Connector extraction tool

Abstract

A connector puller (10, 210, 310) includes a plurality of jaws (2, 202, 302) that are openable and closable in a first direction (X), a body (3, 203, 303) that is relatively movable to the plurality of jaws (2, 202, 302) in a second direction (Y) that intersects the first direction (X), and a guide (4) that guides the plurality of jaws (2, 202, 302) when the plurality of jaws (2, 202, 302) and the body (3, 203, 303) are relatively moved in the second direction (Y). The guide (4) guides the plurality of jaws (2, 202, 302) to open and close in the first direction (X) in response to the relative movement of the plurality of jaws (2, 202, 302) and the body (3, 203, 303).

Description

Technical Field

[0001] This invention relates to connector removal tools. Background Technology

[0002] Tools for unplugging connectors are well known to date. For example, Patent Document 1 discloses a tool having a pair of movable pieces. Each movable piece is elongated, with its middle portion along its long side rotatably supported. A spring is disposed at the rear end of each movable piece. The spring exerts a spring force approximately parallel to the opening and closing direction of the pair of movable pieces. By utilizing the spring force, the rear ends of the pair of movable pieces open together, thereby closing the front ends of the pair of movable pieces. Thus, an object is held using the front ends of the pair of movable pieces.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2000-329946

[0004] With the structure described above, in order to firmly hold the object, it is necessary to increase the distance from the part of the movable piece that imparts the spring force (i.e., the pressing force) to the axis of rotation. In this case, the tool becomes larger, which is not conducive to holding objects positioned deep within the tool. Summary of the Invention

[0005] In view of the above, the object of the present invention is to provide a tool that can firmly hold an object while preventing it from becoming too large.

[0006] The connector removal tool of the present invention includes a plurality of claws, a body, and a guide. The plurality of claws are capable of opening and closing in a first direction. The body is capable of moving relative to the plurality of claws in a second direction intersecting the first direction. The guide guides the plurality of claws when the plurality of claws and the body move relative to each other in the second direction. The guide responds to the relative movement of the plurality of claws and the body to guide the plurality of claws to open and close in the first direction.

[0007] According to the connector pull-out tool, a tool can be provided that can firmly hold an object while preventing it from becoming too large. Attached Figure Description

[0008] Figure 1 This is a schematic diagram showing the structure of the robot system.

[0009] Figure 2 It is a three-dimensional view of a connector reel with cables connected via a connector plug.

[0010] Figure 3 This is a cross-sectional view of an adapter with a connector plug inserted.

[0011] Figure 4 This is a cross-sectional view of the adapter with the cover installed.

[0012] Figure 5 It is a 3D view of a connector removal tool.

[0013] Figure 6 This is a cross-sectional view of a connector pull-out tool with multiple claws in the retracted position.

[0014] Figure 7 This is a cross-sectional view of a connector pull-out tool with multiple claws in the in / out position.

[0015] Figure 8 This is a diagram showing the general hardware structure of the control device.

[0016] Figure 9 This is a block diagram showing the structure of the processor's control system.

[0017] Figure 10 This is a flowchart illustrating the robot's extraction process.

[0018] Figure 11 This is a cross-sectional view of a connector removal tool with multiple claws gripping the connector plug.

[0019] Figure 12 This is a side view of the connector removal tool involved in the first variation.

[0020] Figure 13 yes Figure 12 A cross-sectional view of the connector pull-out tool for the XIII-XIII line.

[0021] Figure 14 This is a side view of the connector removal tool involved in the second variation.

[0022] Figure 15 yes Figure 14 A cross-sectional view of the connector removal tool for the XV-XV cable.

[0023] Figure 16 yes Figure 15 Enlarged view of the locking guide in the cross-section of the connector pull-out tool.

[0024] Figure 17 This is a cross-sectional view of a connector pull-out tool with the pin in contact with the first guide wall.

[0025] Figure 18 This is a cross-sectional view of the connector pull-out tool when the engagement piece is in the first retracted position.

[0026] Figure 19 This is a cross-sectional view of the connector pull-out tool when the engagement tab is in the retracted position.

[0027] Figure 20This is a cross-sectional view of the connector pull-out tool when the engagement tab is in the second retracted position.

[0028] Figure 21 This is a cross-sectional view of a connector pull-out tool with the pin in contact with the fourth guide wall.

[0029] Figure 22 This is a schematic diagram showing the structure of the robot involved in the variant example. Detailed Implementation

[0030] Hereinafter, the illustrated embodiments will be described in detail with reference to the accompanying drawings. Figure 1 This is a schematic diagram showing the structure of the robot system 100.

[0031] Robot system 100 includes a robot 110 and a control unit 150, which controls the robot 110. The robot 110 has a robot arm 120 and a connector removal tool 10. The connector removal tool 10 is mounted on the robot arm 120. In this example, the robot 110 is an industrial robot.

[0032] In this example, robot 110 unplugs connector plug 92 from adapter 91 using connector unplugging tool 10. Alternatively, robot 110 can also install connector plug 92 onto adapter 91 using connector unplugging tool 10.

[0033] Figure 2 This is a perspective view of a connection tray 9 to which a cable is connected via a connector plug 92. For example, the connection tray 9 has multiple adapters 91. The multiple adapters 91 are arranged on the wall 90 of the connection tray 9. The multiple adapters 91 can also be arranged in a matrix. The connector plug 92 can be inserted into the adapter 91. Furthermore, a cover 96 for protecting the adapter 91 can also be inserted into the adapter 91. For example, the adapter 91 is an optical adapter, and the connector plug 92 is an optical connector plug. The adapter 91 and the connector plug 92 can also be SC type optical connectors as specified in JIS C 5973, etc.

[0034] Figure 3 This is a cross-sectional view of the adapter 91 with the connector plug 92 inserted. Figure 4 This is a cross-sectional view of adapter 91 with cover 96 installed. Figure 3 as well as Figure 4This is a cross-sectional view taken with a horizontal plane. The adapter 91 has a rectangular cylindrical housing 93 with a quadrangular cross-section. Alternatively, a clamp 99 may be mounted on the adapter 91. The clamp 99 is positioned around the adapter 91. The clamp 99 has a reference surface 99a for the connector removal tool 10 to perform a removal action. An optical fiber 94 is connected to the connector plug 92. The tip of the optical fiber 94 protrudes from the connector plug 92 (not shown). The housing 95 of the connector plug 92 has a protrusion 95a and a recess 95b. The protrusion 95a and recess 95b are arranged in this order towards the tip of the optical fiber 94. When the connector plug 92 is inserted into the adapter 91, the protrusion 95a and recess 95b protrude from the adapter 91 to the outside.

[0035] A cover 96 for protecting the adapter 91 can be inserted into the adapter 91 when the connector plug 92 is not inserted. The cover 96 has a protrusion 96a and a recess 96b. The protrusion 96a and the recess 96b are arranged in this order toward the adapter 91. When the cover 96 is inserted into the adapter 91, the protrusion 96a and the recess 96b are exposed to the outside of the adapter 91.

[0036] The robotic arm 120 is configured to move in a three-dimensional shape. In this example, the robotic arm 120 is a vertical multi-joint robotic arm. The robotic arm 120 is supported by a base 130. The robotic arm 120 has multiple links L and multiple joints J, with the joints J connecting the multiple links L. In this example, the robotic arm 120 is a so-called seven-axis robot with seven joints J. Specifically, the robotic arm 120 has a first link L1, a second link L2, a third link L3, a fourth link L4, a fifth link L5, a sixth link L6, and a seventh link L7 connected in series from the base 130 side. The seventh link L7 is located at the front end of the robotic arm 120. The base 130 and the first link L1 are rotatably connected by a first joint J1. The first link L1 and the second link L2 are rotatably connected by a second joint J2. The second link L2 and the third link L3 are rotatably connected by a third joint J3. The third link L3 and the fourth link L4 are rotatably connected by the fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected by the fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected by the sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected by the seventh joint J7.

[0037] A connector removal tool 10 is connected to the seventh link L7 at the tip of the robot arm 120. That is, the connector removal tool 10 is rotatably connected to the robot arm 120 about the seventh axis. The connector removal tool 10 is an end effector mounted on the robot arm 120.

[0038] The robot arm 120 has servo motors 121 that rotate and drive each joint (see reference). Figure 8Each servo motor 121 has an encoder 122 (see reference). Figure 8 ).

[0039] The robot 110 also includes an imaging device 140. The imaging device 140 is mounted on the robot arm 120. Specifically, it is mounted on the sixth link L6 in the robot arm 120. The imaging device 140 captures two-dimensional or three-dimensional images. The imaging device 140 outputs the captured images to the control device 150.

[0040] Figure 5 This is a perspective view of a connector removal tool 10. The connector removal tool 10 includes a plurality of claws 2, a body 3, and a guide 4. The plurality of claws are capable of opening and closing in a first direction X. The body 3 is capable of moving relative to the plurality of claws in a second direction Y, intersecting the first direction X. The guide 4 guides the plurality of claws 2 as the plurality of claws 2 and the body 3 move relative to each other in the second direction Y. The guide 4 guides the plurality of claws 2 to open and close in the first direction X in response to the relative movement of the plurality of claws 2 and the body 3. The connector removal tool 10 opens and closes the plurality of claws 2 in the first direction X by the relative movement of the plurality of claws 2 and the body 3 in the second direction Y. The connector removal tool 10 may further include an actuator 5 that moves one of the plurality of claws 2 and the body 3 relative to the other.

[0041] In this example, the first direction X and the second direction Y are orthogonal to each other. The "entering / exiting side" of the second direction Y refers to the side where the multiple claws 2 enter and exit the body 3 relative to each other in the second direction Y. The "retreating side" of the second direction Y refers to the side where the multiple claws 2 retreat relative to each other in the second direction Y. Furthermore, the dimension of the first direction X is also referred to as the width. The dimension of the second direction Y is also referred to as the length. The dimension of the direction orthogonal to both the first direction X and the second direction Y is also referred to as the thickness.

[0042] Figure 6 This is a cross-sectional view of the connector pull-out tool 10 with multiple claws 2 in the retracted position. Figure 6This is a cross-sectional view of the connector removal tool 10 cut off with a plane parallel to the first direction X and the second direction Y. The plurality of claws 2 include a first claw 2A and a second claw 2B. The first claw 2A and the second claw 2B are configured to face each other, clamping a reference axis A extending in the second direction Y. That is, the first claw 2A and the second claw 2B are separated in the first direction X. The first claw 2A and the second claw 2B have a shape that is line-symmetrical about the reference axis A. In other words, the shape of the second claw 2B is such that the shape of the first claw 2A is reversed relative to the reference axis A. Hereinafter, without distinguishing between the first claw 2A and the second claw 2B, they will be simply referred to as "claw 2". The inner side of claw 2 refers to the closed side in the first direction X, that is, the side opposite to the other claws 2. The outer side of claw 2 refers to the open side in the first direction X, that is, the side opposite to the other claws 2.

[0043] Claw 2 has an elongated shape extending along the second direction Y. Claw 2 has two ends along the second direction Y. Of the two ends, the end on the outward side in the second direction Y is called the first end 21, and the end on the backward side in the second direction Y is called the second end 22. The second end 22 of the first claw 2A and the second end 22 of the second claw 2B are connected to each other to form a second end 22.

[0044] The inner side of the first end portion 21 of the claw 2 has a shape corresponding to the outer shape of the connector plug 92. Specifically, the first end portion 21 has a first recess 23 and a first protrusion 24, the first recess 23 being inserted into the protrusion 95a of the connector plug 92, and the first protrusion 24 being inserted into the recess 95b of the connector plug 92. The inner side of the first end portion 21 of the claw 2 may also have a shape corresponding to the outer shape of the cover 96. Specifically, the first end portion 21 has a second recess 25 and a second protrusion 26, the second recess 25 being inserted into the protrusion 96a of the cover 96, and the second protrusion 26 being inserted into the recess 96b of the cover 96. The first recess 23, the first protrusion 24, the second recess 25, and the second protrusion 26 are arranged in this order toward the inlet / outlet side in the second direction Y.

