Connector extraction tool

Abstract

A connector extraction tool 10, 210, 310 is provided with a plurality of claws 2, 202, 302 that can be opened and closed in a first direction X, bodies 3, 203, 303 that can move relative to the plurality of claws 2, 202, 302 in a second direction Y intersecting with the first direction X, and a guide 4 that guides the plurality of claws 2, 202, 302 when the plurality of claws 2, 202, 302 and the bodies 3, 203, 303 move relative to each other in the second direction Y. The guide 4 guides the plurality of claws 2, 202, 302 so as to open and close in the first direction X in accordance with relative movement between the plurality of claws 2, 202, 302 and the main bodies 3, 203, 303.

Description

Connector removal tool

[0001] The technology disclosed herein relates to a connector extraction tool.

[0002] Tools for extracting connectors have been known for some time. For example, Patent Document 1 discloses a tool having a pair of movable pieces. Each movable piece has an elongated shape and is rotatably supported at a middle portion in the longitudinal direction. A spring is disposed at the rear end of each movable piece. The spring exerts an elastic force substantially parallel to the opening and closing direction of the pair of movable pieces. The elastic force of the spring causes the rear ends of the pair of movable pieces to open from each other, thereby closing the tip ends of the pair of movable pieces. As a result, an object is grasped by the tip ends of the pair of movable pieces.

[0003] Japanese Patent Application Laid-Open No. 2000-329946

[0004] In the case of the above-mentioned configuration, in order to firmly grip an object, it is necessary to increase the elastic force of the spring in the movable piece, i.e., the distance from the part that applies the pressing force to the rotation axis, which increases the size of the tool, which is disadvantageous when gripping an object located in a recessed position.

[0005] The technology disclosed herein has been made in consideration of these points, and its purpose is to provide a tool that can firmly grip an object while preventing it from becoming too large.

[0006] The connector extraction tool of the present disclosure comprises a plurality of claws that can be opened and closed in a first direction, a main body that can move relative to the plurality of claws in a second direction that intersects the first direction, and a guide that guides the plurality of claws when the plurality of claws and the main body move relative to each other in the second direction, and the guide guides the plurality of claws to open and close in the first direction in accordance with the relative movement between the plurality of claws and the main body.

[0007] According to the connector extraction tool, it is possible to provide a tool that can firmly grip an object while suppressing an increase in size.

[0008] FIG. 1 is a schematic diagram showing the configuration of a robot system. FIG. 2 is a perspective view of a connection board to which a cable is connected via a connector plug. FIG. 3 is a cross-sectional view of an adapter with a connector plug inserted. FIG. 4 is a cross-sectional view of an adapter with a cap attached. FIG. 5 is a perspective view of a connector extraction tool. FIG. 6 is a cross-sectional view of the connector extraction tool with multiple claws in the retracted position. FIG. 7 is a cross-sectional view of the connector extraction tool with multiple claws in the advanced position. FIG. 8 is a diagram showing a schematic hardware configuration of a control device. FIG. 9 is a block diagram showing the configuration of a control system of a processor. FIG. 10 is a flowchart showing extraction processing by a robot. FIG. 11 is a cross-sectional view of the connector extraction tool with multiple claws gripping a connector plug. FIG. 12 is a side view of a connector extraction tool according to Modification 1. FIG. 13 is a cross-sectional view of the connector extraction tool taken along line XIII-XIII in FIG. 12. FIG. 14 is a side view of a connector extraction tool according to Modification 2. FIG. 15 is a cross-sectional view of the connector extraction tool taken along line XV-XV in FIG. 14. Fig. 16 is an enlarged view of the lock guide in the cross section of the connector extraction tool in Fig. 15. Fig. 17 is a cross-sectional view of the connector extraction tool in a state where the pin is in contact with the first guide wall. Fig. 18 is a cross-sectional view of the connector extraction tool when the engagement piece is located in the first retracted position. Fig. 19 is a cross-sectional view of the connector extraction tool when the engagement piece is located in the retracted position. Fig. 20 is a cross-sectional view of the connector extraction tool when the engagement piece is located in the second retracted position. Fig. 21 is a cross-sectional view of the connector extraction tool in a state where the pin is in contact with the fourth guide wall. Fig. 22 is a schematic view showing the configuration of a robot according to a modified example.

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An exemplary embodiment will now be described in detail with reference to the accompanying drawings. 1 is a schematic diagram showing the configuration of a robot system 100. As shown in FIG.

[0010] The robot system 100 includes a robot 110 and a control device 150 that controls the robot 110. The robot 110 includes a robot arm 120 and a connector extraction tool 10. The connector extraction tool 10 is attached to the robot arm 120. In this example, the robot 110 is an industrial robot.

[0011] In this example, the robot 110 extracts the connector plug 92 from the adapter 91 using the connector extraction tool 10. In addition, the robot 110 may attach the connector plug 92 to the adapter 91 using the connector extraction tool 10.

[0012] 2 is a perspective view of a connection board 9 to which a cable is connected via a connector plug 92. For example, the connection board 9 has a plurality of adapters 91. The plurality of adapters 91 are arranged on a wall surface 90 of the connection board 9. The plurality of adapters 91 may be arranged vertically and horizontally in a matrix. A connector plug 92 can be inserted into the adapter 91. Furthermore, a cap 96 for protecting the adapter 91 may 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 may be SC-type optical connectors specified in JIS C 5973 or the like.

[0013] FIG. 3 is a cross-sectional view of the adapter 91 with the connector plug 92 inserted. FIG. 4 is a cross-sectional view of the adapter 91 with the cap 96 attached. FIGS. 3 and 4 are cross-sectional views taken along a horizontal plane. The adapter 91 has a rectangular cylindrical housing 93 with a square cross-section. A jig 99 may be attached to the adapter 91. The jig 99 is disposed around the adapter 91. The jig 99 has a reference surface 99a when the connector extraction tool 10 performs the extraction operation. An optical fiber 94 is connected to the connector plug 92. Although not shown, the tip of the optical fiber 94 protrudes from the connector plug 92. The housing 95 of the connector plug 92 has a convex portion 95a and a concave portion 95b. The convex portion 95a and the concave portion 95b are aligned in this order toward the tip of the optical fiber 94. When the connector plug 92 is inserted into the adapter 91, the convex portion 95a and the concave portion 95b are exposed to the outside from the adapter 91.

[0014] A cap 96 for protecting the adapter 91 can be inserted into an adapter 91 without a connector plug 92 inserted therein. The cap 96 has a protrusion 96a and a recess 96b. The protrusion 96a and the recess 96b are aligned in this order toward the adapter 91. When the cap 96 is inserted into the adapter 91, the protrusion 96a and the recess 96b are exposed to the outside from the adapter 91.

[0015] The robot arm 120 is configured to operate three-dimensionally. In this example, the robot arm 120 is a vertically articulated robot arm. The robot arm 120 is supported by a base 130. The robot arm 120 has multiple links L and multiple joints J connecting the multiple links L. In this example, the robot arm 120 is a so-called seven-axis robot, having seven joints J. Specifically, the robot 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, which are connected in series from the base 130 side. The seventh link L7 is located at the tip of the robot 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 a fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected by a fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected by a sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected by a seventh joint J7.

[0016] The connector extraction tool 10 is connected to a seventh link L7 at the tip of the robot arm 120. In other words, the connector extraction tool 10 is connected to the robot arm 120 so as to be rotatable around a seventh axis. The connector extraction tool 10 is an end effector attached to the robot arm 120.

[0017] The robot arm 120 has servo motors 121 (see FIG. 8) that rotate and drive each joint. Each servo motor 121 has an encoder 122 (see FIG. 8).

[0018] The robot 110 further includes an imaging device 140. The imaging device 140 is attached to the robot arm 120. Specifically, the imaging device 140 is attached to the sixth link L6 of the robot arm 120. The imaging device 140 captures two-dimensional images or three-dimensional images. The imaging device 140 outputs the captured images to the control device 150.

[0019] 5 is a perspective view of the connector extraction tool 10. The connector extraction tool 10 includes a plurality of claws 2 that can be opened and closed in a first direction X, a main body 3 that can move relative to the plurality of claws in a second direction Y that intersects the first direction X, and a guide 4 that guides the plurality of claws 2 during relative movement between the plurality of claws 2 and the main body 3 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 between the plurality of claws 2 and the main body 3. The connector extraction tool 10 opens and closes the plurality of claws 2 in the first direction X by the relative movement between the plurality of claws 2 and the main body 3 in the second direction Y. The connector extraction tool 10 may further include an actuator 5 that moves one of the plurality of claws 2 and the main body 3 relative to the other.

[0020] In this example, the first direction X and the second direction Y are perpendicular to each other. The advancing side in the second direction Y means the side from which the multiple claws 2 relatively advance from the main body 3 in the second direction Y. The retreating side in the second direction Y means the side from which the multiple claws 2 relatively retreat into the main body 3 in the second direction Y. The dimension in the first direction X is also referred to as width. The dimension in the second direction Y is also referred to as length. The dimension in the direction perpendicular to both the first direction X and the second direction Y is also referred to as thickness.

[0021] FIG. 6 is a cross-sectional view of the connector extraction tool 10 with the multiple claws 2 positioned in the retracted position. FIG. 6 is a cross-sectional view of the connector extraction tool 10 taken along a plane parallel to the first direction X and the second direction Y. The multiple claws 2 include a first claw 2A and a second claw 2B. The first claw 2A and the second claw 2B are arranged to face each other across a reference axis A extending in the second direction Y. That is, the first claw 2A and the second claw 2B are spaced apart in the first direction X. The first claw 2A and the second claw 2B have shapes that are line-symmetrical about the reference axis A. That is, the shape of the second claw 2B is the inverted shape of the first claw 2A with respect to the reference axis A. Hereinafter, when there is no need to distinguish between the first claw 2A and the second claw 2B, they will be simply referred to as "claw 2." The inner side of a claw 2 refers to the closed side in the first direction X, i.e., the side facing another claw 2. The outer side of a claw 2 means the opening side in the first direction X, i.e. the side opposite to the other claws 2 .

[0022] The claws 2 have an elongated shape extending in the second direction Y as a longitudinal direction. The claws 2 have two ends in the second direction Y. Of the two ends, the end on the advancing side in the second direction Y is referred to as a first end 21, and the end on the retreating side in the second direction Y is referred to as a 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 and form a single second end 22.

[0023] The inside of the first end 21 of the claw 2 has a shape corresponding to the outer shape of the connector plug 92. Specifically, the first end 21 has a first recess 23 into which the protrusion 95a of the connector plug 92 fits, and a first protrusion 24 that fits into the recess 95b of the connector plug 92. The inside of the first end 21 of the claw 2 may further have a shape corresponding to the outer shape of the cap 96. Specifically, the first end 21 has a second recess 25 into which the protrusion 96a of the cap 96 fits, and a second protrusion 26 that fits into the recess 96b of the cap 96. The first recess 23, the first protrusion 24, the second recess 25, and the second protrusion 26 are aligned in this order toward the advancing side in the second direction Y.

