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WO1995005975A1 - Bati et mors d'assemblage et d'engagement destines aux robots - Google Patents

Bati et mors d'assemblage et d'engagement destines aux robots Download PDF

Info

Publication number
WO1995005975A1
WO1995005975A1 PCT/CA1994/000450 CA9400450W WO9505975A1 WO 1995005975 A1 WO1995005975 A1 WO 1995005975A1 CA 9400450 W CA9400450 W CA 9400450W WO 9505975 A1 WO9505975 A1 WO 9505975A1
Authority
WO
WIPO (PCT)
Prior art keywords
interface
fingers
sides
anvil
chamfered
Prior art date
Application number
PCT/CA1994/000450
Other languages
English (en)
Inventor
King-Heng Liu
Gordon Rife
Original Assignee
Canadian Space Agency
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US08/111,061 external-priority patent/US5458384A/en
Priority claimed from US08/111,065 external-priority patent/US5494325A/en
Application filed by Canadian Space Agency filed Critical Canadian Space Agency
Priority to AU74873/94A priority Critical patent/AU7487394A/en
Priority to CA002147654A priority patent/CA2147654C/fr
Publication of WO1995005975A1 publication Critical patent/WO1995005975A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/641—Interstage or payload connectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space

Definitions

  • This invention relates to connector interfaces whereby an object can be seized and manipulated by a tool, such as by the end effector of a robot. More particularly, it relates to an interface fixture and gripping anvil for such fixture that allows the gripping anvil to be compatible with engagement of another form of connector interface.
  • the invention is particularly suited to space applications.
  • handles In the field of materials handling, many types of "handles" have been conceived. With the advent of robotics, new types of handles or connector interfaces suited for grasping by a robotic end-effector have become required. Such interfaces should be easily graspable, provide a degree of self-alignment and enable the manipulated article to be transposed and rotated with precision.
  • This interface has been designed for the retrieval and perhaps the replacement of small component parts - ORU's - as a means of servicing a satellite.
  • This interface is described in Patent Cooperation Treaty Application No. PCT/CA91/0035, filed 3 October, 1991.
  • This "microfixture" interface is square in cross-section in plan view, and from the a side view has a profile defined by upper and lower chamfered walls that taper into a waist, also square in a cross-sectional plan view, defining two pairs of opposed corners. This specific shape allows gripping anvils to receive and engage one pair of the opposed, chamfered corners provided by this square-waisted interface.
  • the square-shaped microfixture interface is useful for manipulating smaller objects, it is not as satisfactory for gripping, holding and retrieving, for example, an entire orbiting satellite as when the satellite must be held for a servicing operation.
  • a bifurcated connector interface suitable for use with articles to be grasped, and particularly orbital replacement units, comprising:
  • each pair of fingers defining a bifurcation between their inner sides in the form of a bifurcating recess which tapers inwardly towards the body the inner sides of the fingers being bevelled for aligning with a pair of correspondingly shaped gripping anvils that can enter the respective bifurcating recesses for engagement with the interface.
  • each of the fingers define a shape for the fingers that is in the form of a truncated triangle in cross-section.
  • truncated triangle shape may be that of isosceles triangle.
  • Strengthening webs may extend along the sides of the body, joining the outer sides of the fingers.
  • the body is preferably pierced centrally, perpendicularly to the plane of the fingers, by a fastener access opening, whereby bolts and the like may be accessed.
  • a fastener access opening may also provide a seat for such fasteners.
  • Mounting ribs may be provided on the underside or base-end of the body for engagement with indexing slots on the body, or ORU, to which the interface is attached. Attachment is effected by attachment means that may include mounting screw passages extending downwardly through the body or strengthening portions of the interface, preferably at positions adjacent the outer, base or root-end sides of the fingers.
  • gripping anvils may be provided, each anvil comprising: (a) an anvil body portion;
  • each pair of protuberances having: (i) opposed, inner sides defining between them a converging recess formed by top and bottom, chamfered, inner sides of the protuberances, for mating with complementary-shaped, converging, top and bottom, inwardly chamfered walls, defining a waist, that meet to form a corner on an article to be grasped; and
  • the central portions of the top and bottom, chamfered, inner sides of the converging recess are planar, and extend substantially vertically between their chamfers to accurately align with similar, planar, waist portions between the chamfers of the walls on the micro-interface.
  • the notches on the exterior sides of the pairs of protuberances on the anvil each comprise two, inwardly tapering, planar sides leading to a flat bottom which accurately aligns with a flattened crest between the top and bottom bevelled sides of the bifurcated fingers on the article to be grasped.
  • the protuberances may have truncated ends to reduce the risks of interferences and ensure mating in both of the above (i) and (ii) modes.
  • Figure 1 is an oblique view of the connector interface of the invention.
  • Figure 2 is an oblique view of one of a pair of similar gripping anvils for gripping therebetween the interface shown in Figure 1.
  • Figure 3 is an oblique view of a variant of the anvil of Figure 2, carried on a mount for engagement with a robotic machine.
  • Figure 4 is an oblique view of a prior art micro-fixture connector interface.
  • Figure 5 is a top view of Figure 4.
  • Figure 6 is a side view of Figure 4.
  • FIG. 1 there is shown a bifurcated, connector interface, generally designed 1, comprising a body 2, and two pairs of splayed fingers 4,5 and 6,7, extending outwardly from opposite sides of the body 2.
  • Each pair of fingers 4,5 and 6,7 provides a bifurcation between their inner sides 8,9 and 10,11 respectively, in the form of a recess, 12 and 14 respectively, which tapers inwardly towards the centre of the body 2.
  • All of the inner sides 8 to 11 of the fingers 4 to 7 are bevelled for aligning with gripping anvils of complementary shape (to be described later) that will enter the recesses 12 and 14.