[0045] The first end 21 of the claw 2 is inclined relative to the reference axis A in such a way that the closer it is to the entry / exit side in the second direction Y, the more it opens in the first direction X. That is, the distance between the first end 21 of the first claw 2A and the first end 21 of the second claw 2B increases the closer it is to the entry / exit side in the second direction Y.

[0046] The middle portion 20 of the claw 2, that is, the portion between the first end 21 and the second end 22, extends along the reference axis A, specifically, it extends approximately parallel to the reference axis A.

[0047] At least a portion of the width of the second end portion 22 is greater than the entire width of the plurality of claws 2 in the intermediate portion 20, that is, the width of at least a portion of the second end portion 22 is greater than the dimension in the second direction X from the outer side of the first claw 2A to the outer side of the second claw 2B. Specifically, the second end portion 22 has an enlarged portion 22a. The enlarged portion 22a is located at the end edge of the second end portion 22 on the rearward side in the second direction Y. The width of the enlarged portion 22a is greater than the width of the portion of the second end portion 22 other than the enlarged portion 22a, and greater than the entire width of the plurality of claws 2 in the intermediate portion 20.

[0048] The claw 2 is formed of an elastically deformable component. For example, the claw 2 is formed of resin. Specifically, the middle portion 20 of the claw 2 can be bent due to elastic deformation. In each claw 2, the second moment of the cross-section of the middle portion 20 is smaller than the second moment of the cross-section of the first end 21 or the second end 22. In this way, the middle portion 20 is more prone to elastic deformation compared to the first end 21 or the second end 22.

[0049] Multiple claws 2 open and close in the first direction X. Specifically, due to the elastic deformation of the middle portion 20, the spacing of the first ends 21 of the multiple claws 2 in the first direction X can change.

[0050] In this example, body 3 contains guide 4. More specifically, as... Figure 5 As shown, the main body 3 includes a first support plate 31A and a second support plate 31B facing each other. The first support plate 31A and the second support plate 31B extend substantially parallel to the first direction X and the second direction Y, respectively. The first support plate 31A and the second support plate 31B are joined together in a state where they face each other in directions orthogonal to the first direction X and the second direction Y.

[0051] The body 3 has an elongated shape in the second direction Y. The size of the body 3 in the first direction X is smaller than the size of the body 3 in the second direction Y. The size of the body 3 in the direction orthogonal to both the first direction X and the second direction Y is smaller than the size of the body 3 in the second direction Y.

[0052] like Figure 6 As shown, the body 3 has a storage space 33 on its inner side, which accommodates a plurality of claws 2. Specifically, a groove is formed on the inner side of each of the first support plate 31A and the second support plate 31B. The storage space 33 is divided by the groove of the first support plate 31A and the groove of the second support plate 31B. The storage space 33 extends in the second direction Y. The storage space 33 has an opening at its end in the body 33 on the inlet / outlet side in the second direction Y.

[0053] The storage space 33 has a first space 33A, a second space 33B, and a third space 33C. The first space 33A stores at least the first end 21 of the claw 2, the second space 33B stores the middle portion 20 of the claw 2, and the third space 33C stores at least the second end 22 of the claw 2. The first space 33A, the second space 33B, and the third space 33C are arranged in this order toward the rearward side of the second direction Y. The first space 33A has an opening at its end in the body 3 on the inlet / outlet side of the second direction Y.

[0054] The width of the first space 33A is slightly greater than the entire width of the first end 21 of the plurality of claws 2 in the state where the middle portion 20 has not undergone elastic deformation. The width of the second space 33B is slightly greater than the entire width of the middle portion 20 of the plurality of claws 2 in the state where the middle portion 20 has not undergone elastic deformation. The width of the third space 33C is slightly greater than the width of the second end 22. The width of the second space 33B is less than the width of the first space 33A and less than the width of the third space 33C.

[0055] Multiple claws 2 are capable of moving in the second direction Y within the storage space 33. The second end portion 22 moves in the second direction Y within the third space 33C. Most of the middle portion 20 moves in the second direction Y within the second space 33B. A portion of the middle portion 20 also moves within either the first space 33A or the third space 33C. The first end portion 21 moves in the second direction Y within the first space 33A. The first end portion 21 can move in and out of the body 3 from the first space 33A in the second direction Y. That is, the first end portion 21 can protrude from the body 3 in the second direction Y.

[0056] like Figure 5 As shown, the body 3 has a slit 35 that extends from the end edge of the entry / exit side in the second direction Y toward the second direction Y. In this example, the first support plate 31A has the slit 35. The slit 35 extends from the end edge of the first support plate 31A in the second direction Y toward the second direction Y. The slit 35 penetrates the first support plate 31A in the thickness direction. With respect to the position in the first direction X, the slit 35 is arranged between a plurality of claws 2. That is, with respect to the position in the first direction X, the slit 35 is aligned with the reference axis A.

[0057] When the multiple claws 2 move relative to each other in an advancing or retreating motion relative to the body 3, the guide member 4 guides the multiple claws 2 to open in the first direction X; when the multiple claws 2 move relative to each other in a retreating motion relative to the body 3, the guide member 4 guides the multiple claws 2 to close in the first direction X. Specifically, the guide member 4 has a guide groove 41. For example... Figure 6As shown, the guide groove 41 includes a first guide groove 41A and a second guide groove 41B. The first guide groove 41A guides a first claw 2A, and the second guide groove 41B guides a second claw 2B. The first guide groove 41A and the second guide groove 41B are configured to face each other, sandwiching a reference axis A. That is, the first guide groove 41A and the second guide groove 41B are separated in a first direction X. The first guide groove 41A and the second guide groove 41B have a shape that is line-symmetrical about the reference axis A. In other words, the shape of the second guide groove 41B is such that the shape of the first guide groove 41A is reversed relative to the reference axis A. Hereinafter, the first guide groove 41A and the second guide groove 41B will not be distinguished and will be simply referred to as "guide groove 41".

[0058] In this example, a first guide groove 41A and a second guide groove 41B are disposed on each of the first support plate 31A and the second support plate 31B. That is, each of the first support plate 31A and the second support plate 31B functions as a guide 4. The first guide groove 41A disposed on the first support plate 31A and the first guide groove 41B disposed on the second support plate 31B have the same shape. The second guide groove 41B disposed on the first support plate 31A and the second guide groove 41B disposed on the second support plate 31B have the same shape. The first guide groove 41A and the second guide groove 41B are disposed in the portion of each of the first support plate 31A and the second support plate 31B that divides the first space 33A. The first guide groove 41A and the second guide groove 41B penetrate the first support plate 31A or the second support plate 31B in the thickness direction.

[0059] The guide groove 41 includes a first groove 42 and a second groove 43. The first groove 42 is inclined relative to the second direction Y, such that the closer it is to the entry / exit side in the second direction Y, the closer it is to the opening side in the first direction X. The second groove 43 extends in the second direction Y. The first groove 42 and the second groove 43 are arranged in this order toward the receding side in the second direction Y. That is, the first groove 42 of the first guide groove 41A and the first groove 42 of the second guide groove 41B are closer to the entry / exit side in the second direction Y and further apart toward the first direction X. The second groove 43 of the first guide groove 41A and the second groove 43 of the second guide groove 41B are approximately parallel to each other. The inclination angle of the first groove 42 relative to the second direction Y, i.e., the reference axis A, is less than 45 degrees.

[0060] The guide groove 41 slidably supports the corresponding claw 2. Specifically, each claw 2 has a pin 27 that is embedded in the corresponding guide groove 41. The pin 27 is positioned in the claw 2 closer to the entry / exit side than the center in the second direction Y. Preferably, the pin 27 is positioned in the portion closest to the entry / exit side when the claw 2 is divided into three parts in the second direction Y. In this example, the pin 27 is positioned at the first end 21 of the claw 2. The pin 27 extends in the thickness direction of the claw 2, protruding from both sides of the claw 2 in the thickness direction. One end of the pin 27 is inserted into the guide groove 41 of the first support plate 31A, and the other end of the pin 27 is inserted into the guide groove 41 of the second support plate 31B. The pin 27 is slidable within the guide groove 41. In this way, the guide groove 41 slidably supports the first end 21 of the corresponding claw 2 via the pin 27.

[0061] When pin 27 is located in the second groove 43, the middle portion 20 of claw 2 extends in a straight line, approximately parallel to the second direction Y. At this time, the entire width of the first end portion 21 of the plurality of claws 2 is smaller than the width of the body 3. Specifically, the entire width of the first end portion 21 of the plurality of claws 2 is smaller than the width of the opening of the first space 33A of the body 3.

[0062] When pin 27 is located in the first groove 42, the middle portion 20 of claw 2 bends in the first space 33A and extends towards the opening side in the first direction X. The entire width of the first end portion 21 of the plurality of claws 2 is greater than the width of the body 3. The first end portion 21 extends outward from the body 3.

[0063] Actuator 5 includes a motor. For example, the motor is a servo motor 50a (see reference). Figure 8 The servo motor 50a has an encoder 50b (see reference). Figure 8 ).like Figure 5 As shown, the actuator 5 has a housing 51 for housing the motor. The actuator 5 is mounted on the body 3. Specifically, the housing 51 is mounted on the second support plate 31B of the body 3.

[0064] like Figure 6As shown, the actuator 5 includes a disk 52, which is rotatable about a rotation axis B orthogonal to both the first direction X and the second direction Y. The disk 52 is connected to the output shaft of the actuator 5 in a way that transmits driving force. For example, the disk 52 is fixedly mounted on the output shaft of the actuator 5. It should be noted that the disk 52 can also be connected to the output shaft of the actuator 5 via one or more gears. The actuator 5 outputs a rotational driving force, causing the disk 52 to rotate about the rotation axis B. The disk 52 has a pin 53. The pin 53 extends in the thickness direction of the claw 2. The pin 53 is disposed within a storage space 33 of the body 3. Specifically, the pin 53 is disposed within a third space 33C. When the disk 52 rotates, the pin 53 rotates integrally with the disk 52. The pin 53 moves in an arc shape within the storage space 33 about the rotation axis B; specifically, the pin 53 moves in an arc shape within the third space 33C about the rotation axis B.

[0065] The claw 2 has a groove 28 into which a pin 53 is inserted. The groove 28 is disposed at the second end 22 of the claw 2. More specifically, the groove 28 is disposed in the widened portion of the second end 22. The groove 28 extends in the first direction X. The groove 28 penetrates the claw 2 in the thickness direction. The pin 53 is movable relative to the claw in the first direction X within the groove 28. When the pin 53 moves in an arc shape about the rotation axis B, the pin 53 moves in the first direction X within the groove 28. The component of the arc-shaped movement of the pin 53 in the second direction Y acts on the claw 2. That is, the arc-shaped movement of the pin 53 causes the claw 2 to move in the second direction Y.

[0066] In this example, such as Figure 5 As shown, the connector removal tool 10 has an attachment 6 for mounting on a robot arm 120. The attachment 6 has a plate 60 mounted on the robot arm 120 and a shaft 61 extending from the plate 60. The attachment 6 can move in a second direction Y to support the body 3 and absorb movement of the body 3 in the second direction Y.

[0067] For example, plate 60 has a disk shape. The thickness direction of plate 60 is approximately parallel to the second direction Y.

