves from the oblique guide groove 26 toward the direct guide groove 25. Along with this, the arm hinge 5 has a direct guide groove.
Ascending along 25, the fixing arm 4 retracts, and is centered and fixed in contact while adjusting the distance from the other unit and aligning.

At this time, the angle α formed by the first driven link member 13 and the second driven link member 14 connected to the link hinge 15 is gradually increased, and the two link members 13 and 14 are aligned. Move to become. Then, the driving end portion 7 of the fixing arm 4 moves from the oblique guide groove 26 to the direct guide groove 25,
Further, when the driving end portion 7 rises to the upper end of the straight guide groove 25,
The first driven link member 13 and the second driven link member 14 are substantially in a straight line and serve as a booster link, which is in a solid connection and fixed state.

Since the three fixing arms 4 are provided, by gripping the unit to be joined 2 from three directions, the communication pipe 8 of the fixing device body 1 and the utility supply port of the unit to be joined 2 are accurately aligned. And fixed.

As shown in FIG. 4, when the connecting plate 20 is further raised,
The three link members 12, 13, 14 act as a toggle function as the lock mechanism 22, and the action link member 12 pushes the two linearly driven link members 13, 14 outward from their link hinges 15. To be done. At the same time, the link hinge 15 abuts against the fixed portion 27 and becomes a double lock, and is not loosened even if various external forces are applied to the fixing arm 4. At this point, the drive device 33 is stopped and the closed state is maintained.

The two-type lock firmly fixes the unit to be joined 2 and the unit to be joined 3 and does not loosen due to external force, vibration or the like.

After that, the utility is provided from the unit to be joined 2 to the unit to be joined 3 through the communication pipe 8 of the apparatus body 1.

After the provision of the utility, the experiment, and the like are completed, the driving device 33 is driven so as to lower the connecting plate 20, and is separated by the fixing device by the operation opposite to the operation of connecting and fixing.

[Effects of the Invention] Since the present invention is as described above, the following excellent effects are achieved.

(1) Since one unit and the other unit are fixed by three or more fixing arms, they can be automatically aligned with the utility supply position and accurately connected.

(2) Further, the link mechanism for opening and closing the fixing arm and the lock mechanism can doubly and firmly fix the arm.

(3) A plurality of fixing arms can be operated in synchronization with one connecting plate and elevating means.

[Brief description of drawings]

FIG. 1 is a side view of a fixing device showing an embodiment according to the present invention, FIG. 2 is a plan view of FIG. 1, and FIGS. 3 and 4 are operation explanatory views of a fixing arm of this embodiment. is there. In the figure, 1 is a fixing device main body, 2 and 3 are units, 4 is a fixing arm, 5 is an arm hinge, 6 is a gripping part, 7 is a drive end part, 9 is an arm engaging part, 11 is a link mechanism, and 12 is a link mechanism. Reference numerals 13, 13 and 14 are link members, 15 is a link hinge, 20 is a connecting plate, 21 is a guide member, 24 is an elevating means, 25 is a direct guide groove, 26 is an oblique guide groove, and 30 is a support shaft.

Claims (3)

[Claims] 1. A remote control operation from any one of the units that are close to each other to correct the misalignment of the other unit while centering and connecting the other unit to the one unit. In the fixing device, a fixing arm is provided that is openable and closable in a radial direction in three or more directions on the outer periphery of the one unit, and an arm engaging portion provided on the outer periphery of the other unit. One unit has a connecting plate for synchronously operating each fixing arm, and the connecting plate is
A lifting arm that reciprocates from a detached position to a fixed position and a fixing arm are connected to the connecting plate. When the connecting plate is in the detached position, the fixing arm is opened, and when moving from the detached position to the fixed position, the fixing arm is fixed. A link mechanism that moves the fixing arm together with the connecting plate to the fixed position side after rotating the arm so as to close, and locks the fixing arm in the closed state when the connecting plate is at the fixed position. Fixing device characterized by. 2. A fixing device for connecting and fixing units to each other by remote control, wherein one of the units is provided with a fixing arm radially provided in three or more directions, and corresponding to the fixing arm. A guide member formed of a straight guide groove extending in the extension direction of the arm, an oblique guide groove branched inward from the middle of the straight guide groove, a link mechanism for opening and closing the fixing arm, and the link mechanism. A lifting means for driving is provided, and one end of the fixing arm has a fishhook-like grip for fixing and disengaging from the arm engaging portion of the other unit, and the other end has the hook guide groove and the straight guide groove. A drive part for moving up and down, an intermediate part has an arm hinge for moving up and down in the straight guide groove, and the elevating means has an outer end of a connecting plate which moves up and down in the vertical direction, a drive part for the fixing arm, Straight guy above Fixing apparatus characterized by a support shaft provided on the bifurcation below the vicinity of the groove are respectively rotatably engaged. 3. The length relationship of the three link members is such that when the connecting plate rises to the upper limit, the link hinge projects beyond the center of the straight guide groove to the outside. Fixing device.