  • Strengthening webs such as that designated 16, may extend along the sides of the body 2, joining outer sides of the unit, such as between fingers 4 and 7.
  • a base portion 18 of relatively larger cross-section of the body 2 extends beneath the fingers 4 to 7 and the strengthening webs, such as web 16, to serve as a base 18 for the body 2.
  • Mounting ribs, such as those designated 20 and 22, are provided on the underside of the body 2, and mounting screw passages 24, 25 extend downwardly through the strengthening webs, such as web 16, and through the base portion 18 of the body 2, preferably at positions adjacent the outer sides of the fingers 4 to 7.
  • the interface 1 may be provided with lightening recesses in the form of indentations or blind-holes 36, 37.
  • the interface 1 may also be provided with a pair of tab-engaging recesses 42 on opposite sides of the top of the body 2, and jaw engaging notches 46 for the interface 1 to be gripped by a hand tool (not shown) .
  • a central attachment aperture 40 extends entirely through the body 2 to provide access to attachment means (not shown) such as bolts and machine screws or other rotational fasteners. Such fasteners may attach an ORU to an orbital body. If the aperture 40 has a seating rim (not shown) near its bottom within the body
  • the fastener may seat on the interface.
  • robotic end-effectors that rotate fasteners can anchor themselves against the connector interface 1, using it to absorb torque.
  • Fins 28 may extend from the base 18 of the body 2 beneath the fingers 4 to 7 in order to form curtains that will exclude tether-lines from snagging on the interface.
  • FIG 2 there is shown one of a pair of similar gripping anvils for gripping the interface shown in Figure 1.
  • This anvil 29 comprises:
  • each pair of protuberances 46, 47 extending from the body portion 30, each pair of protuberances 46, 47 forming: (i) a rearwardly converging central recess 48 between them, formed by top and bottom chamfered, inner sides 45 and 49, for, in operation, receiving, mating with and gripping converging, inwardly chamfered walls 51 and 52 ( Figures 4 to 6) that meet at a corner 53 on an alternate coupling interface 54; and (ii) opposed, outer, notched sides 55 and 56 having notches 57, 58 formed therein, such notches 57, 58 diverging rearwardly from one another on each side of the central recess 48, the notches 57, 58 in operation, entering between, mating with diverging, outwardly bevelled fingers 7, 8, 9, 10 on connector interface 1 ( Figure 1)
  • the inner sides 45, 49 of the central recess 48 of the anvil 29 are planar between the chamfers and extend substantially vertically, to accurately locate with similar, planar waist portions 59, 66 between the chamfers of the walls 51, 52 on the alternate interface article 54.
  • the notches 57, 58 of the opposed, outer notched sides 55, 56 of the pair of protuberances 46, 47 each comprises two inwardly tapering, plane sides 60, 61 leading to a flat bottom 62 which accurately locates with a flattened crest 50 between the top and bottom bevelled sides 8, 9, 10, 11 of the bifurcated fingers 4, 5, 6, 7 on the connector interface 1.
  • the protuberances 46, 47 preferably have truncated ends 63, 64 to ensure mating in the previously described modes (i) and (ii) .
  • FIG. 3 shows a variant 65 of the anvil 31 formed with a base 66 for connection to a robotic arm.
  • this variant 65 the truncated ends 63, 64 are not present.
  • Extensions 69 to the body 2 protect the anvil engagement surfaces 60, 61 at the top corner of each protuberance.
  • the alternate micro- interface 54 ( Figures 4 to 6) is to be gripped between the anvils 29, the anvils 29 are moved towards one another with the corner 53 of the micro-interface 54 roughly aligned between the inwardly chamfered sides 51, 52 on the micro-interface 54 defining the waist portion 59.
  • the respective chamfered surfaces then rotatably align the sides 45, 49 of the central recess 48 of the anvil 29 until the top and bottom chamfers 67, 68 of the inner sides 51, 52 of the micro-interface 54 are brought into vertical alignment with the chamfered portion of the sides 45, 49 of the central recess 48 in the anvil 29.
  • the protuberances 46, 47 and micro-interface 54 mated in this manner, the micro-interface 54 can then be firmly gripped between the anvils 29.
  • the connector interface 1 When, for example, the connector interface 1
  • FIG. 1 is to be gripped between the anvils 29, the anvils 29 are moved towards one another with one of the finger pairs 4, 5 and 6, 7 of the connector interface 1 roughly aligned between the protuberances 46 and 47 of each anvil 29.
  • This movement causes the protuberances 46, 47 to enter between the protrusions 4, 5, 6, 7 so that the outer, notched sides 55, 56 mate with the outwardly chamfered protrusions 4, 5, 6, 7.
  • This mating rotatably aligns the outer, notched sides 57, 58 with the protrusions 4, 5, 6, 7, while, at the same time, causing vertical alignment between the anvils 29 and the connector interface 1. With the connector interface 1 held in this manner, it can be firmly gripped between the anvils 29.
  • the protrusions 46, 47 of anvil 29 can mate with both types of interfaces 1, 54.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Le dispositif concerne une interface d'assemblage (1) permettant la saisie par l'organe terminal d'un robot. Le dispositif est constitué d'un corps (2) et de deux couples de doigts (4, 5 et 6, 7) dépassant vers l'extérieur du corps au niveau des deux faces opposées du corps. Chaque couple de doigts (4, 5 et 6, 7) constitue une patte d'oie quand on considère leurs faces internes (8, 9 et 10, 11). Le profil de cette patte d'oie est en forme de renfoncement se rétrécissant vers l'intérieur (12, 14). Les faces intérieures des doigts sont biseautées pour faire coïncider une touche fixe de forme complémentaire avec le renfoncement se rétrécissant vers l'intérieur. La touche fixe (29) comporte également en son centre un renfoncement chanfreiné en V (48) qui s'adapte aux coins d'une interface dont le microbâti comporte une gorge à circonférence carrée.
PCT/CA1994/000450 1993-08-24 1994-08-24 Bati et mors d'assemblage et d'engagement destines aux robots WO1995005975A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU74873/94A AU7487394A (en) 1993-08-24 1994-08-24 Coupling and robotic engagement fixture and jaws
CA002147654A CA2147654C (fr) 1993-08-24 1994-08-24 Bati et machoires de couplage et d'embrayage robotique