[0068] Shaft 61 includes a first shaft 61A, a second shaft 61B, and a third shaft 61C. The first shaft 61A, second shaft 61B, and third shaft 61C extend substantially parallel to the second direction Y. The first shaft 61A, second shaft 61B, and third shaft 61C extend from the plate 60 toward the inlet / outlet side of the second direction Y. Regarding the position in the first direction X, the first shaft 61A is positioned between the second shaft 61B and the third shaft 61C. Regarding the positions in directions orthogonal to both the first direction X and the second direction Y, the second shaft 61B and the third shaft 61C are positioned substantially at the same location, with the first shaft 61A offset from both the second shaft 61B and the third shaft 61C.

[0069] The body 3 has a first guide 62A that movably supports a first shaft 61A in a second direction Y. The first guide 62A is cylindrical. The first shaft 61A is slidably inserted into the first guide 62A. The first shaft 61A has a stop (not shown) to prevent it from falling off the first guide 62A. The first guide 62A is disposed on a first support plate 31A.

[0070] Actuator 5 has a second guide 62B and a third guide 62C. The second guide 62B movably supports a second shaft 61B in a second direction Y, and the third guide 62C movably supports a third shaft 61C in the second direction Y. The second guide 62B and the first shaft 61C are each cylindrical. The second shaft 61B is slidably inserted into the second guide 62B. The third shaft 61C is slidably inserted into the third guide 62C. The second shaft 61B has a stop (not shown) to prevent it from falling off the second guide 62B. The third shaft 61C has a stop (not shown) to prevent it from falling off the third guide 62C. Each of the second guide 62B and the third shaft 61C is disposed on a housing 51.

[0071] Annex 6 includes a spring 63 that absorbs the backward movement of the body 3 in the second direction Y. In this example, the spring 63 is mounted on the second shaft 61B and the third shaft 61C. Specifically, the spring 63 is inserted into the second shaft 61B. The spring 63 is positioned between the plate 60 and the second guide 62B. The spring 63 is inserted into the third shaft 61C. The spring 63 is positioned between the plate 60 and the third guide 62C.

[0072] The main body 3 is movably supported by the attachment 6 in the second direction Y via the shaft 61. When the main body 3 moves relative to the attachment 6 in the rearward direction Y, the spring 63 compresses and deforms to absorb the movement of the main body 3. The compression deformation of the spring 63 acts as a resistance, inhibiting the movement of the main body 3 in the rearward direction Y.

[0073] The operation of the connector pull-out tool 10 configured in this way will be explained. Figure 7 This is a cross-sectional view of the connector pull-out tool 10 with multiple claws 2 in the in / out position. Figure 7 It is a cross-sectional view of the connector removal tool 10 being cut by a plane parallel to the first direction X and the second direction Y.

[0074] like Figure 7As shown, when the pin 53 of the actuator 5 is in the first rotational position, the multiple claws 2 are in the advance / exit position in the second direction Y. The advance / exit position is the position where the multiple claws 2 advance and exit from the body 3 in the second direction Y. The pin 27 of each claw 2 is located in the first groove 42 of the corresponding guide groove 41. The first end 21 of each claw 2 is farther from the reference axis A in the first direction X. That is, the distance between the first claw 2A and the second claw 2B in the first direction X is wider. In the advance / exit position, the first claw 2A and the second claw 2B open in the first direction X and protrude from the body 3 in the second direction Y. It should be noted that by moving the first end 21 of each claw 2 towards the open side in the first direction X, the middle part 20 of each claw 2 is elastically deformed and bent.

[0075] When the claw 2 retracts in the second direction Y, the actuator 5 causes the pin 53 to move in an arc from the first rotational position toward the retracting side in the second direction Y. The arc-shaped movement of the pin 53 is converted into linear movement in the second direction Y by sliding the pin 53 in the groove 28. In this way, multiple claws 2 move toward the retracting side in the second direction Y. This action of multiple claws 2 is called the "retracting action". During the retracting action, the pin 27 of each claw 2 slides in the corresponding guide groove 41 and moves from the first groove 42 to the second groove 43. By moving the pin 27 from the first groove 42 to the second groove 43, the pin 27 moves toward the closing side in the first direction X while moving toward the retracting side in the second direction Y. That is, the first claw 2A and the second claw 2B retract toward the body 3 in the second direction Y and close in the first direction X. When the pin 27 moves in the second groove 43, the interval between the first claw 2A and the second claw 2B in the first direction X remains unchanged. In other words, the first claw 2A and the second claw 2B move in the second direction Y without changing the interval in the first direction X.

[0076] like Figure 6 As shown, when the pin 53 of the actuator 5 is in the second rotational position, the plurality of claws 2 are in a retracted position in the second direction Y. Regarding the position in the second direction Y, the second rotational position is a position closer to the retracted side compared to the first rotational position. The retracted position is the position where the plurality of claws 2 retract into the body 3 in the second direction Y. The pin 27 of each claw 2 is located in the second groove 43 of the corresponding guide groove 41. The first end 21 of each claw 2 is closer to the reference axis A in the first direction X. That is, the distance between the first claw 2A and the second claw 2B in the first direction X is narrow. In the retracted position, the first claw 2A and the second claw 2B close in the first direction X and are housed within the body 3. It should be noted that by moving the first end 21 of each claw 2 towards the closed side in the first direction X, the elastic deformation of the middle portion 20 of each claw 2 is reduced, and the middle portion 20 becomes approximately straight.

[0077] When the claw 2 moves in and out in the second direction Y, the actuator 5 causes the pin 53 to move in an arc shape from the second rotational position towards the in-and-out side in the second direction Y. The arc-shaped movement of the pin 53 is converted into linear motion in the second direction Y by sliding the pin 53 in the groove 28. In this way, multiple claws 2 move towards the in-and-out side in the second direction Y. This action of multiple claws 2 is called the "in-and-out action". During the in-and-out action, the pin 27 of each claw 2 slides in the corresponding guide groove 41 and moves from the second groove 43 to the first groove 42. When the pin 27 moves in the second groove 43, the first claw 2A and the second claw 2B move towards the second direction Y without changing the interval in the first direction X. When the pin 27 moves in the first groove 42, the pin 27 moves towards the in-and-out side in the second direction Y and towards the opening side in the first direction X at the same time. That is, the first claw 2A and the second claw 2B move in and out from the body 3 in the second direction Y and open towards the first direction X.

[0078] In this manner, actuator 5 causes multiple claws 2 to move relative to the body 3 in a second direction Y. The multiple claws 2 are guided by guide 4 during their relative movement relative to the body 3. Guide 4 guides the multiple claws 2 to open in a first direction X when they move in and out relative to the body 3, and guides them to close in the first direction X when they move backward relative to the body 3. Thus, the multiple claws 2 open and close in the first direction X by moving relative to the body 3 in the second direction Y.

[0079] Figure 8 This diagram illustrates the schematic hardware structure of the control device 150. Images captured by the imaging device 140 are input to the control device 150. The control device 150 controls the servo motor 121 of the robotic arm 120 and the connector removal tool 10. For example, the control device 150 supplies current to the servo motor 121. At this time, the control device 150 performs feedback control on the supplied current based on the output of the encoder 122. The control device 150 controls the actuator 5 of the connector removal tool 10. Specifically, the control device 150 supplies current to the servo motor of the actuator 5 and performs feedback control on the supplied current based on the output of the encoder of the servo motor. For example, the control device 150 moves the connector removal tool 10 to the connector plug 92 via the robotic arm 120, causing the connector removal tool 10 to remove the connector plug 92 from the adapter 91.

[0080] The control device 150 has a processor 151, a storage device 152 and a memory 153.

[0081] Processor 151 controls the entire control device 150. Processor 151 performs various calculations. For example, processor 151 can be formed using a CPU (Central Processing Unit) or other processors. Processor 151 can also be formed using MCU (Microcontroller Unit), MPU (Microprocessor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc.

[0082] Storage device 152 stores programs executed by processor 151 and various data. For example, storage device 152 stores robot control programs. Storage device 152 is formed using non-volatile memory, HDD (hard disk drive), or SSD (solid-state drive), etc. Memory 153 temporarily stores data, etc. For example, memory 153 is formed using volatile memory.

[0083] Figure 9 This is a block diagram showing the structure of the control system of processor 151. Processor 151 performs various functions by reading the robot control program from storage device 152 into memory 133 and unfolding it. Specifically, processor 151 functions as a motion controller 155, an opening / closing controller 156, and a position specifyer 157. The motion controller 155 moves the robot arm 120, the opening / closing controller 156 controls the connector pull-out tool 10, and the position specifyer 157 specifies the position of the pulled-out object.

[0084] The motion controller 155 moves the robot arm 120 by controlling the applied current to the servo motor 121 and adjusting the rotation angle of the joint J. Unless otherwise stated, the movement of the robot arm 120 also includes the deformation of the robot arm 120.

[0085] The on / off controller 156 controls the current applied to the servo motor 50a, causing the multiple claws 2 to open and close. Specifically, in response to the target opening degree of the multiple claws 2, the on / off controller 156 calculates the rotational angle position command (or torque command value) of the servo motor 50a and outputs the calculated rotational angle position command to the servo amplifier of the servo motor 50a. The servo amplifier then applies current to the servo motor 50a in response to the rotational angle position command.

[0086] The position specifyer 157 identifies the position of an object from an image captured by the imaging device 140. Specifically, the position specifyer 157 identifies the position of the connector plug 92 or cover 96 in the captured image by performing image processing. Since the imaging device 140 is moved by the robotic arm 120, the position of the imaging device 140 is known. Therefore, the position specifyer 157 can identify the position of the subject in the captured image. When the captured image is a two-dimensional image, the position specifyer 157 identifies the two-dimensional position of the object. When the captured image is a three-dimensional image, the position specifyer 157 identifies the three-dimensional position of the object. Furthermore, the position specifyer 157 also controls the imaging device 140. That is, the position specifyer 157 causes the imaging device 140 to take an image.

[0087] The motion controller 155 and the opening / closing controller 156 work together to cause the robotic arm 120 and the connector removal tool 10 to perform the object removal action. Specifically, the motion controller 155 moves the connector removal tool 10 to a position where it can grasp the object via the robotic arm 120, and the opening / closing controller 156 causes the connector removal tool 10 to grasp the object. While the connector removal tool 10 is grasping the object, the motion controller 155 adjusts the position of the connector removal tool 10. After the connector removal tool 10 has grasped the object, the motion controller 155 moves the connector removal tool 10 via the robotic arm 120 to remove the object.

[0088] Next, the control of the connector removal tool 10 will be explained in detail. Figure 10 This is a flowchart illustrating the unplugging process of robot 110. In this example, the object being unplugged is connector plug 92.

[0089] First, in step S101, the motion controller 155 and the position specifyer 157 perform imaging of the connector plug 92, which is the target. Specifically, the motion controller 155 moves the robot arm 120 in a manner that positions the imaging device 140 at a predetermined imaging position. The predetermined imaging position is a position predetermined in response to the pull-out action. For example, the imaging position is the position opposite the connector disc 9, which is the position where the connector plug 92, the target, enters the field of view.

[0090] When the imaging device 140 is positioned for imaging, the position specifyer 157 causes the imaging device 140 to perform an image capture. In this way, the connector plug 92, which is the object, is captured. The position specifyer 157 specifies the position of the connector plug 92 from the captured image from the imaging device 140.

[0091] Next, in step S102, the motion controller 155 causes the robot arm 120 to move the connector removal tool 10 to the ready position. At this time, the opening / closing controller 156 opens the plurality of claws 2. Specifically, the opening / closing controller 156 actuates the actuator 5, causing the pin 53 to be in a first rotational position. This places the plurality of claws 2 in the in / out position, in the open state. The ready position is the position where the connector plug 92, which is the object between the plurality of claws 2, is positioned. In the ready position, the tips of the plurality of claws 2 contact the clamp 99, specifically, the reference surface 99a.