[0024] The first end 21 of the claw 2 is inclined with respect to the reference axis A so as to open in the first direction X toward the advancing side in the second direction Y. In other words, the distance between the first end 21 of the first claw 2A and the first end 21 of the second claw 2B becomes larger toward the advancing side in the second direction Y.

[0025] The intermediate portion 20 of the claw 2, i.e., the portion between the first end 21 and the second end 22, extends along the reference axis A, specifically, substantially parallel to the reference axis A.

[0026] The width of at least a portion of the second end 22 is greater than the overall width of the multiple claws 2 in the intermediate portion 20, i.e., the dimension from the outside of the first claw 2A to the outside of the second claw 2B in the first direction X. Specifically, the second end 22 has an enlarged portion 22a. The enlarged portion 22a is located on the edge of the second end 22 on the receding 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 22 other than the enlarged portion 22a, and is greater than the overall width of the multiple claws 2 in the intermediate portion 20.

[0027] The claws 2 are formed of an elastically deformable material. For example, the claws 2 are formed of resin. Specifically, the intermediate portion 20 of the claws 2 can bend due to elastic deformation. In each claw 2, the second moment of area of ​​the intermediate portion 20 is smaller than the second moment of area of ​​the first end portion 21 or the second end portion 22. This makes the intermediate portion 20 more susceptible to elastic deformation than the first end portion 21 or the second end portion 22.

[0028] The plurality of claws 2 open and close in the first direction X. Specifically, the spacing between the first ends 21 of the plurality of claws 2 in the first direction X can change as the intermediate portion 20 elastically deforms.

[0029] In this example, the main body 3 includes a guide 4. More specifically, as shown in Fig. 5, the main body 3 includes a first support plate 31A and a second support plate 31B that face 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 coupled in a state where they face each other in a direction perpendicular to the first direction X and the second direction Y.

[0030] The main body 3 has an elongated shape in the second direction Y. The dimension of the main body 3 in the first direction X is smaller than the dimension of the main body 3 in the second direction Y. The dimension of the main body 3 in a direction perpendicular to both the first direction X and the second direction Y is smaller than the dimension of the main body 3 in the second direction Y.

[0031] As shown in Fig. 6, the main body 3 has an accommodation space 33 therein that accommodates a plurality of claws 2. More specifically, grooves are formed on the inside of each of the first support plate 31A and the second support plate 31B. The accommodation space 33 is defined by the grooves in the first support plate 31A and the second support plate 31B. The accommodation space 33 extends in the second direction Y. The accommodation space 33 opens at the end of the main body 3 on the advancing side in the second direction Y.

[0032] The accommodation space 33 has a first space 33A that accommodates at least the first end 21 of the claw 2, a second space 33B that accommodates the middle portion 20 of the claw 2, and a third space 33C that accommodates at least the second end 22 of the claw 2. The first space 33A, the second space 33B, and the third space 33C are aligned in this order toward the retreating side in the second direction Y. The first space 33A is open at the end of the main body 3 that is on the advancing side in the second direction Y.

[0033] The width of the first space 33A is slightly larger than the overall width of the first end portions 21 of the plurality of claws 2 when the intermediate portions 20 are not elastically deformed. The width of the second space 33B is slightly larger than the overall width of the intermediate portions 20 of the plurality of claws 2 when the intermediate portions 20 are not elastically deformed. The width of the third space 33C is slightly larger than the width of the second end portions 22. The width of the second space 33B is smaller than the width of the first space 33A and also smaller than the width of the third space 33C.

[0034] The multiple claws 2 are movable in the second direction Y within the accommodation space 33. The second end 22 moves in the second direction Y within the third space 33C. A majority of the intermediate portion 20 moves in the second direction Y within the second space 33B. A portion of the intermediate portion 20 also moves within the first space 33A or the third space 33C. The first end 21 moves in the second direction Y within the first space 33A. The first end 21 can advance from the first space 33A to the outside of the main body 3 in the second direction Y. In other words, the first end 21 can protrude from the main body 3 in the second direction Y.

[0035] As shown in Fig. 5, the main body 3 has a slit 35 extending in the second direction Y from an edge on the advancing side in the second direction Y. In this example, the first support plate 31A has the slit 35. The slit 35 extends in the second direction Y from an edge on the advancing side of the first support plate 31A in 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 disposed between the multiple claws 2. In other words, with respect to the position in the first direction X, the slit 35 coincides with the reference axis A.

[0036] The guide 4 guides the plurality of claws 2 to open in the first direction X during an advancing operation in which the plurality of claws 2 move relatively to advance from the main body 3, and guides the plurality of claws 2 to close in the first direction X during a retreating operation in which the plurality of claws 2 move relatively to retreat into the main body 3. More specifically, the guide 4 has guide grooves 41. As shown in FIG. 6 , the guide grooves 41 include a first guide groove 41A that guides the first claw 2A and a second guide groove 41B that guides the second claw 2B. The first guide groove 41A and the second guide groove 41B are arranged to face each other across the reference axis A. That is, the first guide groove 41A and the second guide groove 41B are spaced apart in the first direction X. The first guide groove 41A and the second guide groove 41B have shapes that are line-symmetrical about the reference axis A. That is, the shape of the second guide groove 41B is a shape obtained by inverting the shape of the first guide groove 41A with respect to the reference axis A. Hereinafter, when there is no need to distinguish between the first guide groove 41A and the second guide groove 41B, they will be simply referred to as "guide groove 41."

[0037] In this example, the first guide groove 41A and the second guide groove 41B are disposed in the first support plate 31A and the second support plate 31B, respectively. That is, the first support plate 31A and the second support plate 31B each function as a guide 4. The first guide groove 41A disposed in the first support plate 31A and the first guide groove 41A disposed in the second support plate 31B have the same shape. The second guide groove 41B disposed in the first support plate 31A and the second support plate 31B have the same shape. The first guide groove 41A and the second guide groove 41B are disposed in portions of the first support plate 31A and the second support plate 31B that define 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.

[0038] The guide groove 41 includes a first groove 42 inclined with respect to the second direction Y so as to be positioned closer to the opening side in the first direction X as it advances in the second direction Y, and a second groove 43 extending in the second direction Y. The first groove 42 and the second groove 43 are aligned in this order as they extend toward the retreating side in the second direction Y. In other words, the first groove 42 of the first guide groove 41A and the first groove 42 of the second guide groove 41B are spaced farther apart in the first direction X as they advance toward the advancement side in the second direction Y. The second groove 43 of the first guide groove 41A and the second groove 43 of the second guide groove 41B are generally parallel to each other. The inclination angle of the first groove 42 with respect to the second direction Y, i.e., the reference axis A, is less than 45 degrees.

[0039] The guide grooves 41 slidably support the corresponding claws 2. More specifically, each claw 2 has a pin 27 that fits into the corresponding guide groove 41. The pin 27 is disposed in a portion of the claw 2 that is closer to the advancing side than the center in the second direction Y. Preferably, the pin 27 is disposed in the most advancing side when the claw 2 is divided into three parts in the second direction Y. In this example, the pin 27 is disposed at the first end 21 of the claw 2. The pin 27 extends in the thickness direction of the claw 2 and protrudes from the claw 2 on both sides 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 manner, the guide groove 41 slidably supports the first end 21 of the corresponding claw 2 via the pin 27.

[0040] When the pin 27 is positioned in the second groove 43, the intermediate portion 20 of the claw 2 extends linearly and substantially parallel to the second direction Y. At this time, the overall width of the first end portions 21 of the multiple claws 2 is smaller than the width of the main body 3, specifically, smaller than the width of the opening of the first space 33A of the main body 3.

[0041] When the pin 27 is positioned in the first groove 42, the intermediate portion 20 of the claw 2 is curved in the first space 33A and expands toward the opening side in the first direction X. The overall width of the first end portions 21 of the multiple claws 2 is greater than the width of the main body 3. The first end portions 21 extend outward from the main body 3.

[0042] The actuator 5 includes a motor. For example, the motor is a servo motor 50a (see FIG. 8). The servo motor 50a has an encoder 50b (see FIG. 8). As shown in FIG. 5, the actuator 5 has a housing 51 that houses the motor. The actuator 5 is attached to the main body 3. Specifically, the housing 51 is attached to the second support plate 31B of the main body 3.

[0043] As shown in FIG. 6 , the actuator 5 includes a disk 52 that is rotatable around a rotation axis B that is perpendicular to both the first direction X and the second direction Y. The disk 52 is coupled to an output shaft of the actuator 5 so that a driving force can be transmitted. For example, the disk 52 is fixedly attached to the output shaft of the actuator 5. Note that the disk 52 may also be coupled to the output shaft of the actuator 5 via one or more gears. The actuator 5 outputs a rotational driving force to rotate the disk 52 around the rotation axis B. The disk 52 has a pin 53. The pin 53 extends in the thickness direction of the jaw 2. The pin 53 is disposed within the accommodation space 33 of the main body 3. Specifically, the pin 53 is disposed within the third space 33C. When the disk 52 rotates, the pin 53 rotates integrally with the disk 52. The pin 53 moves in an arc around the rotation axis B within the accommodation space 33, specifically, the third space 33C.

[0044] The pawl 2 has a groove 28 into which the pin 53 fits. The groove 28 is located at the second end 22 of the pawl 2. More specifically, the groove 28 is located at a portion of the second end 22 where the width is expanded. The groove 28 extends in the first direction X. The groove 28 penetrates the pawl 2 in the thickness direction. The pin 53 is relatively movable within the groove 28 in the first direction X. When the pin 53 moves in an arc around the rotation axis B, the pin 53 moves within the groove 28 in the first direction X. A component of the arc movement of the pin 53 in the second direction Y acts on the pawl 2. In other words, the arc movement of the pin 53 drives the pawl 2 in the second direction Y.

[0045] 5 , the connector extraction tool 10 has an attachment 6 for attachment to a robot arm 120. The attachment 6 has a plate 60 attached to the robot arm 120 and a shaft 61 extending from the plate 60. The attachment 6 supports the main body 3 so that it can move in the second direction Y, and absorbs the movement of the main body 3 in the second direction Y.

[0046] For example, the plate 60 has a disk shape. The thickness direction of the plate 60 is substantially parallel to the second direction Y.

[0047] The shaft 61 includes a first shaft 61A, a second shaft 61B, and a third shaft 61C. The first shaft 61A, the second shaft 61B, and the third shaft 61C each extend substantially parallel to the second direction Y. The first shaft 61A, the second shaft 61B, and the third shaft 61C each extend from the plate 60 toward the advancing side in the second direction Y. With respect to the position in the first direction X, the first shaft 61A is disposed between the second shaft 61B and the third shaft 61C. With respect to the position in the direction perpendicular to both the first direction X and the second direction Y, the second shaft 61B and the third shaft 61C are disposed at substantially the same position, and the first shaft 61A is offset from the second shaft 61B and the third shaft 61C.