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US08/111,061 1993-08-24
US08/111,061 US5458384A (en) 1993-08-24 1993-08-24 Bifurcated, orbital replacement unit interface
US08/111,065 1993-08-24
US08/111,065 US5494325A (en) 1993-08-24 1993-08-24 Article converging/diverging, chamfered walls gripping anvils

Publications (1)

Publication Number Publication Date
WO1995005975A1 true WO1995005975A1 (fr) 1995-03-02

Family

ID=26808605

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA1994/000450 WO1995005975A1 (fr) 1993-08-24 1994-08-24 Bati et mors d'assemblage et d'engagement destines aux robots

Country Status (2)

Country Link
AU (1) AU7487394A (fr)
WO (1) WO1995005975A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4260187A (en) * 1979-03-23 1981-04-07 Nasa Terminal guidance sensor system
WO1992006005A1 (fr) * 1990-10-04 1992-04-16 Canadian Space Agency Systeme de jonction pour ensembles de remplacement orbital

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4260187A (en) * 1979-03-23 1981-04-07 Nasa Terminal guidance sensor system
WO1992006005A1 (fr) * 1990-10-04 1992-04-16 Canadian Space Agency Systeme de jonction pour ensembles de remplacement orbital

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DAS ET AL.: "INTEGRATED TOOLS FOR TELEOPERATED SATELLITE REPAIR", AUTOMATION IN CONSTRUCTION, vol. 2, no. 1, June 1993 (1993-06-01), AMSTERDAM (THE NETHERLANDS), pages 81 - 89, XP000377780 *
HUNTER, D.: "THE SPACE STATION FREEDOM - SPECIAL PURPOSE DEXTEROUS MANIPULATOR (SPDM)", NTC '91 - NATIONAL TELESYSTEMS CONFERENCE PROCEEDINGS, vol. 1, March 1991 (1991-03-01), ATLANTA (USA), pages 371 - 376, XP000266781 *

Also Published As

Publication number Publication date
AU7487394A (en) 1995-03-21

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