[0092] Furthermore, the movement controller 155 positions the connector removal tool 10 in a ready position. The ready position is the posture of the connector removal tool 10 when performing the removal action. Specifically, the ready position is the posture in which the second direction Y aligns with the insertion direction of the connector plug 92 into the adapter 91. More specifically, the ready position is the posture in which the reference axis A is oriented towards the insertion direction of the connector plug 92 into the adapter 91, and the reference axis A passes through the connector plug 92.

[0093] Additionally, the movement controller 155 moves the connector removal tool 10 to a ready position so that the optical fiber 94 connected to the connector plug 92 is inserted into the slit 35 of the body 3. For example, when the first support plate 31A is facing upwards and the second support plate 31B is facing downwards, the movement controller 155 moves the connector removal tool 10 to the ready position from slightly below the connector plug 92. When the first support plate 31A is facing downwards and the second support plate 31B is facing upwards, the movement controller 155 moves the connector removal tool 10 to the ready position from slightly above the connector plug 92.

[0094] Next, in step S103, a gripping action is performed. In this example, the movement controller 155 and the opening / closing controller 156 cooperate to perform the gripping action. The opening / closing controller 156 actuates the actuator 5, causing the pin 53 to move from the first rotational position to the second rotational position. As a result, the plurality of claws 2 retract relative to the body 3 in the second direction Y while closing in the first direction X. At this time, the movement controller 155 causes the connector pull-out tool 10 to approach the adapter 91 in the second direction Y to counteract the movement of the plurality of claws 2 in the second direction Y in the absolute coordinates. As a result, the position of the front end of the plurality of claws 2 in the second direction Y in the absolute coordinates remains unchanged. During the relative movement of the plurality of claws 2 relative to the body 3 in the second direction Y, the connector plug 92 is maintained in the state between the plurality of claws 2.

[0095] Figure 11This is a cross-sectional view of the connector removal tool 10 with multiple claws 2 gripping the connector plug 92. Ultimately, the multiple claws 2 grip the connector plug 92 from both sides in the first direction X. Specifically, the pins 27 guide the connector plug 92 from the first slot 42 into the second slot 43 of the guide groove 41, minimizing the spacing of the multiple claws 2 in the first direction X. Figure 11 As shown, multiple claws 2 grip the connector plug 92. At this time, the protrusion 95a of the connector plug 92 engages with the first recess 23 of the claw 2, and the first protrusion 24 of the claw 2 engages with the recess 95b of the connector plug 92. In this way, the multiple claws 2 firmly grip the connector plug 92 not only through friction, but also through the engagement of the first recess 23 and the protrusion 95a, and the engagement of the first protrusion 24 and the recess 95b.

[0096] It should be noted that the grip ends when pin 27 reaches the designated position within the second groove 43. That is, the grip ends before pin 53 reaches the second rotational position.

[0097] When the gripping action ends, in step S104, a pulling action is performed. Specifically, the motion controller 155 causes the robot arm 120 to perform the pulling action. However, in this example, before the robot arm 120 performs the pulling action, the opening / closing controller 156 causes the connector pulling tool 10 to perform a preparatory pulling action. The opening / closing controller 156 further actuates the actuator 5 from the state where the gripping action has ended, causing the pin 53 to move further towards the second rotational position side. At this time, the motion controller 155 stops the robot arm 120 in advance. That is, the position of the body 3 in absolute coordinates is fixed. The pin 27 moves backward in the second direction Y within the second groove 43. Since the second groove 43 is approximately parallel to the second direction Y, the multiple claws 2 retract relative to the body 3 in the second direction Y while gripping the connector plug 92. The connector plug 92 is pulled out from the adapter 91 by the amount by which the multiple claws 2 retract.

[0098] Next, in preparation for the pull-out action, the motion controller 155 causes the robot arm 120 to perform the pull-out action. Specifically, the motion controller 155, via the robot arm 120, moves the connector pull-out tool 10 in the second direction Y away from the adapter 91. The motion controller 155 causes the connector pull-out tool 10 to move only in the second direction Y until at least the connector plug 92 is completely pulled out of the adapter 91. The pull-out action ends when the connector plug 92 is completely pulled out of the adapter 91.

[0099] It should be noted that the pulling action performed by the robotic arm 120 is not limited to after the preparatory pulling action has ended; it can also start from the middle of the preparatory pulling action or at the same time as the preparatory pulling action.

[0100] This completes the removal process for robot 110.

[0101] It should be noted that the object being pulled out can also be the cover 96. In this case, the connector plug 92 described above is replaced by the cover 96. For example, in step S102, the movement controller 155 causes the robot arm 120 to move the connector pull-out tool 10 until the cover 96, which becomes the object, is positioned between the plurality of claws 2. In step S103, the plurality of claws 2 grasp the cover 96 from both sides in the first direction X. At this time, the protrusion 96a of the cover 96 engages with the second recess 25 of the claw 2, and the second protrusion 26 of the claw 2 engages with the recess 96b of the cover 96. In this way, the plurality of claws 2 firmly grasp the cover 96 not only by friction, but also by the engagement of the second recess 25 and the protrusion 96a and the engagement of the second protrusion 26 and the recess 96b.

[0102] In addition, robot 110 can not only perform unplugging operations, but also insertion operations. Alternatively, the connector plug 92 or cover 96, held by connector unplugging tool 10, can be inserted into adapter 91.

[0103] For example, the motion controller 155 moves the connector extraction tool 10, which is holding the connector plug 92 or cover 96, to a position opposite the adapter 91 via the robot arm 120. The motion controller 155 moves the connector extraction tool 10 towards the adapter 91 in the second direction Y via the robot arm 120, inserting the connector plug 92 or cover 96 into the adapter 91. When the connector plug 92 or cover 96 is inserted into the adapter 91, the opening / closing controller 156 moves the plurality of claws 2 relative to the body 3 in the second direction Y towards the inlet / outlet side. At this time, the motion controller 155 moves the body 3 in the second direction Y while keeping the absolute positions of the plurality of claws 2 unchanged. The insertion process ends when the gripping of the connector plug 92 or cover 96 by the plurality of claws 2 is released.

[0104] The connector extraction tool 10 configured in this way opens and closes the multiple claws 2 in the first direction X by the relative movement of the multiple claws 2 and the body 3 in the second direction Y. Since the structure does not open the end opposite to the front end of the multiple claws 2 by pressing in the first direction X, it is possible to prevent the connector extraction tool 10 from becoming thicker overall.

[0105] In detail, the guide 4 guides the multiple claws 2 to open in the first direction X during an inward / outward movement where they move relative to each other in and out of the body 3, and guides them to close in the first direction X during a backward movement where they move relative to each other towards the body 3. More specifically, the guide 4 has a first groove 42 that is inclined relative to the second direction Y. The first groove 42 converts the force used to move the multiple claws 2 and the body 3 relative to each other in the second direction Y into a force that opens and closes the multiple claws 2. In this way, the multiple claws 2 open and close in the first direction X through the relative movement of the multiple claws 2 and the body 3 in the second direction Y. By providing such a guide 4, it is possible to prevent the connector pull-out tool 10 from becoming thicker overall.

[0106] Furthermore, the gripping force of the multiple claws 2 depends on the force used to move the multiple claws 2 and the body 3 relative to each other in the second direction Y. The gripping force of the multiple claws 2 can be ensured by increasing the force used to move the multiple claws 2 and the body 3 relative to each other. Therefore, it is not necessary to increase the size of the connector extraction tool 10, especially its width. Furthermore, by making the tilt angle of the first groove 42 relative to the second direction Y less than 45 degrees, the force used to move the multiple claws 2 and the body 3 relative to each other can be effectively converted into a force for opening and closing the multiple claws 2.

[0107] In this way, the connector pull-out tool 10 can hold the object firmly while preventing it from becoming too large.

[0108] As described above, in a structure where a spring force approximately parallel to the opening and closing direction is applied to the rear ends of a pair of movable pieces to open and close them, a large bending moment acts on the movable pieces. If the movable pieces lack sufficient strength, the grip of the connector plug becomes unstable. Therefore, high strength is required for the movable pieces. Especially when gripping connector plugs positioned deep within the connector, it is preferable that the tool be elongated. However, when the tool becomes elongated, the length of the movable pieces also increases, which is detrimental to their strength.

[0109] <First Variation Example>

[0110] Next, the connector removal tool 210 involved in the first modified example will be described. Figure 12 This is a side view of the connector removal tool 210 involved in the first variation. Figure 13 yes Figure 12 A cross-sectional view of the connector removal tool 210 for the XIII-XIII line. The main difference between the connector removal tool 210 and the connector removal tool 10 lies in the actuator 205. Hereinafter, the description will focus on the differences in the structure of the connector removal tool 210 from that of the connector removal tool 10.

[0111] The connector removal tool 210 includes a plurality of claws 202, a body 203, a guide 4, and an actuator 205, which causes one of the claws 202 and the body 203 to move relative to the other. The basic structure of the claws 202, the body 203, and the guide 4 is the same as that of the connector removal tool 10.

[0112] Actuator 205 includes motor 251, disk 252, and wire 253. Motor 251 is, for example, a servo motor. Figure 12 As shown, actuator 205 has a housing 254 that houses motor 251. Housing 254 is mounted on body 203. Specifically, housing 254 is mounted on the rearward end face of body 203 in the second direction Y. Housing 254 is configured such that the rotation axis B of motor 251 faces the second direction Y.

[0113] The disc 252 is disposed within the housing 254. The disc 252 is connected to the output shaft of the motor 251 in a manner that transmits driving force. For example, the disc 252 is fixedly mounted on the output shaft of the motor 251. That is, the disc 252 rotates about a rotation axis B extending substantially parallel to the second direction Y. It should be noted that the disc 252 may also be connected to the output shaft of the motor 251 via one or more gears.

[0114] A metal wire 253 is laid within the body 203. Multiple claws 202 are mounted on the metal wire 253 within the body 203. The metal wire 253 is connected to a disk 252 and is stretched by the rotation of the disk 252, moving within the body 203. The movement of the metal wire 253 causes the multiple claws 202 to move in the second direction Y. Switching the rotation direction of the disk 252 switches the direction of movement of the metal wire 253 within the body 203, i.e., the direction of movement of the multiple claws 202.

[0115] In detail, the storage space 33 of the body 203 has a first space 33A and a second space 33B. The first space 33A stores at least the first end 21 of the claw 202, and the second space 33B stores at least the second end 22 of the claw 202. The middle portion 20 of the claw 202 moves between the first space 33A and the second space 33B. In addition to the storage space 33, the body 203 also has a wire space 236 through which the wire 253 passes. The wire space 236 extends in the second direction Y. The wire space 236 is arranged in the first direction X with the storage space 33, specifically, it is arranged in the first direction X with the second space 33B. The wire space 236 communicates with the storage space 33. A first passage 237 and a second passage 238 are provided at the rearward end of the main body 203 in the second direction Y. The first passage 237 connects the storage space 33 and the internal space of the outer shell 254, and the second passage 238 connects the wire space 236 and the internal space of the outer shell 254.

[0116] The metal wire 253 extends from the storage space 33 in the inward / outward direction of the second direction Y, enters the wire space 236 from the storage space 33, folds back in the wire space 236 in the backward direction of the second direction Y, and extends in the wire space 236 in the backward direction of the second direction Y. The second ends 22 of the plurality of claws 202 are fixed in the portion of the metal wire 253 located within the storage space 33. A plurality of pulleys are disposed within the body 203. The metal wire 253 is wound around the plurality of pulleys and bends via the pulleys.

[0117] The portion of the metal wire 253 that is laid in the storage space 33 extends into the interior space of the outer casing 254 via the first passage 237. The portion of the metal wire 253 that is laid in the wire space 236 extends into the interior space of the outer casing 254 via the second passage 238.

[0118] The metal wire 253 is connected to the disk 252 within the housing 254 in such a way that tension is applied by the rotation of the disk 252. The metal wire 253 is connected to the disk 252 in such a way that the tension direction of the metal wire 253 changes when the rotation direction of the disk 252 changes.