[0048] The main body 3 has a first guide 62A that supports the first shaft 61A so that it can move in the second direction Y. The first guide 62A has a cylindrical shape. The first shaft 61A is slidably inserted into the first guide 62A. The first shaft 61A has a stopper (not shown) that prevents it from coming off the first guide 62A. The first guide 62A is disposed on a first support plate 31A.

[0049] The actuator 5 has a second guide 62B that supports the second shaft 61B movably in the second direction Y, and a third guide 62C that supports the third shaft 61C movably in the second direction Y. The second guide 62B and the third shaft 61C each have a cylindrical shape. 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 retaining member (not shown) that prevents it from coming off the second guide 62B. The third shaft 61C has a retaining member (not shown) that prevents it from coming off the third guide 62C. The second guide 62B and the third shaft 61C are each disposed on the housing 51.

[0050] The attachment 6 has a spring 63 that absorbs movement of the main body 3 toward the retreating side in the second direction Y. In this example, the spring 63 is attached to the second shaft 61B and the third shaft 61C. More specifically, the second shaft 61B is inserted into the spring 63. The spring 63 is disposed between the plate 60 and the second guide 62B. The third shaft 61C is inserted into the spring 63. The spring 63 is disposed between the plate 60 and the third guide 62C.

[0051] The main body 3 is supported by the attachment 6 via the shaft 61 so as to be movable in the second direction Y. When the main body 3 moves backward in the second direction Y relative to the attachment 6, the spring 63 undergoes compressive deformation to absorb the movement of the main body 3. The compressive deformation of the spring 63 acts as resistance, suppressing the movement of the main body 3 backward in the second direction Y.

[0052] The operation of the connector extraction tool 10 configured as described above will be described below. Figure 7 is a cross-sectional view of the connector extraction tool 10 when the multiple claws 2 are in the advanced position. Figure 7 is a cross-sectional view of the connector extraction tool 10 cut along a plane parallel to the first direction X and the second direction Y.

[0053] When the pin 53 of the actuator 5 is in the first rotation position, as shown in FIG. 7 , the multiple pawls 2 are in an advanced position in the second direction Y. The advanced position is a position where the multiple pawls 2 are advanced from the main body 3 in the second direction Y. The pin 27 of each pawl 2 is positioned in the first groove 42 of the corresponding guide groove 41. The first end 21 of each pawl 2 is relatively far from the reference axis A in the first direction X. In other words, the distance between the first pawl 2A and the second pawl 2B in the first direction X is relatively wide. In the advanced position, the first pawl 2A and the second pawl 2B are open in the first direction X and protrude from the main body 3 in the second direction Y. Note that, as the first end 21 of each pawl 2 moves toward the opening side in the first direction X, the middle portion 20 of each pawl 2 is elastically deformed and curved.

[0054] When the claws 2 are retracted in the second direction Y, the actuator 5 moves the pins 53 in an arc from the first rotation position toward the retraction side in the second direction Y. The arc movement of the pins 53 is converted into linear movement in the second direction Y by the sliding of the pins 53 within the grooves 28. As a result, the multiple claws 2 move toward the retraction side in the second direction Y. This movement of the multiple claws 2 is referred to as the "retraction movement." During the retraction movement, the pins 27 of each claw 2 slide within the corresponding guide grooves 41 and move from the first groove 42 to the second groove 43. As the pins 27 move from the first groove 42 toward the second groove 43, the pins 27 move toward the retraction side in the second direction Y while also moving toward the closing side in the first direction X. In other words, the first claw 2A and the second claw 2B retract into the main 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 distance between the first claw 2A and the second claw 2B in the first direction X does not change. In other words, the first claw 2A and the second claw 2B move in the second direction Y without changing the distance between them in the first direction X.

[0055] When the pin 53 of the actuator 5 is in the second rotation position, as shown in FIG. 6 , the multiple pawls 2 are in a retracted position in the second direction Y. With respect to the position in the second direction Y, the second rotation position is a position further retracted than the first rotation position. The retracted position is a position where the multiple pawls 2 are retracted into the main body 3 in the second direction Y. The pin 27 of each pawl 2 is positioned in the second groove 43 of the corresponding guide groove 41. The first end 21 of each pawl 2 is relatively close to the reference axis A in the first direction X. In other words, the distance between the first pawl 2A and the second pawl 2B in the first direction X is relatively narrow. In the retracted position, the first pawl 2A and the second pawl 2B are closed in the first direction X and housed within the main body 3. Note that, as the first end 21 of each pawl 2 moves toward the closing side in the first direction X, the elastic deformation of the middle portion 20 of each pawl 2 is reduced, and the middle portion 20 becomes substantially linear.

[0056] When the pawl 2 advances in the second direction Y, the actuator 5 moves the pin 53 in an arc from the second rotation position toward the advancement side in the second direction Y. The arc movement of the pin 53 is converted into linear motion in the second direction Y by sliding of the pin 53 within the groove 28. As a result, the multiple pawls 2 move toward the advancement side in the second direction Y. This movement of the multiple pawls 2 is referred to as an "advancement movement." During the advancement movement, the pin 27 of each pawl 2 slides within the corresponding guide groove 41 and moves from the second groove 43 to the first groove 42. When the pin 27 moves within the second groove 43, the first pawl 2A and the second pawl 2B move in the second direction Y without changing the distance between them in the first direction X. When the pin 27 moves within the first groove 42, the pin 27 moves toward the advancement side in the second direction Y while also moving toward the opening side in the first direction X. That is, the first claw 2A and the second claw 2B advance from the main body 3 in the second direction Y and open in the first direction X.

[0057] In this way, the actuator 5 moves the multiple claws 2 relative to the main body 3 in the second direction Y. The multiple claws 2 are guided by the guide 4 when moving relative to the main body 3. The guide 4 guides the multiple claws 2 to open in the first direction X during an advancing operation in which the multiple claws 2 move relatively to advance away from the main body 3, and guides the multiple claws 2 to close in the first direction X during a retreating operation in which the multiple claws 2 move relatively to retreat toward the main body 3. In this way, the multiple claws 2 open and close in the first direction X by moving relatively in the second direction Y with respect to the main body 3.

[0058] FIG. 8 is a diagram showing a schematic hardware configuration of the control device 150. The control device 150 receives an image captured by the imaging device 140. The control device 150 controls the servo motor 121 of the robot arm 120 and the connector extraction 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 of the supplied current based on the output of the encoder 122. The control device 150 controls the actuator 5 of the connector extraction tool 10. Specifically, the control device 150 supplies current to the servo motor of the actuator 5 and performs feedback control of the supplied current based on the output of the encoder of the servo motor. For example, the control device 150 moves the connector extraction tool 10 to the connector plug 92 using the robot arm 120 and causes the connector extraction tool 10 to extract the connector plug 92 from the adapter 91.

[0059] The control device 150 includes a processor 151 , a storage device 152 , and a memory 153 .

[0060] The processor 151 controls the entire control device 150. The processor 151 performs various types of arithmetic processing. For example, the processor 151 is formed of a processor such as a CPU (Central Processing Unit). The processor 151 may be formed of an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, or the like.

[0061] The storage unit 152 stores programs and various data to be executed by the processor 151. For example, the storage unit 152 stores a robot control program. The storage unit 152 is formed of a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 153 temporarily stores data and the like. For example, the memory 153 is formed of a volatile memory.

[0062] 9 is a block diagram showing the configuration of the control system of the processor 151. The processor 151 realizes various functions by reading out the robot control program from the storage device 152 into the memory 153 and expanding it. Specifically, the processor 151 functions as a movement controller 155 that moves the robot arm 120, an opening / closing controller 156 that controls the connector extraction tool 10, and a position identifier 157 that identifies the position of the extraction target.

[0063] The movement controller 155 controls the current applied to the servo motor 121 to adjust the rotation angle of the joint J, thereby moving the robot arm 120. Hereinafter, the movement of the robot arm 120 will also include deformation of the robot arm 120, unless otherwise specified.

[0064] The opening / closing controller 156 controls the current applied to the servo motor 50a to open and close the multiple pawls 2. Specifically, the opening / closing controller 156 calculates a rotation angle position command (or torque command value) for the servo motor 50a in accordance with the target opening degrees of the multiple pawls 2, and outputs the calculated rotation angle position command to the servo amplifier of the servo motor 50a. The servo amplifier applies a current in accordance with the rotation angle position command to the servo motor 50a.

[0065] The position identifier 157 identifies the position of the object from the image captured by the imaging device 140. Specifically, the position identifier 157 identifies the connector plug 92 or the cap 96 in the captured image by image processing the captured image, and identifies the position of the connector plug 92 or the cap 96. Because the imaging device 140 is moved by the robot arm 120, the position of the imaging device 140 is known. Therefore, the position identifier 157 can identify the position of the subject in the captured image. If the captured image is a two-dimensional image, the position identifier 157 identifies the two-dimensional position of the object. If the captured image is a three-dimensional image, the position identifier 157 identifies the three-dimensional position of the object. The position identifier 157 also controls the imaging device 140. In other words, the position identifier 157 causes the imaging device 140 to capture an image.

[0066] The movement controller 155 and the opening / closing controller 156 cooperate to cause the robot arm 120 and the connector extraction tool 10 to perform the operation of extracting the object. More specifically, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10 to a position where it can grip the object, and the opening / closing controller 156 causes the connector extraction tool 10 to grip the object. When the connector extraction tool 10 grips the object, the movement controller 155 adjusts the position of the connector extraction tool 10. After the connector extraction tool 10 has gripped the object, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10, and extracts the object.

[0067] Next, a specific description will be given of the control of the connector extraction tool 10. Fig. 10 is a flowchart showing the extraction process of the robot 110. In this example, the object to be extracted is a connector plug 92.

[0068] First, in step S101, the movement controller 155 and the position identifier 157 capture an image of the target connector plug 92. Specifically, the movement controller 155 moves the robot arm 120 so that the imaging device 140 is positioned at a predetermined imaging position. The predetermined imaging position is a position determined in advance in accordance with the removal operation. For example, the imaging position is a position facing the connection board 9 and in which the target connector plug 92 is within the angle of view.

[0069] When the imaging device 140 is placed at the imaging position, the position identifier 157 causes the imaging device 140 to perform imaging. This results in an image of the target connector plug 92. The position identifier 157 identifies the position of the connector plug 92 from the image captured by the imaging device 140.

[0070] Next, in step S102, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10 to the standby position. At this time, the opening / closing controller 156 opens the plurality of claws 2. Specifically, the opening / closing controller 156 operates the actuator 5 to position the pin 53 at the first rotation position. As a result, the plurality of claws 2 are positioned at the advanced position and in an open state. The standby position is a position where the target connector plug 92 is placed between the plurality of claws 2. At the standby position, the tips of the plurality of claws 2 are in contact with the jig 99, specifically, with the reference surface 99a.

[0071] Furthermore, the movement controller 155 sets the connector extraction tool 10 to a ready attitude at the ready position. The ready attitude is the attitude of the connector extraction tool 10 when performing the extraction operation. Specifically, the ready attitude is an attitude in which the second direction Y coincides with the insertion direction of the connector plug 92 into the adapter 91. More specifically, the ready attitude is an attitude in which the reference axis A faces the insertion direction of the connector plug 92 into the adapter 91 and passes through the connector plug 92.