[0119] In this example, the portion of the wire 253 that enters the housing 254 via the first passage 237 is fixed at a first fixing point 252a on the outer peripheral surface of the disk 252. The portion of the wire 253 that enters the housing 254 via the second passage 238 is fixed at a second fixing point 252b on the outer peripheral surface of the disk 252.

[0120] In this example, the portion of the metal wire 253 that enters the outer casing 254 via the first passage 237 and the portion of the metal wire 253 that enters the outer casing 254 via the second passage 238 are connected to each other and wound around the outer peripheral surface of the disk 252. The metal wire 253 is fixed to the disk 252 at the first fixing point 252a and the second fixing point 252b on the outer peripheral surface of the disk 252. However, it is also possible that the portion of the metal wire 253 that enters the outer casing 254 via the first passage 237 and the portion of the metal wire 253 that enters the outer casing 254 via the second passage 238 are separated from each other and fixed separately on the outer peripheral surface of the disk 252.

[0121] In this example, the first fixing point 252a and the second fixing point 252b are at different angular positions with respect to the rotation axis B. However, the first fixing point 252a and the second fixing point 252b may also be at the same angular position with respect to the rotation axis B. That is, the portion of the wire 253 that enters the housing 254 via the first passage 237 and the portion of the wire 253 that enters the housing 254 via the second passage 238 may also be fixed at a point on the outer circumferential surface of the disk 252.

[0122] In this way, when the rotation direction of the disk 252 changes, the portion of the wire 253 passing through the first passage 237 is pulled into the housing 254, and the portion of the wire 253 passing through the second passage 238 is pulled into the housing 254. That is, the movement of the portion of the wire 253 that is laid in the storage space 33 towards the inlet / outlet side in the second direction Y changes, and the movement of the portion of the wire 253 that is laid in the storage space 33 towards the retraction side in the second direction Y changes. When the movement direction of the portion of the wire 253 that is laid in the storage space 33 changes, the movement direction of the multiple claws 202 also changes. Specifically, when the portion of the wire 253 that passes through the first passage 237 is pulled into the housing 254, the portion of the wire 253 that is laid in the storage space 33 moves towards the retraction side in the second direction Y, and simultaneously, the multiple claws 202 move towards the retraction side in the second direction Y. At this time, the portion of the wire 253 that passes through the second passage 238 moves from inside the housing 254 toward the wire space 236. Conversely, when the portion of the wire 253 that passes through the second passage 238 is pulled into the housing 254, the portion of the wire 253 that is laid in the storage space 33 moves toward the inlet / outlet side in the second direction Y, and simultaneously, the plurality of claws 202 move toward the inlet / outlet side in the second direction Y. At this time, the portion of the wire 253 that passes through the first passage 237 moves from inside the housing 254 toward the storage space 33.

[0123] In this example, actuator 205 also includes a spring 255 that relaxes a portion of wire 253. Spring 255 is, for example, a helical spring. Spring 255 is disposed within wire space 236. Different portions of wire 253 are fixed to both ends of spring 255. The portion of wire 253 fixed between the two points on spring 255 relaxes when spring 255 is at its natural length. That is, when the relaxed portion of wire 253 becomes taut, spring 255 elastically deforms in the tensile direction.

[0124] By connecting the spring 255 to the wire 253, the spring 255 can buffer the external force acting on the multiple claws 202. Specifically, when the connector pull-out tool 210 approaches an object, the tips of the multiple claws 202 may come into contact with something. For example, the multiple claws 202 may come into contact with the wall 90 of the connecting disc 9 or the clamp 99, etc. At this time, an external force acting on the retracting side in the second direction Y acts on the multiple claws 202. The portion of the wire 253 that is laid in the wire space 236 is stretched towards the receiving space 33. Because the spring 255 partially relaxes the wire 253, the relaxed portion of the wire 253 tightens and the spring 255 deforms in an elongated manner. In this way, the tension occurring in the wire 253 is absorbed by the spring 255. Thus, the external force transmitted to the disc 252 and subsequently to the motor 251 is reduced.

[0125] On the other hand, when the metal wire 253 is stretched by the disc 252 to drive the multiple claws 202, the slack portion of the metal wire 253 also tightens and the spring 255 deforms in an elongated manner. Since both ends of the spring 255 are fixed to the metal wire 253, the spring 255 cannot extend further when the slack of the metal wire 253 is eliminated. When the slack of the metal wire 253 is eliminated, tension is transmitted throughout the entire metal wire 253. When the multiple claws 202 are retracted in the second direction Y, the actuator 205 rotates the disc 252, causing the metal wire 253 to be stretched into the housing 254 through the first passage 237. The portion of the metal wire 253 closer to the first passage 237 than the spring 255 moves immediately in response to the rotation of the disc 252. On the other hand, the portion of the wire 253 closer to the second passage 238 than the spring 255 does not move much until the spring 255 extends to the point where the slack in the wire 253 is eliminated, and only moves when the slack in the wire 253 is eliminated. That is, when the plurality of claws 202 are retracted in the second direction Y, the plurality of claws 202 can move immediately in response to the rotation of the disk 252. On the other hand, when the plurality of claws 202 are moved in and out in the second direction Y, the actuator 205 rotates the disk 252, causing the wire 253 to be stretched into the housing 254 through the second passage 238. The portion of the wire 253 closer to the second passage 238 than the spring 255 moves immediately in response to the rotation of the disk 252. On the other hand, the portion of the wire 253 closer to the first passage 237 than the spring 255 does not move much until the spring 255 extends to the point where the slack in the wire 253 is eliminated, and only moves when the slack in the wire 253 is eliminated. In other words, when the multiple claws 202 move in and out in the second direction Y, even if the disk 252 rotates, the multiple claws 202 will not move too much immediately, and will only start to move when the slack of the metal wire 253 is gone.

[0126] In such a connector removal tool 210, the actuator 205 can be configured such that the rotation axis B of the motor 251 is approximately parallel to the second direction Y. As a result, the size of the connector removal tool 210 in the direction orthogonal to the second direction Y, i.e., the thickness of the connector removal tool 210, can be reduced.

[0127] The movement of multiple claws 202 in the second direction Y, driven by a motor 251 rotating along the axis B in the second direction Y, can be achieved using a metal wire 253. Furthermore, by utilizing a spring 255 to partially relax the metal wire 253, the spring 255 can absorb external forces acting on the multiple claws 202, protecting the motor 251. As a result, the positioning burden on the connector extraction tool 210 can be reduced. In other words, when moving the connector extraction tool 210 to the target position, multiple claws 202 can contact an object. Positioning accuracy can be reduced to allow the connector extraction tool 210 to move.

[0128] <Second Variation>

[0129] Next, the connector removal tool 310 involved in the second modification will be described. Figure 14 This is a side view of the connector removal tool 310 involved in the second variation. Figure 15 yes Figure 14 A cross-sectional view of the connector removal tool 310 for XV-XV cables. The main difference between the connector removal tool 310 and the connector removal tool 10 is that the connector removal tool 310 does not have an actuator 5. The following description focuses on the differences in the structure of the connector removal tool 310 from that of the connector removal tool 10.

[0130] The connector removal tool 310 includes multiple claws 302, a body 303, a guide 4, an elastic member 307, and a lock 308. The elastic member 307 applies force to the multiple claws 302 in the second direction Y, which is the side from which they enter and exit the body 303. The lock 308 holds the multiple claws in a retracted state where the multiple claws 302 retract towards the body 303 against the elastic force of the elastic member 307. The basic structure of the multiple claws 302, the body 303, and the guide 4 is the same as that of the connector removal tool 10.

[0131] Multiple claws 302 are guided by guide 4 to open and close in the first direction X as they move relative to the body 303 in the second direction Y. The multiple claws 302 can move relative to the body 303 in a retracted position in the second direction Y against the elastic force of the elastic member 307. Lock 308 maintains the multiple claws 302 in a retracted state against the elastic force of the elastic member 307. That is, lock 308 maintains the multiple claws 302 in a closed state in the first direction X.

[0132] The connector removal tool 310 is moved by the robot arm 120. With the multiple claws 302 in contact with an object on the in / out side of the second direction Y, the body 303 is further moved towards the in / out side of the second direction Y, causing the multiple claws 302 to move relative to the body 303 towards the retracted side of the second direction Y. When the multiple claws 302 retract towards the second direction Y, the lock 308 holds the multiple claws 302 in the retracted state.

[0133] The elastic member 307 is, for example, a coil spring. The connector extraction tool 310 has two elastic members 307. The elastic members 307 are disposed in the receiving space 33 of the body 303. Specifically, the receiving space 33 has a first space 33A and a second space 33B, the first space 33A receiving at least a first end 21 of the claw 302, and the second space 33B receiving at least a second end 22 of the claw 302. The middle portion 20 of the claw 302 moves between the first space 33A and the second space 33B. The elastic member 307 is disposed in the second space 33B of the receiving space 33. In the second space 33B, the elastic member 307 is disposed on the opening side in the first direction X relative to each of the first claw 302A and the second claw 302B. The elastic member 307 is configured to elastically deform in the second direction Y.

[0134] Multiple claws 302 have protruding tabs 329 engaged by elastic members 307. Specifically, each of the first claw 302A and the second claw 302B has a protruding tab 329 protruding toward an open side in a first direction X. The protruding tabs 329 are disposed in the middle portion 20 of the claws 302. The protruding tabs 329 are disposed in the second space 33B of the storage space 33.

[0135] The body 303 has a support wall 339, which is disposed in the second space 33B and supports the elastic member 307. Since the connector extraction tool 310 has two elastic members 307, the body 303 has two support walls 339. The support walls 339 are disposed opposite the protrusion 329 of the claw 302 on the retracted side in the second direction Y.

[0136] The elastic member 307, in a compressed state, is positioned between the protruding piece 329 of the claw 302 and the support wall 339 of the body 303. The elastic member 307 exerts a spring force that presses the protruding piece 329 towards the inlet / outlet side in the second direction Y. That is, the multiple claws 302 are forced towards the inlet / outlet side in the second direction Y by the elastic member 307. When no external force is applied to the multiple claws 302, the force exerted by the elastic member 307 causes the pin 27 to be located at the end of the first groove 42 of the guide groove 41 on the inlet / outlet side in the second direction Y. In other words, the multiple claws 302 are in a state where they have extended the most from the body 303 towards the second direction Y and are open towards the first direction X.

[0137] The lock 308 has an engaging piece 381, an engaging portion 382, ​​and a lock guide 384. The engaging piece 381 is engaged with a plurality of claws 302, the engaging portion 382 is disposed on the body 303, and the lock guide 384 is disposed on the body 303.

[0138] The engaging tab 381 is engaged with the second end 22 of the plurality of claws 302. Even in the connector pull-out tool 310, the second end 22 of the first claw 302A and the second end 22 of the second claw 302B are connected to each other to form a second end 22. The engaging tab 381 extends from the second end 22 toward the rearward side in the second direction Y. The engaging tab 381 is formed of an elastically deformable component. For example, the engaging tab 381 is formed of resin. The engaging tab 381 may bend due to elastic deformation. A pin 381a is disposed at the front end of the engaging tab 381, i.e., the rear end in the second direction Y. The pin 381a extends in the thickness direction of the engaging tab 381 and protrudes from both sides of the engaging tab 381 in the thickness direction. The engaging tab 381 moves integrally with the plurality of claws 302 in the second direction Y.

[0139] The engagement portion 382 is engaged by the engagement piece 381 when the plurality of claws 302 are in the retracted state. The retracted state of the plurality of claws 302 means that the plurality of claws 302 are retracted in the second direction Y, and the plurality of claws 302 are in a closed state compared to the fully open state. In this example, the pin 27 is located in the second groove 43, and the plurality of claws 302 are in the most closed state. The engagement portion 382 is configured in the second space 33B closer to the retracted side in the second direction Y than the second end 22 when the plurality of claws 302 are in the in-and-out state. The engagement portion 382 is configured closer to the in-and-out side in the second direction Y than the pin 381a when the plurality of claws 302 are in the retracted state. The engagement portion 382 is recessed into the in-and-out side in the second direction Y by means of the pin 381a being inserted.

[0140] Between a first position where engagement with engagement portion 382 is released and a second position where engagement with engagement portion 382 is engaged, the lock guide 384 guides the engagement piece 381 in response to relative movement of the plurality of claws 302 and the body 303. That is, by guiding the engagement piece 381 from the first position to the second position via the lock guide 384, the lock 308 locks the plurality of claws 302 in a retracted state. By guiding the engagement piece 381 from the second position to the first position via the lock guide 384, the lock 308 releases the locking of the plurality of claws 302 in the retracted state. The lock guide 384 is disposed in the second space 33B. The lock guide 384 guides the pin 381a of the engagement piece 381. In this example, the lock guide 384 is disposed on both the first support plate 31A and the second support plate 31B. The groove into which the pin 381a enters is formed in both the first support plate 31A and the second support plate 31B. The sidewall of the groove constitutes the lock guide 384.

[0141] Figure 16 yes Figure 15This is an enlarged view of the locking guide 384 in a cross-section of the connector pull-out tool 310. Specifically, when the plurality of claws 302 and the body 303 retract from the state where the engagement piece 381 is in a first position, the locking guide 384 guides the engagement piece 381 to a first retracted position, which is further back in the second direction Y than the second position. Specifically, the first position is the position of the engagement piece 381 when the plurality of claws 302 are not held in the retracted state, and is the position of the engagement piece 381 when the plurality of claws 302 are further forward in the second direction Y than the retracted state. In this example, the first position is the position of the engagement piece 381 when the plurality of claws 302 are most forward in the second direction Y. The locking guide 384 has a first guide wall 384a. The first guide wall 384a is positioned closer to the retracted side in the second direction Y than the pin 381a when the engagement piece 381 is in the first position, and closer to the forward in the second direction Y than the engagement portion 382. The first guide wall 384a is inclined relative to the second direction Y in such a way that the closer it is to the rearward side of the second direction Y, the further it is from the opening side of the first direction X from the joint 382.

[0142] Figure 17 This is a cross-sectional view of the connector pull-out tool 310 with pin 381a in contact with the first guide wall 384a. This is in the state where no external force is applied to the multiple claws 302, such as... Figure 15 As shown, the plurality of claws 302 are located closest to the entry / exit side in the second direction Y. When the plurality of claws 302 are pressed onto an object from this state towards the entry / exit side in the second direction Y, the plurality of claws 302 retract relative to the body 303 in the second direction Y. For example, in a pull-out process, the tips of the plurality of claws 302 are pressed onto... Figure 3 The connecting disc 90 or the reference surface 99a of the clamp 99 is shown. In response, the engaging tab 381 also retracts from the first position in the second direction Y. At this time, the elastic member 307 is compressed and deformed by the protruding tab 329. The first guide wall 384a is located on the retracted side of the pin 381a in the second direction Y in the first position. Therefore, the pin 381a contacts the first guide wall 384a. As the plurality of claws 302 continue to retract in the second direction Y, as Figure 17 As shown, pin 381a slides on the first guide wall 384a, being guided in a manner that moves away from the engagement portion 382 toward the opening side in the first direction X and toward the retracting side in the second direction Y. In this way, the engagement piece 381 moves toward the retracting side in the second direction Y while the engagement portion 382 detours toward the first direction X. At this time, the engagement piece 381 elastically bends according to the movement of pin 381a.

[0143] Figure 18This is a cross-sectional view of the connector pull-out tool 310 when the engagement piece 381 is in the first retracted position. As the plurality of claws 302 retract further in the second direction Y, the pin 381a moves past the first guide wall 384a to the first retracted position. The first retracted position of the engagement piece 381 is a position closer to the push-back side in the second direction Y compared to the second position. When the pin 381a passes the first guide wall 384a, the elastic deformation of the engagement piece 381 decreases, and the pin 381a moves towards the engagement portion 382 in the first direction X. At the first retracted position, the pin 381a is located further back in the second direction Y than the engagement portion 382.

[0144] During the movement of the engaging piece 381 from the first position to the first retracted position, the plurality of claws 302 close in the first direction X. In this example, as... Figure 17 As shown, during the sliding of pin 381a along the first guide wall 384a, the multiple claws 302 are in the most closed state. During the pull-out process, the multiple claws 302 grip the connector plug 92 or cover 96. When the engaging tab 381 moves to the first retracted position, the movement of the connector pull-out tool 310 in the second direction Y on the in / out side stops.

[0145] When the locking guide 384 moves in and out of the multiple claws 302 and the body 303 from the engagement piece 381 in the first retracted position, it guides the engagement piece 381 to the second position. Specifically, as Figure 16 As shown, the lock guide 384 has a second guide wall 384b. The second guide wall 384b is positioned closer to the in-and-out side in the second direction Y than the pin 381a when the engaging piece 381 is in the first retracted position, and closer to the retracted side in the second direction Y than the engaging portion 382. The second guide wall 384b is inclined relative to the second direction Y towards the engaging portion 382. Specifically, the second guide wall 384b is inclined relative to the second direction Y in such a way that the closer it is to the in-and-out side in the second direction Y, the closer it is to the engaging portion 382 in the first direction X.

[0146] After the engaging tab 381 reaches the first retracted position, the connector pull-out tool 310 is moved slightly towards the retracted side in the second direction Y. At this time, the elastic member 307 extends, causing the plurality of claws 302 to move relative to the body 303 towards the in / out side in the second direction Y. That is, only the body 303 moves towards the retracted side in the second direction Y, while the plurality of claws 302 do not move towards the retracted side in the second direction Y. However, depending on the amount of movement of the connector pull-out tool 310 towards the retracted side in the second direction Y, the plurality of claws 302 may also move towards the retracted side in the second direction Y. Even then, the amount of movement of the plurality of claws 302 is smaller compared to the amount of movement of the body 303.

[0147] Figure 19This is a cross-sectional view of the connector pull-out tool 310 when the engagement piece 381 is in the retracted position. The second guide wall 384b is located on the in-and-out side of the pin 381a in the second direction Y when the engagement piece 381 is in the first retracted position. Therefore, when the plurality of claws 302 move relative to the body 303 in the in-and-out side in the second direction Y, the pin 381a contacts the second guide wall 384b. As the plurality of claws 302 continue to move in and out in the second direction Y, the pin 381a slides on the second guide wall 384b and is guided towards the in-and-out side in the second direction Y and towards the side approaching the engagement portion 382 in the first direction X. At this time, the elastic deformation of the engagement piece 381 decreases with the movement of the pin 381a. Finally, as Figure 19 As shown, the engagement piece 381 is guided to the second position, and the pin 381a engages with the engagement portion 382. At this time, the bending of the engagement piece 381 disappears.

[0148] In this way, the multiple claws 302 are held in the retracted state by the lock 308. Relative movement of the multiple claws 302 relative to the body 303 in the second direction Y direction (entry / exit side) becomes impossible. At this time, since the multiple claws 302 are in the retracted state, they are in the closed state. Even if the pressure on the multiple claws 302, such as the clamp 99, is released, the multiple claws 302 do not move in or out in the second direction Y, nor do they open in the first direction X. During the removal process, the multiple claws 302 maintain the state of holding the connector plug 92 or the cover 96.

[0149] When the locking guide 384 retracts from the state where the engagement piece 381 is in the second position, it guides the engagement piece 381 to a second retracted position that is further back in the second direction Y compared to the second position. Figure 16 As shown, the lock guide 384 has a third guide wall 384c. The third guide wall 384c is positioned closer to the retracted side in the second direction Y than the engagement portion 382 and closer to the retracted side in the second direction Y than the pin 381a when the engagement piece 381 is in the second position. The third guide wall 384c is inclined relative to the second direction Y in such a way that the closer it is to the retracted side in the second direction Y, the further it moves away from the engagement portion 382 towards the opening side in the first direction X. The opening side of the third guide wall 384c in the first direction X is opposite to the opening side of the first guide wall 384a.

[0150] Figure 20This is a cross-sectional view of the connector removal tool 310 when the engagement tab 381 is in the second retracted position. When the engagement tab 381 is in the second position, it engages with the engagement portion 382, ​​and the plurality of claws 302 are held in the retracted state by the lock 308. When the plurality of claws 302 are pressed against something from this state toward the infeeding side in the second direction Y, the plurality of claws 302 retract relative to the body 303 in the second direction Y. For example, in the insertion process, after inserting the connector plug 92 or cover 96 held by the plurality of claws 302 into the adapter 91, the tips of the plurality of claws 302 are pressed against... Figure 3 The connecting disc 90 or the reference surface 99a of the clamp 99 is shown. In response, the plurality of claws 302 retract relative to the body 303 in the second direction Y, and the engaging piece 381 also retracts from the second position in the second direction Y. At this time, the elastic member 307 is compressed and deformed by the protruding piece 329. Figure 19 As shown, the third guide wall 384c is located on the retracting side of the pin 381a in the second direction Y at the second position. Therefore, the pin 381a contacts the third guide wall 384c. As the plurality of claws 302 continue to retract in the second direction Y, as... Figure 20 As shown, pin 381a slides on the third guide wall 384c, being guided in a manner that moves away from the retracted side in the second direction Y and away from the opening side in the first direction X from the engagement portion 382. At this time, the engagement piece 381 bends elastically according to the movement of pin 381a.

[0151] The opening side of the third guide wall 384c in the first direction X is opposite to the opening side of the first guide wall 384a. Therefore, the opening side of the pin 381a away from the joint 382 in the first direction X is opposite to when it is guided by the first guide wall 384a. That is, in Figure 17 In the diagram, pin 381a moves away from joint 382 from below, while... Figure 20 In the figure, pin 381a moves upward away from the joint 382. Finally, pin 381a is guided by the third guide wall 384c to move to the second retracted position. The second retracted position of the joint piece 381 is a position closer to the retracted side in the second direction Y compared to the second position. When the joint piece 381 is in the second retracted position, pin 381a moves further away from the opening side in the first direction X compared to the joint 382.

[0152] When the engagement piece 381 moves to the second retracted position, the movement of the connector pull-out tool 310 on the in-and-out side in the second direction Y stops.

[0153] It should be noted that, as Figure 16 As shown, the lock guide 384 may also have an anti-reverse tab 384e, which prevents movement of the engaging tab 381 from the second retracted position to the retracted position. The anti-reverse tab 384e is disposed on the body 303. In this example, as Figure 14 As shown, a recess 384g is formed in the body 303, exposing a portion of the lock guide 384 to the outside. The pin 381a can be exposed to the outside from the recess 384g. An anti-reverse tab 384e is disposed in the recess 384g. The recess 384g is disposed on both the first support plate 31A and the second support plate 31B. That is, the lock guide 384 has two anti-reverse tabs 384e.

[0154] exist Figure 16 Only the anti-reverse piece 384e, which is disposed on the second support plate 31B, is shown. The anti-reverse piece 384e has a long side direction and a short side direction, and is elongated in shape. The anti-reverse piece 384e is more prone to elastic deformation in the short side direction than in the long side direction. For example, the anti-reverse piece 384e is formed of resin. The anti-reverse piece 384e is configured such that its long side direction and short side direction are substantially parallel to a plane parallel to the first direction X and the second direction Y. The long side direction of the anti-reverse piece 384e extends substantially along the first direction X. One end of the anti-reverse piece 384e is fixed to the body 303, and the other end of the anti-reverse piece 384e becomes a free end 384f. The free end 384f is disposed on the trajectory of the pin 381a when the engaging piece 381 moves from the retracted position to the second retracted position.