[0072] In addition, the movement controller 155 moves the connector extraction tool 10 to the ready position so that the optical fiber 94 connected to the connector plug 92 fits into the slit 35 of the main body 3. For example, when the first support plate 31A faces upward and the second support plate 31B faces downward, the movement controller 155 causes the connector extraction tool 10 to reach the ready position from a position slightly below the connector plug 92. When the first support plate 31A faces downward and the second support plate 31B faces upward, the movement controller 155 causes the connector extraction tool 10 to reach the ready position from a position slightly above the connector plug 92.

[0073] Next, in step S103, the gripping operation is performed. In this example, the movement controller 155 and the opening / closing controller 156 cooperate to perform the gripping operation. The opening / closing controller 156 operates the actuator 5 to move the pin 53 from the first rotation position toward the second rotation position. As a result, the multiple claws 2 close in the first direction X while retreating in the second direction Y relative to the main body 3. At this time, the movement controller 155 moves the connector extraction tool 10 closer to the adapter 91 in the second direction Y so as to cancel out the movement of the multiple claws 2 in the second direction Y in the absolute coordinate system. As a result, the positions of the tips of the multiple claws 2 in the second direction Y in the absolute coordinate system remain unchanged. While the multiple claws 2 move in the second direction Y relative to the main body 3, the connector plug 92 remains positioned between the multiple claws 2.

[0074] FIG. 11 is a cross-sectional view of the connector extraction tool 10 with the multiple claws 2 gripping the connector plug 92. Eventually, the multiple claws 2 grip the connector plug 92 from both sides in the first direction X. Specifically, as the pin 27 moves from the first groove 42 to the second groove 43 of the guide groove 41, the spacing between the multiple claws 2 in the first direction X becomes minimum, and the multiple claws 2 grip the connector plug 92 as shown in FIG. 11 . At this time, the convex portion 95 a of the connector plug 92 fits into the first concave portion 23 of the claw 2, and the first convex portion 24 of the claw 2 fits into the concave portion 95 b of the connector plug 92. As a result, the multiple claws 2 firmly grip the connector plug 92 not only by frictional force but also by the engagement between the first concave portion 23 and the convex portion 95 a and the engagement between the first convex portion 24 and the concave portion 95 b.

[0075] The gripping is completed when the pin 27 reaches a predetermined position in the second groove 43. In other words, the gripping is completed before the pin 53 reaches the second rotation position.

[0076] Once the gripping operation is completed, the extraction operation is performed in step S104. Specifically, the movement controller 155 causes the robot arm 120 to perform the extraction operation. However, in this example, before the extraction operation by the robot arm 120, the opening / closing controller 156 causes the connector extraction tool 10 to perform a preliminary extraction operation. The opening / closing controller 156 further operates the actuator 5 from the state in which gripping is completed, and moves the pin 53 further toward the second rotation position. At this time, the movement controller 155 stops the robot arm 120. In other words, the position of the main body 3 in the absolute coordinate system is fixed. The pin 27 moves within the second groove 43 toward the retreat side in the second direction Y. Because the second groove 43 is approximately parallel to the second direction Y, the multiple claws 2 retreat in the second direction Y relative to the main body 3 while gripping the connector plug 92. The connector plug 92 is extracted from the adapter 91 by the amount of retreat of the multiple claws 2.

[0077] Following the preliminary extraction operation, the movement controller 155 causes the robot arm 120 to perform the extraction operation. Specifically, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10 in the second direction Y away from the adapter 91. The movement controller 155 moves the connector extraction tool 10 only in the second direction Y at least until the connector plug 92 is completely extracted from the adapter 91. When the connector plug 92 is completely extracted from the adapter 91, the extraction operation is complete.

[0078] The extraction operation by the robot arm 120 is not limited to being performed after the preliminary extraction operation is completed, but may be started during the preliminary extraction operation or simultaneously with the preliminary extraction operation.

[0079] Thus, the process of extracting the robot 110 is completed.

[0080] The target of extraction may be a cap 96. In that case, the connector plug 92 in the above description is replaced with the cap 96. For example, in step S102, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10 to a position where the target cap 96 is disposed between the plurality of claws 2. In step S103, the plurality of claws 2 grip the cap 96 from both sides in the first direction X. At this time, the convex portions 96a of the cap 96 fit into the second concave portions 25 of the claws 2, and the second convex portions 26 of the claws 2 fit into the concave portions 96b of the cap 96. As a result, the plurality of claws 2 firmly grip the cap 96 not only by frictional force but also by the engagement between the second concave portions 25 and the convex portions 96a and the engagement between the second convex portions 26 and the concave portions 96b.

[0081] In addition, the robot 110 may perform not only the extraction process but also the insertion process, in which the connector plug 92 or the cap 96 gripped by the connector extraction tool 10 is inserted into the adapter 91.

[0082] For example, the movement controller 155 causes the robot arm 120 to move the connector extraction tool 10, which is gripping the connector plug 92 or the cap 96, to a position facing the target adapter 91. The movement controller 155 causes the robot arm 120 to move the connector extraction tool 10 in the second direction Y so as to approach the adapter 91, and inserts the connector plug 92 or the cap 96 into the adapter 91. When the connector plug 92 or the cap 96 is inserted into the adapter 91, the opening / closing controller 156 moves the multiple claws 2 relative to the main body 3 toward the advancing side in the second direction Y. At this time, the movement controller 155 moves the main body 3 in the second direction Y so that the absolute positions of the multiple claws 2 in the second direction Y do not change. When the grip of the connector plug 92 or the cap 96 by the multiple claws 2 is released, the insertion process is completed.

[0083] The connector extraction tool 10 configured in this manner opens and closes the multiple claws 2 in the first direction X by relative movement between the multiple claws 2 and the main body 3 in the second direction Y. Since the multiple claws 2 are not configured to open by pressing the ends opposite to their tips in the first direction X, the connector extraction tool 10 can be prevented from becoming thick overall.

[0084] Specifically, the guide 4 guides the multiple claws 2 to open in the first direction X during an advancing operation in which the multiple claws 2 move relatively out from the main body 3, and guides the multiple claws 2 to close in the first direction X during a retreating operation in which the multiple claws 2 move relatively back into the main body 3. More specifically, the guide 4 has a first groove 42 inclined with respect to the second direction Y. The first groove 42 converts a force for relatively moving the multiple claws 2 and the main body 3 in the second direction Y into a force for opening and closing the multiple claws 2. As a result, the multiple claws 2 open and close in the first direction X due to the relative movement between the multiple claws 2 and the main body 3 in the second direction Y. Providing such a guide 4 can prevent the connector extraction tool 10 from becoming thick overall.

[0085] Furthermore, the gripping force of the multiple claws 2 depends on the force for moving the multiple claws 2 and the main body 3 relatively in the second direction Y. The gripping force of the multiple claws 2 can be ensured by increasing the force for moving the multiple claws 2 and the main body 3 relatively. Therefore, there is no need to increase the size of the connector extraction tool 10, particularly its width. Furthermore, by making the inclination angle of the first groove 42 with respect to the second direction Y smaller than 45 degrees, the force for moving the multiple claws 2 and the main body 3 relatively can be efficiently converted into a force for opening and closing the multiple claws 2.

[0086] In this way, the connector extraction tool 10 can firmly grip an object while preventing it from becoming too large.

[0087] As described above, in a structure in which a pair of movable pieces are opened and closed by applying an elastic force to the rear ends of the pair of movable pieces in a direction substantially parallel to the opening and closing direction, a large bending moment acts on the movable pieces. If the movable pieces do not have sufficient strength, the connector plug will not be gripped unstably. Therefore, the movable pieces are required to have high strength. In particular, when gripping a connector plug located in a recessed position, it is preferable that such a tool have an elongated shape. If the shape of the tool is elongated, the length of the movable pieces will also increase, which is disadvantageous in terms of the strength of the movable pieces.

[0088] <Modification 1> Next, a connector extraction tool 210 according to Modification 1 will be described. Figure 12 is a side view of the connector extraction tool 210 according to Modification 1. Figure 13 is a cross-sectional view of the connector extraction tool 210 taken along line XIII-XIII in Figure 12. The connector extraction tool 210 differs from the connector extraction tool 10 mainly in the actuator 205. The following description will focus on the differences in the configuration of the connector extraction tool 210 from the connector extraction tool 10.

[0089] The connector extraction tool 210 includes a plurality of claws 202, a main body 203, a guide 4, and an actuator 205 that moves one of the plurality of claws 202 and the main body 203 relative to the other. The basic configuration of the plurality of claws 202, the main body 203, and the guide 4 is the same as that of the connector extraction tool 10.

[0090] The actuator 205 includes a motor 251, a disk 252, and a wire 253. The motor 251 is, for example, a servo motor. As shown in FIG. 12 , the actuator 205 has a housing 254 that houses the motor 251. The housing 254 is attached to the main body 203. Specifically, the housing 254 is attached to the end surface of the main body 203 on the retreating side in the second direction Y. The housing 254 is arranged so that the rotation axis B of the motor 251 faces the second direction Y.

[0091] The disk 252 is disposed within the housing 254. The disk 252 is coupled to the output shaft of the motor 251 so that a driving force can be transmitted thereto. For example, the disk 252 is fixedly attached to the output shaft of the motor 251. In other words, the disk 252 rotates about a rotation axis B that extends substantially parallel to the second direction Y. Note that the disk 252 may be coupled to the output shaft of the motor 251 via one or more gears.

[0092] The wire 253 is laid inside the main body 203. Within the main body 203, a plurality of claws 202 are attached to the wire 253. The wire 253 is connected to the disk 252, and is pulled by the rotation of the disk 252, thereby moving within the main body 203. As the wire 253 moves, the plurality of claws 202 move in the second direction Y. As the direction of rotation of the disk 252 changes, the direction of movement of the wire 253 within the main body 203, i.e., the direction of movement of the plurality of claws 202, changes.

[0093] Specifically, the accommodation space 33 of the main body 203 has a first space 33A in which at least the first end 21 of the claw 202 is accommodated, and a second space 33B in which at least the second end 22 of the claw 202 is accommodated. The middle portion 20 of the claw 202 moves through the first space 33A and the second space 33B. In addition to the accommodation space 33, the main body 203 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 alongside the accommodation space 33, specifically the second space 33B, in the first direction X. The wire space 236 is in communication with the accommodation space 33. A first passage 237 communicating the accommodation space 33 with the interior space of the housing 254 and a second passage 238 communicating the wire space 236 with the interior space of the housing 254 are arranged at the retracted end of the main body 203 in the second direction Y.

[0094] The wire 253 extends through the accommodation space 33 toward the advancing side in the second direction Y, enters the wire space 236 from the accommodation space 33, turns back in the wire space 236 toward the retreating side in the second direction Y, and extends through the wire space 236 toward the retreating side in the second direction Y. The second ends 22 of the multiple claws 202 are fixed to portions of the wire 253 that are located within the accommodation space 33. Multiple pulleys are arranged in the main body 203. The wire 253 is wound around the multiple pulleys and bent via the pulleys.

[0095] The portion of the wire 253 laid in the accommodation space 33 extends to the internal space of the housing 254 via the first passage 237. The portion of the wire 253 laid in the wire space 236 extends to the internal space of the housing 254 via the second passage 238.

[0096] The wire 253 is connected to the disk 252 in the internal space of the housing 254 so that tension acts on the wire 253 when the direction of rotation of the disk 252 is changed. The wire 253 is connected to the disk 252 so that the direction of tension on the wire 253 is changed when the direction of rotation of the disk 252 is changed.

[0097] In this example, the portion of wire 253 that enters housing 254 via first passage 237 is fixed to first fixing point 252a on the outer circumferential surface of disk 252. The portion of wire 253 that enters housing 254 via second passage 238 is fixed to second fixing point 252b on the outer circumferential surface of disk 252.

[0098] In this example, the portion of wire 253 that enters housing 254 via first passage 237 and the portion of wire 253 that enters housing 254 via second passage 238 are connected to each other and wound around the outer circumferential surface of disk 252. Wire 253 is fixed to disk 252 at first fixing point 252a and second fixing point 252b on the outer circumferential surface of disk 252. However, the portion of wire 253 that enters housing 254 via first passage 237 and the portion of wire 253 that enters housing 254 via second passage 238 may be separated from each other and fixed separately to the outer circumferential surface of disk 252.

[0099] In this example, first fixed point 252a and second fixed point 252b are at different angular positions about rotation axis B. However, first fixed point 252a and second fixed point 252b may be at the same angular position about rotation axis B. In other words, the portion of wire 253 that enters housing 254 via first passage 237 and the portion of wire 253 that enters housing 254 via second passage 238 may be fixed to one location on the outer circumferential surface of disk 252.

[0100] As a result, when the direction of rotation of the disk 252 is switched, the portion of the wire 253 passing through the first passage 237 and the portion passing through the second passage 238 that is retracted into the housing 254 are switched. In other words, the portion of the wire 253 that is laid in the housing space 33 is switched between moving forward and backward in the second direction Y. When the direction of movement of the portion of the wire 253 that is laid in the housing space 33 is switched, the direction of movement of the multiple claws 202 is switched. Specifically, when the portion of the wire 253 that passes through the first passage 237 is retracted into the housing 254, the portion of the wire 253 that is laid in the housing space 33 moves backward in the second direction Y, and accordingly, the multiple claws 202 move backward in the second direction Y. At this time, the portion of the wire 253 that passes through the second passage 238 moves from within the housing 254 toward the wire space 236. On the other hand, when the portion of the wire 253 passing through the second passage 238 is pulled into the housing 254, the portion of the wire 253 laid in the accommodation space 33 moves toward the advancing side in the second direction Y, and accordingly, the plurality of claws 202 move toward the advancing side in the second direction Y. At this time, the portion of the wire 253 passing through the first passage 237 moves from inside the housing 254 toward the accommodation space 33.

[0101] In this example, the actuator 205 further includes a spring 255 that slackens a portion of the wire 253. The spring 255 is, for example, a coil spring. The spring 255 is disposed in the wire space 236. Different portions of the wire 253 are fixed to both ends of the spring 255. The portion of the wire 253 between the two points fixed to the spring 255 is slack when the spring 255 is at its natural length. In other words, when the slack portion of the wire 253 is in a tensile state, the spring 255 elastically deforms in the tensile direction.

[0102] 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 extraction tool 210 is brought close to 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 surface 90 of the connection board 9 or the jig 99. In this case, an external force acts on the multiple claws 202 in the retracting direction in the second direction Y. The portion of the wire 253 laid in the wire space 236 is pulled toward the housing space 33. Because the spring 255 partially slackens the wire 253, the slack portion of the wire 253 becomes taut, and the spring 255 deforms to extend. In this way, the tension generated in the wire 253 is absorbed by the spring 255. This reduces the external force transmitted to the disk 252 and, ultimately, to the motor 251.

[0103] On the other hand, when the wire 253 is pulled by the disk 252 to drive the multiple pawls 202, the slack portion of the wire 253 becomes taut and the spring 255 is deformed to extend. Because both ends of the spring 255 are fixed to the wire 253, once the spring 255 extends until the slack in the wire 253 is removed, the spring 255 cannot extend any further. When the slack in the wire 253 is removed, tension is transmitted to the entire wire 253. When the multiple pawls 202 are retracted in the second direction Y, the actuator 205 rotates the disk 252 so that the wire 253 is pulled into the housing 254 through the first passage 237. The portion of the wire 253 closer to the first passage 237 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 second passage 238 than the spring 255 does not move much until the spring 255 expands and the slack in the wire 253 is removed, and then moves once the slack in the wire 253 is removed. In other words, when the multiple pawls 202 are moved back in the second direction Y, the multiple pawls 202 can be moved instantly in response to the rotation of the disk 252. On the other hand, when the multiple pawls 202 are moved forward in the second direction Y, the actuator 205 rotates the disk 252 so that the wire 253 is pulled 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 expands and the slack in the wire 253 is removed, and then moves once the slack in the wire 253 is removed. That is, when the plurality of claws 202 are advanced in the second direction Y, the plurality of claws 202 do not move very much immediately even when the disk 252 rotates, but start to move when the slack in the wire 253 is taken up.

[0104] In such a connector extraction tool 210, the actuator 205 can be arranged so that the rotation axis B of the motor 251 is approximately parallel to the second direction Y. As a result, the dimension of the connector extraction tool 210 in the direction perpendicular to the second direction Y, i.e., the thickness of the connector extraction tool 210, can be reduced.

[0105] By using the wire 253, it is possible to realize movement of the multiple claws 202 in the second direction Y by the motor 251 whose rotation axis B faces the second direction Y. In addition, by partially loosening the wire 253 with the spring 255, the spring 255 can absorb the external force acting on the multiple claws 202, thereby protecting the motor 251. As a result, it is possible to reduce the burden of positioning the connector extraction tool 210. In other words, it is possible to allow the multiple claws 202 to come into contact with something when moving the connector extraction tool 210 to a target position. The connector extraction tool 210 can be moved with reduced positioning accuracy.

[0106] <Modification 2> Next, a connector extraction tool 310 according to Modification 2 will be described. Figure 14 is a side view of the connector extraction tool 310 according to Modification 2. Figure 15 is a cross-sectional view of the connector extraction tool 310 taken along line XV-XV in Figure 14. The connector extraction tool 310 differs from the connector extraction tool 10 mainly in that it does not have an actuator 5. The following description will focus on the differences between the configuration of the connector extraction tool 310 and the connector extraction tool 10.

[0107] The connector extraction tool 310 includes a plurality of claws 302, a main body 303, a guide 4, an elastic member 307 that biases the plurality of claws 302 in the second direction Y so as to move out from the main body 303, and a lock 308 that holds the plurality of claws 302 in a retracted state in which they are retracted into the main body 303 against the elastic force of the elastic member 307. The basic configuration of the plurality of claws 302, the main body 303, and the guide 4 is the same as that of the connector extraction tool 10.

[0108] The multiple claws 302 are guided by the guide 4 to open and close in the first direction X when moving in the second direction Y relative to the main body 303. The multiple claws 302 can move relatively to the main body 303 toward the retreating side in the second direction Y against the elastic force of the elastic member 307. The lock 308 holds the multiple claws 302 in a retreated state against the elastic force of the elastic member 307. In other words, the lock 308 holds the multiple claws 302 in a closed state in the first direction X.

[0109] The connector extraction tool 310 is moved by the robot arm 120. With the plurality of claws 302 in contact with something on the advancing side in the second direction Y, the main body 303 is further moved toward the advancing side in the second direction Y, whereby the plurality of claws 302 move toward the retreating side in the second direction Y relative to the main body 303. When the plurality of claws 302 retreat in the second direction Y, the lock 308 holds the plurality of claws 302 in the retreated state.

[0110] 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 arranged in the accommodation space 33 of the main body 303. Specifically, the accommodation space 33 has a first space 33A that accommodates at least the first end 21 of the claw 302 and a second space 33B that accommodates at least the second end 22 of the claw 302. The middle portion 20 of the claw 302 moves through the first space 33A and the second space 33B. The elastic member 307 is arranged in the second space 33B of the accommodation space 33. In the second space 33B, the elastic members 307 are arranged on the opening side in the first direction X with respect to each of the first claw 302A and the second claw 302B. The elastic members 307 are arranged so as to be elastically deformable in the second direction Y.

[0111] The plurality of claws 302 have protruding pieces 329 that engage with the elastic member 307. More specifically, the first claw 302A and the second claw 302B each have a protruding piece 329 that protrudes toward the opening side in the first direction X. The protruding piece 329 is disposed in the middle portion 20 of the claw 302. The protruding piece 329 is disposed in the second space 33B of the accommodation space 33.

[0112] The main body 303 has a support wall 339 that is disposed in the second space 33B and supports the elastic member 307. Because the connector extraction tool 310 has two elastic members 307, the main body 303 has two support walls 339. The support wall 339 is disposed in a position facing the protruding piece 329 of the claw 302 on the retreating side in the second direction Y.

[0113] The elastic member 307 is disposed in a compressed state between the protruding piece 329 of the claw 302 and the support wall 339 of the main body 303. The elastic member 307 exerts an elastic force that presses the protruding piece 329 toward the advancing side in the second direction Y. In other words, the multiple claws 302 are urged toward the advancing side in the second direction Y by the elastic member 307. When no external force is acting on the multiple claws 302, the urging of the elastic member 307 positions the pin 27 at the end of the first groove 42 of the guide groove 41 on the advancing side in the second direction Y. In other words, the multiple claws 302 are in a state where they have advanced most from the main body 303 in the second direction Y and are open in the first direction X.

[0114] The lock 308 has an engagement piece 381 coupled to the plurality of claws 302 , an engagement portion 382 disposed on the main body 303 , and a lock guide 384 disposed on the main body 303 .

[0115] The engaging piece 381 is coupled to the second ends 22 of the multiple claws 302. In the connector extraction tool 310, the second ends 22 of the first claw 302A and the second claw 302B are also connected to each other to form a single second end 22. The engaging piece 381 extends from the second end 22 toward the retreating side in the second direction Y. The engaging piece 381 is formed of an elastically deformable material. For example, the engaging piece 381 is formed of resin. The engaging piece 381 can bend due to elastic deformation. A pin 381a is disposed at the tip end of the engaging piece 381, i.e., the end on the rear end side in the second direction Y. The pin 381a extends in the thickness direction of the engaging piece 381 and protrudes from the engaging piece 381 on both sides in the thickness direction. The engaging piece 381 moves in the second direction Y integrally with the multiple claws 302.