[0155] In detail, the free end 384f includes a corner defined by a side face facing the short side and an end face facing the long side. The free end 384f is configured such that the pin 381e of the engaging piece 381, moving from the retracted position to the second retracted position, initially contacts the side face defining the corner of the free end 384f. Therefore, when the engaging piece 381 moves from the retracted position to the second retracted position, the pin 381e contacts the side face of the corner of the free end 384f from the short side direction, causing the anti-reverse piece 384e to bend elastically in the short side direction (see reference). Figure 16 (The two dotted lines). Before the coupling piece 381 reaches the second retracted position, the pin 381e exceeds the free end 384f, and the anti-reverse piece 384e returns to its original state, i.e., the unbent state. When the coupling piece 381 reaches the second retracted position, as... Figure 20 As shown, the free end 384f is located between the pin 381e and the joint 382.

[0156] When the locking guide 384 moves in and out of the multiple claws 302 and the body 303 from the engagement piece 381 in the second retracted position, it guides the engagement piece 381 towards the first position. For example... Figure 16As shown, the lock guide 384 has a fourth guide wall 384d. The fourth guide wall 384d is positioned closer to the in / out side in the second direction Y than the pin 381a when the engaging piece 381 is in the second retracted position, and closer to the retracted side in the second direction Y than the pin 381a when the engaging piece 381 is in the first position. Regarding its position in the first direction X, the fourth guide wall 384d is positioned between the engaging portion 382 and the pin 381a when the engaging piece 381 is in the second retracted position. The fourth guide wall 384d is inclined relative to the second direction Y in such a way that the closer it is to the retracted side in the second direction Y, the closer it is to the closing side in the first direction X, approaching the engaging portion 382.

[0157] Figure 21 This is a cross-sectional view of the connector pull-out tool 310 in the state where pin 381a contacts the fourth guide wall 384d. After the engagement piece 381 reaches the second retracted position, the connector pull-out tool 310 moves towards the retracted side in the second direction Y. At this time, the elastic member 307 extends, causing the plurality of claws 302 to move relative to the body 303 towards the in-and-out side in the second direction Y. In response, the engagement piece 381 also moves relative to the in-and-out side in the second direction. At this time, the engagement piece 381 moves towards the in-and-out side in the second direction Y while reducing bending. That is, pin 381a approaches the engagement portion 382 side in the first direction X. However, the fourth guide wall 384d is located closer to the in-and-out side in the second direction Y than pin 381a and is located between pin 381a and engagement portion 382 in the first direction X. Therefore, pin 381a contacts the fourth guide wall 384d in the first direction X before reaching engagement portion 382. Furthermore, the fourth guide wall 384d is inclined relative to the second direction Y in such a way that the closer it is to the rearward side in the second direction Y, the closer it is to the closing side in the first direction X, and the closer it is to the joint 382. Therefore, the pin 381a can more easily contact the fourth guide wall 384d before reaching the joint 382 in the first direction X.

[0158] Furthermore, movement of the pin 381a toward the joint 382 side is prevented by the anti-reverse piece 384e. When the pin 381a approaches the joint 382 side from a position corresponding to the second retracted position of the joint piece 381 in the first direction X, the pin 381a may contact the free end 384f of the anti-reverse piece 384e. Specifically, the pin 381a may contact the end face of the corner dividing the free end 384f from the long side direction. Since the anti-reverse piece 384e is less prone to elastic deformation in the long side direction compared to its short side direction, it restricts the movement of the pin 381a toward the first direction X. The pin 381a slides toward the inlet / outlet side of the corner dividing the free end 384f in the second direction Y, reaching the fourth guide wall 384d. In this way, when the engaging piece 381 moves from the second retracted position to the first position, the anti-reverse piece 384e prevents the pin 381a from moving toward the engaging portion 382 side, and at the same time guides the pin 381a toward the in-and-out side in the second direction Y.

[0159] As the multiple claws 302 continue to move in and out in the second direction Y, the pin 381a slides on the fourth guide wall 384d, being guided towards the in-and-out side in the second direction Y from the open side, which is closer to the first direction X than the engagement portion 382. When the pin 381a moves beyond the fourth guide wall 384d towards the in-and-out side in the second direction Y, the pin 381a moves towards the in-and-out side in the second direction Y, and simultaneously moves towards the closed side in the first direction X. The elastic deformation of the engagement piece 381 decreases according to the movement of the pin 381a. Ultimately, as... Figure 19 As shown, the coupling piece 381 moves to the first position. At this time, the bending of the coupling piece 381 disappears.

[0160] During the movement of the engagement tab 381 from the second retracted position to the first position, the plurality of claws 302 open in the first direction X. In the case of insertion, the plurality of claws 302 release the connector plug 92 or cover 96. When the plurality of claws 302 release the connector plug 92 or cover 96, the connector removal tool 310 can move as a whole in the second direction Y.

[0161] In this way, the connector removal tool 310 can open and close multiple claws 302 by being pushed or pulled in the second direction Y. At this time, the locking and unlocking of the multiple claws 302 in the retracted state can be performed by pushing or pulling the connector removal tool 310 in the second direction Y. Moreover, each time the connector removal tool 310 is pushed or pulled in the second direction Y, the locking and unlocking switches between them. For example, by pushing or pulling the connector removal tool 310 in the second direction Y once, the multiple claws 302 are locked in the retracted state. By pushing or pulling the connector removal tool 310 in the second direction Y again from this state, the locking of the multiple claws 302 is unlocked. When the connector removal tool 310 is pushed or pulled in the second direction Y again, the multiple claws 302 are locked again in the retracted state.

[0162] Other implementation methods

[0163] As described above, the embodiments described herein have been presented as examples of the technology disclosed in this application. However, the technology disclosed herein is not limited to this and can be applied to embodiments with appropriate modifications, substitutions, additions, omissions, etc. Furthermore, the various constituent elements described in the embodiments can be combined to form new embodiments. Moreover, the constituent elements described in the drawings and detailed descriptions include not only those necessary to solve the problem, but also, for the purpose of illustrating the technology, constituent elements that are not necessary to solve the problem. Therefore, one should not immediately assume that those non-essential constituent elements are essential simply because they are described in the drawings and detailed descriptions.

[0164] For example, connector removal tools 10, 210, and 310 may not be connected to the robot arm 120. For example, a user may also use connector removal tools 10, 210, and 310 by hand. In this case, switches that activate actuators 5 and 205 can be installed on connector removal tools 10 and 210. The user can move connector removal tools 10 and 210 to an object, activating actuators 5 and 205, thus achieving a gripping of the object by multiple claws 2 and 202. Connector removal tool 310 can be opened and closed by the user pressing the tips of the multiple claws 2 onto an object in a second direction Y.

[0165] The robots that install connector removal tools 10, 210, and 310 are not limited to robot 110. For example, robot 110 is not limited to a seven-axis robot; it can also be a six-axis robot.

[0166] Connector removal tools 10 and 210 can also be installed on the robot arm 120 without going through accessory 6.

[0167] The object held by connector removal tools 10, 210, and 310 is not limited to connector plug 92 or cover 96. Connector plug 92 is not limited to fiber optic connector plugs; it can be connector plugs for various cables. Clamp 99 is not necessary during the removal operation. Without clamp 99, for example, multiple claws 2, 202, and 302 can contact the wall surface 90 of the connector disc 9.

[0168] The structure of connector removal tools 10, 210, and 310 is merely one example. For instance, the second ends 22 of the multiple claws 2, 202, and 302 may not be combined into one. The first ends 21 of the multiple claws 2, 202, and 302 may not be inclined relative to the reference axis A in a manner that opens further in the first direction X than towards the inlet / outlet side in the second direction Y. The first ends 21 may also be approximately parallel to the reference axis A.

[0169] The guide groove 41 of the guide member 4 may also be configured only on either the first support plate 31A or the second support plate 31B. The guide groove 41 may also not penetrate through the first support plate 31A or the second support plate 31B in the thickness direction.

[0170] The robot equipped with the connector removal tool is not limited to robot 110. Figure 22 This is a schematic diagram showing the structure of the robot 2110 involved in the modified example.

[0171] The modified robot 2110 has a base 2130 and a robot arm 2120 connected to the base 2130. A connector removal tool 10 is mounted at the front end of the robot arm 2120. The base 2130 has multiple wheels. That is, the robot 2110 is capable of walking. The robot 2110 has two robot arms 2120. Alternatively, the connector removal tool 10 can be mounted at the front end of each of the two robot arms 2120.

[0172] The robotic arm 2120 has multiple links L and multiple joints J connecting the multiple links L. The robotic arm 2120 is configured to move in a three-dimensional shape. In this example, the robotic arm 2120 is a multi-joint robotic arm. The robotic arm 2120 is supported by a base 2130.

[0173] Multiple links L comprise links L1 to Ln (where n is an integer greater than or equal to 2) sequentially arranged from the base 2130. Multiple joints J comprise joints J1 to Jn sequentially arranged from the base 2130. n is greater than the positional and orientation degrees of freedom of the nth link Ln. In other words, the robot arm 2120 is redundant. Redundancy refers to the characteristic that the rotational angles from joints J1 to Jn corresponding to the position of the nth link Ln are not uniquely determined. In this example, the positional and orientation degrees of freedom of the nth link Ln are 6. Specifically, the positional and orientation of the nth link Ln have a total of 6 degrees of freedom in translational and rotational directions related to each of the three orthogonal axes. The robot arm 2120 has seven joints J, making it a so-called seven-axis robot. That is, n is 7.

[0174] Specifically, the multiple links L include a first link L1, a second link L2, a third link L3, a fourth link L4, a fifth link L5, a sixth link L6, and a seventh link L7, arranged sequentially in series from the base 2130 side. The seventh link L7 is located at the front end of the robot arm 2120. The multiple joints J include a first joint J1, a second joint J2, a third joint J3, a fourth joint J4, a fifth joint J5, a sixth joint J6, and a seventh joint J7, arranged sequentially in series from the base 2130.

[0175] The base 2130 and the first link L1 are rotatably connected via the first joint J1. The first link L1 and the second link L2 are rotatably connected via the second joint J2. The second link L2 and the third link L3 are rotatably connected via the third joint J3. The third link L3 and the fourth link L4 are rotatably connected via the fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected via the fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected via the sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected via the seventh joint J7.

[0176] A connector removal tool 10 is connected to the seventh link L7 at the tip of the robot arm 2120. That is, the connector removal tool 10 is rotatably connected to the robot arm 2120 about the rotation axis R7 of the seventh joint J7. The connector removal tool 10 is an end effector mounted on the robot arm 2120.

[0177] The robot arm 2120 has servo motors that drive the rotation of each joint J. Each servo motor has an encoder.

[0178] Robot 2110 also includes an imaging device 140, which is configured on one of a plurality of links L. The imaging device 140 is configured on the (ni)th link Ln-i (i is an integer greater than or equal to 1). In this example, the imaging device 140 is configured on the sixth link L6.

[0179] Connector removal tools 10, 210, and 310 can also be mounted on such a robot 2110. The robot 2110 has two robot arms 2120. Connector removal tools 10 can be mounted on both robot arms 2120. Therefore, the robot 2110 can perform insertion and removal operations on connector plugs 92 or covers 96 using two connector removal tools 10. The operation performance is improved by using two connector removal tools 10. For example, connector plug 92 can be removed from adapter 91 using one connector removal tool 10, and cover 96 or other connector plug 92 can be inserted into adapter 91 using another connector removal tool 10.

[0180] It should be noted that it is also possible to install the connector removal tool 10 on only one robotic arm 2120 and install an end effector other than the connector removal tool on the other robotic arm 2120.