[0116] The engaging piece 381 engages with the engaging portion 382 when the multiple claws 302 are in a retracted state. The retracted state of the multiple claws 302 refers to a state in which the multiple claws 302 are retracted in the second direction Y and are more closed than when the multiple claws 302 are fully open. In this example, the pin 27 is positioned in the second groove 43, and the multiple claws 302 are in their most closed state. In the second space 33B, the engaging portion 382 is positioned on the retracted side in the second direction Y of the second end 22 when the multiple claws 302 are in the advanced state. The engaging portion 382 is positioned on the advanced side in the second direction Y of the pin 381a when the multiple claws 302 are in the retracted state. The engaging portion 382 is recessed on the advanced side in the second direction Y so that the pin 381a can fit into it.

[0117] The lock guide 384 guides the engagement pieces 381 between a first position where the engagement pieces 381 are disengaged from the engagement portions 382 and a second position where the engagement pieces 381 are engaged with the engagement portions 382 in response to the relative movement between the multiple claws 302 and the main body 303. In other words, the lock guide 384 guides the engagement pieces 381 from the first position to the second position, causing the lock 308 to lock the multiple claws 302 in the retracted state. The lock guide 384 guides the engagement pieces 381 from the second position to the first position, causing the lock 308 to unlock the multiple 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 pieces 381. In this example, the lock guide 384 is disposed on both the first support plate 31A and the second support plate 31B. Grooves into which the pin 381a enter are formed in the first support plate 31A and the second support plate 31B. The side walls of the groove form the lock guide 384 .

[0118] FIG. 16 is an enlarged view of the lock guide 384 in the cross section of the connector extraction tool 310 of FIG. 15 . Specifically, when the multiple claws 302 and the main body 303 retract from a state in which the engagement piece 381 is located in the first position, the lock guide 384 guides the engagement piece 381 to a first retracted position that is further retracted in the second direction Y than the second position. Specifically, the first position is the position of the engagement piece 381 when the multiple claws 302 are not held in the retracted state, and is the position of the engagement piece 381 when the multiple claws 302 are advanced in the second direction Y from the retracted state. In this example, the first position is the position of the engagement piece 381 when the multiple claws 302 are positioned furthest advanced in the second direction Y. The lock guide 384 has a first guide wall 384a. The first guide wall 384a is positioned further retracted in the second direction Y than the pin 381a when the engagement piece 381 is located in the first position and further advanced in the second direction Y than the engagement portion 382. The first guide wall 384a is inclined with respect to the second direction Y so that it becomes increasingly farther away from the engaging portion 382 toward the opening side in the first direction X as it retreats in the second direction Y.

[0119] FIG. 17 is a cross-sectional view of the connector extraction tool 310 in a state in which the pin 381a is in contact with the first guide wall 384a. When no external force is acting on the multiple claws 302, the multiple claws 302 are positioned at the most advanced position in the second direction Y, as shown in FIG. 15 . When the multiple claws 302 are pressed against something toward the advanced position in the second direction Y from this position, the multiple claws 302 retreat relative to the main body 303 in the second direction Y. For example, during the extraction process, the tips of the multiple claws 302 are pressed against the wall surface 90 of the connecting board 9 or the reference surface 99a of the jig 99 shown in FIG. 3 . Accordingly, the engaging piece 381 also retreats from the first position in the second direction Y. At this time, the elastic member 307 is compressed and deformed by the protruding piece 329. The first guide wall 384a is located on the retreating side of the pin 381a in the first position in the second direction Y. As a result, the pin 381a comes into contact with the first guide wall 384a. As the multiple claws 302 continue to retract in the second direction Y, as shown in FIG. 17 , the pin 381a slides along the first guide wall 384a and is guided away from the engaging portion 382 on the retraction side in the second direction Y and toward the opening side in the first direction X. In this way, the engaging piece 381 moves toward the retraction side in the second direction Y while bypassing the engaging portion 382 in the first direction X. At this time, the engaging piece 381 elastically bends in accordance with the movement of the pin 381a.

[0120] 18 is a cross-sectional view of the connector extraction tool 310 when the engaging piece 381 is located at the first retracted position. When the multiple claws 302 are further retracted 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 engaging piece 381 is a position further retracted in the second direction Y than the second position. When the pin 381a moves past the first guide wall 384a, the elastic deformation of the engaging piece 381 becomes smaller, and the pin 381a moves toward the engaging portion 382 in the first direction X. In the first retracted position, the pin 381a is located further retracted in the second direction Y than the engaging portion 382.

[0121] While the engaging piece 381 moves from the first position to the first retracted position, the plurality of claws 302 close in the first direction X. In this example, as shown in FIG. 17 , the plurality of claws 302 reach their closed state while the pin 381 a slides on the first guide wall 384 a. During the extraction process, the plurality of claws 302 grip the connector plug 92 or the cap 96. When the engaging piece 381 moves to the first retracted position, movement of the connector extraction tool 310 toward the advancing side in the second direction Y is stopped.

[0122] The lock guide 384 guides the engaging piece 381 to the second position when the multiple claws 302 and the main body 303 advance from a state in which the engaging piece 381 is located in the first retracted position. Specifically, as shown in FIG. 16 , the lock guide 384 has a second guide wall 384b. The second guide wall 384b is disposed on the advancement side in the second direction Y of the pin 381a when the engaging piece 381 is located in the first retracted position and on the retreat side in the second direction Y of the engaging portion 382. The second guide wall 384b is inclined with respect to the second direction Y toward the engaging portion 382. More specifically, the second guide wall 384b is inclined with respect to the second direction Y so as to approach the engaging portion 382 in the first direction X as it advances in the second direction Y.

[0123] After the engaging piece 381 reaches the first retracted position, the connector extraction tool 310 is moved slightly toward the retracted side in the second direction Y. At this time, the elastic member 307 is stretched, causing the multiple claws 302 to move toward the advancing side in the second direction Y relative to the main body 303. In other words, only the main body 303 moves toward the retracted side in the second direction Y, and the multiple claws 302 do not move toward the retracted side in the second direction Y. However, depending on the amount of movement of the connector extraction tool 310 toward the retracted side in the second direction Y, the multiple claws 302 may also move toward the retracted side in the second direction Y. Even in this case, the amount of movement of the multiple claws 302 is small compared to the moving force of the main body 303.

[0124] FIG. 19 is a cross-sectional view of the connector extraction tool 310 when the engaging piece 381 is in the retracted position. When the engaging piece 381 is in the first retracted position, the second guide wall 384b is located on the advancing side of the pin 381a in the second direction Y. Therefore, when the multiple claws 302 move toward the advancing side in the second direction Y relative to the main body 303, the pin 381a contacts the second guide wall 384b. As the multiple claws 302 continue to advance in the second direction Y, the pin 381a slides along the second guide wall 384b and is guided toward the advancing side in the second direction Y and toward the engaging portion 382 in the first direction X. At this time, the elastic deformation of the engaging piece 381 decreases as the pin 381a moves. Eventually, as shown in FIG. 19, the engaging piece 381 is guided to the second position, and the pin 381a engages with the engaging portion 382. At this time, the engaging piece 381 no longer bends.

[0125] In this way, the multiple claws 302 are held by the lock 308 in a retracted state. The multiple claws 302 are unable to move relative to the main body 303 in the advancing direction in the second direction Y. At this time, the multiple claws 302 are in a retracted state, and therefore are in a closed state. Even if the pressure of the multiple claws 302 against the jig 99 or the like is released, the multiple claws 302 do not advance in the second direction Y, nor do they open in the first direction X. During the removal process, the multiple claws 302 maintain their grip on the connector plug 92 or the cap 96.

[0126] When the multiple claws 302 and the main body 303 retract from a state in which the engagement piece 381 is located at the second position, the lock guide 384 guides the engagement piece 381 to a second retracted position that is further retracted in the second direction Y than the second position. As shown in FIG. 16 , the lock guide 384 has a third guide wall 384c. The third guide wall 384c is located on the retracted side in the second direction Y of the engagement portion 382 and on the retracted side in the second direction Y of the pin 381a when the engagement piece 381 is located at the second position. The third guide wall 384c is inclined with respect to the second direction Y so that it moves away from the engagement portion 382 toward the opening side in the first direction X as it retracts in the second direction Y. The opening side in the first direction X of the third guide wall 384c is opposite the opening side of the first guide wall 384a.

[0127] FIG. 20 is a cross-sectional view of the connector extraction tool 310 when the engaging piece 381 is in the second retracted position. When the engaging piece 381 is in the second position, the engaging piece 381 engages with the engaging portion 382, ​​and the multiple claws 302 are held in the retracted state by the lock 308. When the multiple claws 302 are pressed against something toward the advancing side in the second direction Y from this state, the multiple claws 302 retract in the second direction Y relative to the main body 303. For example, during the insertion process, after the connector plug 92 or cap 96 gripped by the multiple claws 302 is inserted into the adapter 91, the tips of the multiple claws 302 are pressed against the wall surface 90 of the connection board 9 or the reference surface 99a of the jig 99 shown in FIG. 3. In response, the multiple claws 302 retract in the second direction Y relative to the main body 303, and the engaging piece 381 also retracts in the second direction Y from the first position. At this time, the elastic member 307 is compressed and deformed by the protruding piece 329. As shown in FIG. 19 , the third guide wall 384c is located on the retreating side in the second direction Y of the pin 381a in the second position. Therefore, the pin 381a comes into contact with the third guide wall 384c. As the multiple claws 302 continue to retreat in the second direction Y, as shown in FIG. 20 , the pin 381a slides along the third guide wall 384c and is guided away from the engaging portion 382 on the retreating side in the second direction Y and toward the opening side in the first direction X. At this time, the engaging piece 381 elastically bends in accordance with the movement of the pin 381a.

[0128] 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 in the first direction X along which the pin 381a moves away from the engagement portion 382 is opposite to that when guided by the first guide wall 384a. That is, in FIG. 17 , the pin 381a moves away from the engagement portion 382 downward in the figure, whereas in FIG. 20 , the pin 381a moves away from the engagement portion 382 upward in the figure. Eventually, the pin 381a is guided by the third guide wall 384c and moves to the second retracted position. The second retracted position of the engagement piece 381 is a position further retracted in the second direction Y than the second position. When the engagement piece 381 is in the second retracted position, the pin 381a is further away from the engagement portion 382 in the first direction X than the engagement portion 382.

[0129] When the engaging piece 381 moves to the second retreated position, the movement of the connector extracting tool 310 toward the advancing side in the second direction Y is stopped.

[0130] As shown in FIG. 16 , the lock guide 384 may have a check piece 384e that prevents the engagement piece 381 from moving from the second retracted position to the retracted position. The check piece 384e is disposed on the main body 303. In this example, as shown in FIG. 14 , the main body 303 is formed with a recess 384g that exposes a portion of the lock guide 384 to the outside. The pin 381a can be exposed to the outside from the recess 384e. The check piece 384e is disposed in the recess 384g. The recess 384g is disposed on both the first guide plate 31A and the second guide plate 31B. In other words, the lock guide 384 has two check pieces 384e.