[0181] A flowchart is just one example. The steps in a flowchart can be modified, replaced, added, or omitted as appropriate. Furthermore, the order of the steps in the flowchart can be changed, or sequential processes can be processed in parallel.

[0182] The functions implemented by the constituent elements described in this specification can also be implemented in a circuit or processing circuitry that includes a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuitry, and / or combinations thereof, all programmed to implement the described functions. A processor includes transistors and other circuitry and is considered as a circuit or processing circuitry. A processor can also be a programmable processor that executes a program stored in memory.

[0183] In this specification, a circuit, unit, or device is hardware programmed or executing to perform the described function. This hardware may also be any hardware disclosed in this specification or any hardware known to be programmed or executing to perform the described function.

[0184] When the hardware is a processor of the type of circuit, the circuit, device, or unit is a combination of hardware and software used to constitute the hardware and / or the processor.

[0185] [Way]

[0186] The implementation method is a specific example of the following approach.

[0187] (Method 1) Connector removal tools 10, 210, and 310 include multiple claws 2, 202, and 302, a body 3, 203, and 303, and a guide 4. The multiple claws 2, 202, and 302 are capable of opening and closing in a first direction X. The body 3, 203, and 303 are capable of moving relative to the multiple claws 2, 202, and 302 in a second direction Y that intersects the first direction X. When the multiple claws 2, 202, and 302 and the body 3, 203, and 303 move relative to each other in the second direction Y, the guide 4 guides the multiple claws 2, 202, and 302 to open and close in the first direction X in response to the relative movement of the multiple claws 2, 202, and 302 and the body 3, 203, and 303.

[0188] According to this structure, the guide 4 converts the force that causes the multiple claws 2, 202, 302 and the body 3, 203, 303 to move relative to each other in the second direction Y into a force that causes the multiple claws 2, 202, 302 to open and close. In this way, the relative movement of the multiple claws 2, 202, 302 and the body 3, 203, 303 in the second direction Y causes the multiple claws 2, 202, 302 to open and close in the first direction X. By providing such a guide 4, it is possible to prevent the connector removal tools 10, 210, 310 from becoming bulky overall.

[0189] (Method 2) In the connector removal tool 10 described in Method 1, the guide 4 guides the plurality of claws 2, 202, 302 to open in the first direction X during an in-and-out movement in which they move relative to each other from the body 3, 203, 303, and during a retraction movement in which they move relative to each other from the body 3, 203, 303, and during a retraction movement in which they move backward relative to each other from the body 3, 203, 303, and during a retraction movement in which they move backward relative to each other, the guide 4 guides the plurality of claws 2, 202, 302 to close in the first direction X.

[0190] According to this structure, when the multiple claws 2, 202, and 302 retract relative to the main body 3, 203, and 303 in the second direction Y, the multiple claws 2, 202, and 302 close. On the other hand, when the multiple claws 2, 202, and 302 move in and out relative to the main body 3, 203, and 303 in the second direction Y, the multiple claws 2, 202, and 302 open.

[0191] (Method 3) The connector removal tool 310 described in Method 1 or Method 2 includes an elastic member 307 and a lock 308. The elastic member 307 applies force to the plurality of claws 302 in the second direction Y, which is the side that moves out of the body 303. The lock 308 holds the plurality of claws in the retracted state in which the plurality of claws 302 retract toward the body 303 against the elastic force of the elastic member 307.

[0192] According to this structure, when the lock 308 is released, the multiple claws 302 move from the body 303 in the second direction Y due to the elastic force of the elastic member 307. The multiple claws 302 can also move relative to the body 303 in the second direction Y, resisting the elastic force of the elastic member 307. The lock 308 holds the multiple claws 302 in the retracted state. That is, the multiple claws 302 are held by the lock 308 in the retracted state against the elastic force of the elastic member 307. When the multiple claws 302 move relative to the body 303 in the second direction Y and close in the first direction X, the lock 308 can maintain the multiple claws 302 in the closed state.

[0193] (Method 4) In the connector removal tool 310 described in any of Methods 1 to 3, the lock 308 has an engaging piece 381, an engaging portion 382, ​​and a lock guide 384. The engaging piece 381 is engaged with the plurality of claws 302. The engaging portion 382 is disposed on the body 303 and is engaged by the engaging piece 381 when the plurality of claws 302 are in the retracted state. The lock guide 384 is disposed on the body 303 and guides the engaging piece 381 in response to relative movement of the plurality of claws 302 and the body 303 between a first position where engagement with the engaging portion 382 is released and a second position where engagement with the engaging portion 382 is engaged.

[0194] According to this structure, the lock guide 384 guides the engaging piece 381 between a first position and a second position. The engaging piece 381 engages with the engaging portion 382 by being guided to the second position. Conversely, the engaging piece 381 disengages from the engaging portion 382 by being guided to the first position. As a result, in response to the relative movement of the plurality of claws 302 and the body 303, the holding and releasing of the plurality of claws 302 by the lock 308 is switched.

[0195] (Method 5) In the connector removal tool 310 described in any one of Methods 1 to 4, when the plurality of claws 302 and the body 303 perform the retraction action from the state where the engagement piece 381 is in the first position, the locking guide 384 guides the engagement piece 381 to a first retraction position on the retraction side further in the second direction than the second position; when the plurality of claws 302 and the body 303 perform the in-and-out action from the state where the engagement piece 381 is in the first retraction position, the locking guide 384 guides the engagement piece 381 to the second position; when the plurality of claws 302 and the body 303 perform the retraction action from the state where the engagement piece 381 is in the second position, the locking guide 384 guides the engagement piece 381 to a second retraction position on the retraction side further in the second direction than the second position; when the plurality of claws 302 and the body 303 perform the in-and-out action from the state where the engagement piece 381 is in the second retraction position, the locking guide 384 guides the engagement piece 381 to the first position.

[0196] According to this structure, by sequentially retracting and extending the engagement piece 381 from its first position, driven by multiple claws 302 and the body 303, the engagement piece 381 moves from its first position through a first retracted position to a second position. That is, the engagement piece 381 engages with the engagement portion 382, ​​and the multiple claws 302 are held in the retracted state by the lock 308. Conversely, by sequentially retracting and extending the engagement piece 381 from its second position, driven by multiple claws 302 and the body 303, the engagement piece 381 moves from its second position through a second retracted position to the first position. That is, the engagement piece 381 is released from engagement with the engagement portion 382, ​​and the multiple claws 302, controlled by the lock 308, are released. The multiple claws 302 move relative to the body 303 in the second direction Y towards the extension / extension side by the elastic force of the elastic member 307.

[0197] (Method 6) In the connector removal tool 10, 210, 310 described in any of Methods 1 to 5, the body 3, 203, 303 has a slit 35 that extends from the end edge of the inlet / outlet side in the second direction Y toward the second direction Y, and the slit 35 is disposed between the plurality of claws 2, 202, 303 with respect to the position in the first direction X.

[0198] According to this structure, when the connector plug 92 is gripped by multiple claws 2, 202, and 303, the cable connected to the connector plug 92 can be stored within the slit 35. This allows for a smooth pull-out operation.

[0199] (Method 7) In any of the methods 1 to 6, the connector removal tool further includes actuators 5, 205 that cause one of the plurality of claws 2, 202 and the body 3, 203 to move relative to the other.

[0200] According to this structure, the relative movement of multiple claws 2, 202 and the body 3, 303 can be achieved not by manual means, but by actuators 5, 205.

[0201] (Method 8) In the connector removal tool 210 described in any of Methods 1 to 7, the actuator 205 includes a wire 253 and a motor 251, the wire 253 is mounted on the plurality of claws 2, and the motor 251 is capable of reversing the direction of tension of the wire 253 while stretching the wire 253.

[0202] According to this structure, the motor 251 stretches the metal wire 253, causing the multiple claws 2 to move in the second direction Y. Since the metal wire 253 can be laid more freely, the degree of freedom in the configuration of the motor 251 is increased. For example, the multiple claws 2 can be driven via the metal wire 253 by a motor 251 configured with its rotation axis B facing the second direction Y. By configuring the motor 251 with its rotation axis B facing the second direction Y, the size of the connector extraction tool 210 in the direction orthogonal to the second direction Y can be reduced, that is, the overall thickness of the connector extraction tool 210 can be reduced.

[0203] (Method 9) In the connector removal tool 210 described in any of Methods 1 to 78, the actuator 205 further includes a spring 255 mounted on the wire 253, which uses elasticity to relax a portion of the wire 253.

[0204] According to this structure, when external forces act on the multiple claws 2, the springs 255 can absorb the external forces. As a result, the external forces transmitted to the motor 251 can be reduced, thus protecting the motor 251.

[0205] (A brief explanation of the symbols)

[0206] 10, 210, 310 - Connector removal tool; 2, 202, 302 - Claw; 3, 203, 303 - Body; 35 - Slit; 4 - Guide; 5, 205 - Actuator; 251 - Motor; 253 - Wire; 255 - Spring; 307 - Elastic component; 308 - Lock; 381 - Engaging piece; 382 - Engaging part; 384 - Lock guide; X - First direction; Y - Second direction.

Claims

1. A connector removal tool, characterized in that: The connector removal tool includes multiple claws, a body, and a guide. The multiple claws are capable of opening and closing in a first direction, and the body is capable of moving relative to the multiple claws in a second direction intersecting the first direction. The guide guides the multiple claws as they move relative to the body in the second direction. The guide, in response to the relative movement of the plurality of claws and the body, guides the plurality of claws to open and close in the first direction.

2. The connector removal tool according to claim 1, characterized in that: The guide guides the plurality of claws to open in the first direction during an outward movement in which they move relative to each other from the body, and guides the plurality of claws to close in the first direction during a backward movement in which they move relative to each other toward the body.

3. The connector removal tool according to claim 2, characterized in that: The connector removal tool includes an elastic component and a lock. The elastic component applies force to the plurality of claws in the second direction toward the side that is entering or exiting the body. The lock holds the plurality of claws in a retracted state in which the plurality of claws retract toward the body against the elastic force of the elastic component.

4. The connector removal tool according to claim 3, characterized in that: The lock has an engaging piece, an engaging portion, and a lock guide. The engaging piece is engaged with the plurality of claws. The engaging portion is disposed on the body and is engaged by the engaging piece when the plurality of claws are in the retracted state. The lock guide is disposed on the body and guides the engaging piece in response to relative movement of the plurality of claws and the body between a first position where engagement with the engaging portion is disengaged and a second position where engagement with the engaging portion is engaged.

5. The connector removal tool according to claim 4, characterized in that: When the plurality of claws and the body retract from the state where the engaging piece is in the first position, the locking guide guides the engaging piece to a first retracted position, which is further back in the second direction than the second position. When the plurality of claws and the body move forward and backward from the state where the engaging piece is in the first retracted position, the engaging piece is guided to the second position. When the plurality of claws and the body retract from the state where the engaging piece is in the second position, the engaging piece is guided to a second retracted position on the retracted side further in the second direction than the second position. When the plurality of claws and the body move in and out from the state where the engagement piece is in the second retracted position, the engagement piece is guided toward the first position.

6. The connector removal tool according to claim 1, characterized in that: The body has a slit that extends from the end edge of the inlet / outlet side in the second direction toward the second direction. Regarding the position in the first direction, the slit is configured between the plurality of claws.

7. The connector removal tool according to claim 1, characterized in that: The connector removal tool also includes an actuator that causes one of the plurality of claws and the body to move relative to the other.

8. The connector removal tool according to claim 7, characterized in that: The actuator includes a metal wire and a motor. The metal wire is mounted on the plurality of claws, and the motor can reverse the direction of tension on the metal wire while stretching it.

9. The connector removal tool according to claim 8, characterized in that: The actuator also includes a spring mounted on the wire, which relaxes a portion of the wire by means of elasticity.

Images