[0131] FIG. 16 illustrates only the check piece 384e disposed on the second guide plate 31B. The check piece 384e has a longitudinal and lateral direction and is elongated. The check piece 384e is more likely to elastically deform in the lateral direction than in the longitudinal direction. For example, the check piece 384e is formed of resin. The check piece 384e is disposed so that its longitudinal and lateral directions are substantially parallel to a plane parallel to the first direction X and the second direction Y. The longitudinal direction of the check piece 384e extends substantially along the first direction X. One end of the check piece 384e is fixed to the main body 303, and the other end of the check piece 384e forms a free end 384f. The free end 384f is disposed on the trajectory of the pin 381a when the engagement piece 381 moves from the retracted position to the second retracted position.

[0132] Specifically, the free end 384f includes a corner defined by a side surface facing the short direction and an end surface facing the long direction. The free end 384f is positioned so that the pin 381e of the engagement piece 381 moving from the retracted position to the second retracted position first contacts the side surface defining the corner of the free end 384f. Therefore, when the engagement piece 381 moves from the retracted position to the second retracted position, the pin 381e contacts the side surface of the corner of the free end 384f from the short direction, elastically deflecting the check piece 384e in the short direction (see the two-dot chain line in Figure 16). Before the engagement piece 381 reaches the second retracted position, the pin 381e passes the free end 384f, and the check piece 384e returns to its original state, i.e., its undeflected state. When the engaging piece 381 reaches the second retreated position, the free end 384f is located between the pin 381e and the engaging portion 382, ​​as shown in FIG.

[0133] The lock guide 384 guides the engaging piece 381 to the first position when the multiple claws 302 and the main body 303 advance from a state in which the engaging piece 381 is in the second retracted position. As shown in FIG. 16 , the lock guide 384 has a fourth guide wall 384d. The fourth guide wall 384d is positioned on the advancing side in the second direction Y of the pin 381a when the engaging piece 381 is in the second retracted position and on the retreating side in the second direction Y of the pin 381a when the engaging piece 381 is in the first position. With respect to 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 with respect to the second direction Y so as to approach the engaging portion 382 toward the closing side in the first direction X as it retreats in the second direction Y.

[0134] 21 is a cross-sectional view of the connector extraction tool 310 in a state in which the pin 381a is in contact with the fourth guide wall 384d. After the engagement piece 381 reaches the second retracted position, the connector extraction tool 310 is moved toward the retracted side in the second direction Y. At this time, the elastic member 307 is stretched, causing the multiple claws 302 to move toward the advancing side in the second direction Y relative to the main body 303. Accordingly, the engagement piece 381 also moves toward the advancing side in the second direction Y relative to the main body 303. At this time, the engagement piece 381 moves toward the advancing side in the second direction Y while reducing its deflection. That is, the pin 381a approaches the engagement portion 382 in the first direction X. However, the fourth guide wall 384d is located closer to the advancing side in the second direction Y than the pin 381a and between the pin 381a and the engagement portion 382 in the first direction X. Therefore, the pin 381a contacts the fourth guide wall 384d before reaching the engagement portion 382 in the first direction X. Furthermore, the fourth guide wall 384d is inclined with respect to the second direction Y so that the pin 381a approaches the engaging portion 382 toward the closing side in the first direction X as it retreats in the second direction Y. Therefore, the pin 381a is more likely to come into contact with the fourth guide wall 384d before reaching the engaging portion 382 in the first direction X.

[0135] In addition, the check piece 384e prevents the pin 381a from moving toward the engaging portion 382. When the pin 381a moves toward the engaging portion 382 in the first direction X from a position corresponding to the second retracted position of the engaging piece 381, the pin 381a may come into contact with the free end 384f of the check piece 384e. Specifically, the pin 381a may come into contact with an end surface defining a corner of the free end 384f from the longitudinal direction. The check piece 384e is less likely to elastically deform in the longitudinal direction than in the lateral direction, and therefore limits the movement of the pin 381a in the first direction X. The pin 381a slides along the end surface defining the corner of the free end 384f toward the advancing side in the second direction Y and reaches the fourth guide wall 384d. In this way, when the engaging piece 381 moves from the second retracted position to the first position, the check piece 384e prevents the pin 381a from moving toward the engaging portion 382, ​​while guiding the pin 381a toward the advancing side in the second direction Y.

[0136] As the multiple claws 302 continue to advance in the second direction Y, the pin 381a slides on the fourth guide wall 384d and is guided toward the advancement side in the second direction Y on the opening side in the first direction X relative to the engagement portion 382. When the pin 381a passes the fourth guide wall 384d toward the advancement side in the second direction Y, the pin 381a moves toward the closing side in the first direction X while moving toward the advancement side in the second direction Y. As the pin 381a moves, the elastic deformation of the engagement piece 381 becomes smaller. Eventually, as shown in FIG. 19 , the engagement piece 381 moves to the first position. At this time, the engagement piece 381 no longer bends.

[0137] While the engaging piece 381 moves from the second retracted position to the first position, the plurality of claws 302 open in the first direction X. If it is during an insertion process, the plurality of claws 302 release their grip on the connector plug 92 or the cap 96. When the plurality of claws 302 release their grip on the connector plug 92 or the cap 96, the connector extraction tool 310 as a whole becomes movable in the second direction Y.

[0138] In this way, the connector extraction tool 310 can open and close the multiple claws 302 by being pushed and pulled in the second direction Y. At this time, the multiple claws 302 can be locked and unlocked in the retracted state by pushing and pulling the connector extraction tool 310 in the second direction Y. Furthermore, each time the connector extraction tool 310 is pushed and pulled in the second direction Y, the multiple claws 302 are switched between locked and unlocked. For example, by pushing and pulling the connector extraction tool 310 once in the second direction Y, the multiple claws 302 are locked in the retracted state. By pushing and pulling the connector extraction tool 310 again in the second direction Y from this state, the multiple claws 302 are unlocked. By pushing and pulling the connector extraction tool 310 one more time in the second direction Y, the multiple claws 302 are locked again in the retracted state.

[0139] Other Embodiments As described above, the above-described embodiments have been described as examples of the technology disclosed in the present application. However, the technology of the present disclosure is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0140] For example, the connector extraction tool 10, 210, 310 does not have to be connected to the robot arm 120. For example, a user may hold the connector extraction tool 10, 210, 310 by hand. In this case, the connector extraction tool 10, 210 may be provided with a switch that activates the actuator 5, 205. The user can grasp the object with the multiple claws 2, 202 by moving the connector extraction tool 10, 210 to the object and activating the actuator 5, 205. The user can open and close the multiple claws 2 of the connector extraction tool 310 by pressing the tips of the multiple claws 2 against something in the second direction Y.

[0141] The robot to which the connector extraction tools 10, 210, 310 are attached is not limited to the robot 110. For example, the robot 110 is not limited to a seven-axis robot, and may be a six-axis robot.

[0142] The connector extraction tool 10 , 210 may be attached to the robot arm 120 without using the attachment 6 .

[0143] The object to be gripped by the connector extraction tool 10, 210, 310 is not limited to the connector plug 92 or the cap 96. The connector plug 92 is not limited to an optical fiber connector plug, but may be a connector plug for various cables. The jig 99 is not essential for the extraction operation. If the jig 99 is not provided, for example, the multiple claws 2, 202, 302 may come into contact with the wall surface 90 of the connection board 9.

[0144] The configuration of the connector extraction tool 10, 210, 310 is merely an example. For example, the second ends 22 of the multiple claws 2, 202, 302 do not have to be joined together. The first ends 21 of the multiple claws 2, 202, 302 do not have to be inclined with respect to the reference axis A so as to open more in the first direction X toward the advancing side in the second direction Y. The first ends 21 may be substantially parallel to the reference axis A.

[0145] The guide groove 41 of the guide 4 may be disposed in only one of the first support plate 31A and the second support plate 31B. The guide groove 41 does not have to penetrate the first support plate 31A or the second support plate 31B in the thickness direction.

[0146] The robot to which the connector extraction tool is attached is not limited to the robot 110. Fig. 22 is a schematic diagram showing the configuration of a robot 2110 according to a modified example.

[0147] A robot 2110 according to a modified example has a base 2130 and a robot arm 2120 connected to the base 2130. A connector extraction tool 10 is attached to the tip of the robot arm 2120. The base 2130 has a plurality of wheels. In other words, the robot 2110 is capable of moving. The robot 2110 has two robot arms 2120. A connector extraction tool 10 may be attached to the tip of each of the two robot arms 2120.

[0148] The robot arm 2120 has a plurality of links L and a plurality of joints J that connect the plurality of links L. The robot arm 2120 is configured to operate in three dimensions. In this example, the robot arm 2120 is a multi-joint robot arm. The robot arm 2120 is supported by a base 2130.

[0149] The multiple links L include a first link L1 to an n-th link Ln (n is an integer greater than or equal to 2) arranged in order from the base 2130. The multiple joints J include a first joint J1 to an n-th joint Jn arranged in order from the base 2130. n is greater than the degrees of freedom of the position and orientation of the n-th link Ln. In other words, the robot arm 2120 has redundancy. Redundancy refers to the characteristic that the rotation angles of the first joint J1 to the n-th joint Jn corresponding to the position of the n-th link Ln are not uniquely determined. In this example, the degrees of freedom of the position and orientation of the n-th link Ln are six. Specifically, the position and orientation of the n-th link Ln have six degrees of freedom, which is the sum of the translational and rotational directions about each of the three orthogonal axes. The robot arm 2120 is a so-called seven-axis robot having seven joints J. In other words, n is seven.

[0150] 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, which are arranged in series in this order from the base 2130 side. The seventh link L7 is located at the tip 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, which are arranged in series in this order from the base 2130 side.

[0151] The base 2130 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 a fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected by a fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected by a sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected by a seventh joint J7.

[0152] The connector extraction tool 10 is connected to a seventh link L7 at the tip of the robot arm 2120. In other words, the connector extraction tool 10 is connected to the robot arm 2120 so as to be rotatable around a rotation axis R7 of a seventh joint J7. The connector extraction tool 10 is an end effector attached to the robot arm 2120.

[0153] The robot arm 2120 has a servo motor that rotates and drives each joint J. Each servo motor has an encoder.

[0154] The robot 2110 further includes an imaging device 140 disposed on one link L of the multiple links L. The imaging device 140 is disposed on the (ni)th link Ln-i (i is an integer equal to or greater than 1). In this example, the imaging device 140 is disposed on the sixth link L6.

[0155] The connector extraction tools 10, 210, 310 may be attached to such a robot 2110. The robot 2110 has two robot arms 2120. The connector extraction tools 10 are attached to both of the two robot arms 2120. Therefore, the robot 2110 can use the two connector extraction tools 10 to insert or remove the connector plug 92 or the cap 96. Using two connector extraction tools 10 improves workability. For example, one connector extraction tool 10 may be used to extract the connector plug 92 from the adapter 91, and the other connector extraction tool 10 may be used to insert the cap 96 or another connector plug 92 into the adapter 91.

[0156] It is also possible that the connector extraction tool 10 is attached to only one of the robot arms 2120, and an end effector other than the connector extraction tool is attached to the other robot arm 2120.

[0157] The flowcharts are merely examples. Steps in the flowcharts may be changed, replaced, added, omitted, etc. as appropriate. The order of steps in the flowcharts may also be changed, and serial processing may be performed in parallel.

[0158] The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a Central Processing Unit (CPU), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered a circuit or processing circuit. A processor may also be a programmable processor that executes a program stored in a memory.

[0159] In this specification, a circuit, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0160] If the hardware is a processor considered to be a type of circuitry, the circuit, means, or unit is a combination of hardware and software used to configure the hardware and / or processor.

[0161] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0162] (Aspect 1) A connector extraction tool 10, 210, 310 includes a plurality of claws 2, 202, 302 that can be opened and closed in a first direction X, a main body 3, 203, 303 that can move relative to the plurality of claws 2, 202, 302 in a second direction Y that intersects the first direction X, and a guide 4 that guides the plurality of claws 2, 202, 302 when the plurality of claws 2, 202, 302 and the main body 3, 203, 303 move relative to each other in the second direction Y, and the guide 4 guides the plurality of claws 2, 202, 302 to open and close in the first direction X in accordance with the relative movement between the plurality of claws 2, 202, 302 and the main body 3, 203, 303.

[0163] According to this configuration, the guide 4 converts a force that moves the plurality of claws 2, 202, 302 and the main body 3, 203, 303 relatively in the second direction Y into a force that opens and closes the plurality of claws 2, 202, 302. As a result, the relative movement in the second direction Y between the plurality of claws 2, 202, 302 and the main body 3, 203, 303 opens and closes the plurality of claws 2, 202, 302 in the first direction X. Providing such a guide 4 can prevent the connector extraction tool 10, 210, 310 from becoming thick overall.

[0164] (Aspect 2) In the connector extraction tool 10 described in Aspect 1, the guide 4 guides the plurality of claws 2, 202, 302 to open in the first direction X during an advancing operation in which the plurality of claws 2, 202, 302 move relatively to advance from the main body 3, 203, 303, and guides the plurality of claws 2, 202, 302 to close in the first direction X during a retreating operation in which the plurality of claws 2 move relatively to retreat into the main body 3, 203, 303.

[0165] According to this configuration, when the multiple claws 2, 202, 302 retreat in the second direction Y relative to the main body 3, 203, 303, the multiple claws 2, 202, 302 close. On the other hand, when the multiple claws 2, 202, 302 advance in the second direction Y relative to the main body 3, 203, 303, the multiple claws 2, 202, 302 open.

[0166] (Aspect 3) The connector extraction tool 310 described in aspect 1 or aspect 2 is provided with an elastic member 307 that biases the multiple claws 302 in the second direction Y toward advancing from the main body 303, and a lock 308 that holds the multiple claws 302 in a retracted state in which they are retracted into the main body 303 against the elastic force of the elastic member 307.

[0167] According to this configuration, when the lock 308 is released, the multiple claws 302 advance from the main body 303 in the second direction Y due to the elastic force of the elastic member 307. The multiple claws 302 can also move relatively to the retreating side in the second direction Y with respect to the main body 303 against the elastic force of the elastic member 307. The lock 308 holds the multiple claws 302 in the retreated state. In other words, the multiple claws 302 are held by the lock 308 in a retreated state against the elastic force of the elastic member 307. When the multiple claws 302 move to the retreating side in the second direction Y with respect to the main body 303 and close in the first direction X, the lock 308 can hold the multiple claws 302 in the closed state.

[0168] (Aspect 4) In the connector extraction tool 310 described in any one of aspects 1 to 3, the lock 308 has an engaging piece 381 coupled to the plurality of claws 302, an engaging portion 382 disposed on the main body 303 and engaging with the engaging piece 381 when the plurality of claws 302 are in the retracted state, and a lock guide 384 disposed on the main body 303 and guiding the engaging piece 381 between a first position where the engaging piece 381 is disengaged from the engaging portion 382 and a second position where the engaging piece 381 is engaged with the engaging portion 382 in accordance with the relative movement between the plurality of claws 302 and the main body 303.

[0169] According to this configuration, the lock guide 384 guides the engagement piece 381 between the first position and the second position. The engagement piece 381 engages with the engagement portion 382 by being guided to the second position. On the other hand, the engagement piece 381 disengages from the engagement portion 382 by being guided to the first position. As a result, the lock 308 switches between holding and releasing the multiple claws 302 in accordance with the relative movement between the multiple claws 302 and the main body 303.

[0170] (Aspect 5) In the connector extraction tool 310 described in any one of Aspects 1 to 4, when the plurality of claws 302 and the main body 303 perform the retraction movement from a state in which the engaging piece 381 is located at the first position, the lock guide 384 guides the engaging piece 381 to a first retracted position that is retracted further in the second direction than the second position, when the plurality of claws 302 and the main body 303 perform the advancement movement from a state in which the engaging piece 381 is located at the first retracted position, the lock guide 384 guides the engaging piece 381 to the second position, when the plurality of claws 302 and the main body 303 perform the retraction movement from a state in which the engaging piece 381 is located at the second position, the lock guide 384 guides the engaging piece 381 to a second retracted position that is retracted further in the second direction than the second position, and when the plurality of claws 302 and the main body 303 perform the advancement movement from a state in which the engaging piece 381 is located at the second retracted position, the lock guide 384 guides the engaging piece 381 to the first position.

[0171] According to this configuration, when the engaging piece 381 is located at the first position, the multiple claws 302 and the main body 303 sequentially perform retraction and extension movements, causing the engaging piece 381 to move from the first position to the second position via the first retracted position. That is, the engaging piece 381 engages with the engaging portion 382, ​​and the multiple claws 2 are held by the lock 308 in a retracted state. On the other hand, when the engaging piece 381 is located at the second position, the multiple claws 302 and the main body 303 sequentially perform retraction and extension movements, causing the engaging piece 381 to move from the second position to the first position via the second retracted position. That is, the engaging piece 381 is released from engagement with the engaging portion 382, ​​and the multiple claws 2 are released by the lock 308. The multiple claws 2 move toward the extension side in the second direction Y relative to the main body 303 due to the elastic force of the elastic member 307.

[0172] (Aspect 6) In the connector extraction tool 10, 210, 310 described in any one of Aspects 1 to 5, the main body 3, 203, 303 has a slit 35 extending from the edge on the advancing side in the second direction Y toward the second direction Y, and with respect to the position in the first direction X, the slit 35 is positioned between the multiple claws 2, 202, 303.

[0173] According to this configuration, when the connector plug 92 is gripped by the plurality of claws 2, 202, 303, the cable connected to the connector plug 92 can be accommodated within the slit 35. This allows for a smooth removal operation.

[0174] (Aspect 7) The connector extraction tool according to any one of Aspects 1 to 6 further includes an actuator 5, 205 that moves one of the plurality of claws 2, 202 and the main body 3, 203 relative to the other.

[0175] According to this configuration, the relative movement of the plurality of claws 2, 202 and the main body 3, 203 can be achieved by the actuators 5, 205 rather than manually.

[0176] (Aspect 8) In the connector extraction tool 210 described in any one of Aspects 1 to 7, the actuator 205 includes a wire 253 attached to the plurality of claws 2, and a motor 251 that can pull the wire 253 and reverse the direction of the tension in the wire 253.

[0177] According to this configuration, the motor 251 pulls the wire 253, thereby moving the plurality of claws 2 in the second direction Y. The wire 253 can be laid out relatively freely, which improves the degree of freedom in arranging the motor 251. For example, the plurality of claws 2 can be driven via the wire 253 by the motor 251 arranged so that the rotation axis B faces the second direction Y. By arranging the motor 251 so that the rotation axis B faces the second direction Y, the dimension of the connector extraction tool 210 in the direction perpendicular to the second direction Y, i.e., the overall thickness of the connector extraction tool 210, can be reduced.

[0178] (Aspect 9) In the connector extraction tool 210 according to any one of Aspects 1 to 8, the actuator 205 further includes a spring 255 attached to the wire 253 and loosening a portion of the wire 253 by elastic force.

[0179] According to this configuration, when an external force acts on the plurality of claws 2, the external force can be absorbed by the spring 255. As a result, the external force transmitted to the motor 251 can be reduced, and the motor 251 can be protected.

[0180] 10, 210, 310 Connector removal tool 2, 202, 302 Claw 3, 203, 303 Main body 35 Slit 4 Guide 5, 205 Actuator 251 Motor 253 Wire 255 Spring 307 Elastic member 308 Lock 381 Engagement piece 382 Engagement portion 384 Lock guide X First direction Y Second direction

Claims

1. A connector extraction tool comprising: a plurality of claws that can be opened and closed in a first direction; a main body that can move relative to the plurality of claws in a second direction that intersects the first direction; and a guide that guides the plurality of claws when the plurality of claws and the main body move relative to each other in the second direction, wherein the guide guides the plurality of claws to open and close in the first direction in accordance with the relative movement between the plurality of claws and the main body.

2. A connector extraction tool as claimed in claim 1, wherein the guide guides the multiple claws to open in the first direction during an advancing operation in which the multiple claws move relatively to advance from the main body, and guides the multiple claws to close in the first direction during a retracting operation in which the multiple claws move relatively to retract into the main body.

3. A connector extraction tool as claimed in claim 2, comprising an elastic member that biases the plurality of claws in the second direction so that they advance from the main body, and a lock that holds the plurality of claws in a retracted state in which they have retracted into the main body against the elastic force of the elastic member.

4. A connector extraction tool as claimed in claim 3, wherein the lock comprises an engaging piece connected to the plurality of claws, an engaging portion disposed on the main body and engaging with the engaging piece when the plurality of claws are in the retracted state, and a lock guide disposed on the main body and guiding the engaging piece between a first position where it is disengaged from the engaging portion and a second position where it is engaged with the engaging portion in accordance with the relative movement between the plurality of claws and the main body.

5. A connector extraction tool as defined in claim 4, wherein the lock guide: when the plurality of claws and the main body perform the retraction movement from a state in which the engaging piece is located at the first position, guides the engaging piece to a first retracted position on the retracted side of the second position in the second direction from the second position; when the plurality of claws and the main body perform the advancing movement from a state in which the engaging piece is located at the first retracted position, guides the engaging piece to the second position; when the plurality of claws and the main body perform the retraction movement from a state in which the engaging piece is located at the second position, guides the engaging piece to a second retracted position on the retracted side of the second position in the second direction from the second position; and when the plurality of claws and the main body perform the advancing movement from a state in which the engaging piece is located at the second retracted position, guides the engaging piece to the first position.

6. A connector extraction tool as set forth in claim 1, wherein the main body has a slit extending in the second direction from the edge on the advancing side in the second direction, and the slit is positioned between the plurality of claws in relation to the position in the first direction.

7. A connector extraction tool according to claim 1, further comprising an actuator for moving one of said plurality of claws and said main body relative to the other.

8. A connector extraction tool according to claim 7, wherein the actuator includes a wire attached to the plurality of claws 2 and a motor capable of pulling the wire and reversing the direction of tension in the wire.

9. A connector extraction tool according to claim 8, wherein the actuator further includes a spring attached to the wire and slackening a portion of the wire by elastic force.

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