Joining device and joining method

Abstract

The invention relates to a joining device (10), suitable for a space environment, configured to mechanically join a first mechanical assembly (2) to a second mechanical assembly (3), comprising a male part (11) configured to be connected to the first mechanical assembly (3) and a female part (12) configured to be connected to the second mechanical assembly (4), the male part (11) comprising a first jaw (100) forming a first housing (110), a first ball-joint member (150) comprising an outer surface coming into the first housing (110) and being provided with a first passage (155), and a connection member (170) extending between a first end (171) and a second end (172) and being received in the first passage (155) of the first ball-joint member (150), and wherein the female part (12) comprises a second jaw (200) forming a second housing (210), a second ball-joint member (250) comprising an outer surface coming into the second housing (210) and provided with a second passage (255) configured to receive the connection member (170) via its second end (172), a guide part (270) being arranged in the extension of the second passage (255).

Description

[0001] Description

[0002] Title: Joining device and joining method

[0003] TECHNICAL FIELD OF THE INVENTION

[0004]

[0001] The present invention relates to a joining device adapted to the space environment and configured to mechanically join a first mechanical assembly and a second mechanical assembly.

[0005]

[0002] The invention further relates to a joining method using such a joining device.

[0006] STATE OF THE ART

[0007]

[0003] In the aerospace field, it is known to assemble structures, for example, two spacecraft joining in orbit. A female and a male part are assembled, for example, while the spacecraft are piloted to position themselves relative to each other. The assembled spacecraft then form a new structure. Robotic arms, equipped, for example, with gripping tools, are used for assembling structures in orbit.

[0008]

[0004] There appears to be a need to provide joining devices that facilitate constructions in space.

[0009] DESCRIPTION OF THE INVENTION

[0010]

[0005] The invention aims to provide a connecting device configured for mechanically joining a first mechanical assembly to a second mechanical assembly, adapted to the space environment, which is particularly simple and efficient in both manufacture and use. According to a first aspect, the invention relates to a connecting device, adapted to the space environment, configured for mechanically connecting a first mechanical assembly to a second mechanical assembly, comprising a male part configured to be connected to the first mechanical assembly and a female part configured to be connected to the second mechanical assembly, the device being characterized in that the male part comprises:

[0011] - a first jaw forming a first housing,

[0012] - a first ball joint comprising at least one external surface fitting into the first housing and having a first passage, and

[0013] - a connecting member extending between a first end and a second end and being received in the first passage of the first ball joint, and in that the female part comprises:

[0014] - a second jaw forming a second housing, - a second ball joint comprising at least one external surface fitting into the second housing and provided with a second passage configured to receive the connecting member at its second end,

[0015] - a guide section positioned in line with the second pass.

[0016]

[0006] Preferred, simple, convenient and economical features of the junction device according to the invention are presented below.

[0017]

[0007] The first ball joint and the second ball joint can be elastically deformable, the first jaw being configured to tighten and loosen the first ball joint by varying the volume of the first housing, so as to elastically deform the first ball joint, and the second jaw being configured to tighten and loosen the second ball joint by varying the volume of the second housing, so as to elastically deform the second ball joint.

[0018]

[0008] The first and second ball joints can also be made of two parts, each having an external surface forming a portion of a sphere, the two parts of each ball joint being, for example, connected to each other by a pivot or sliding joint, and configured so as to be able to move closer together or further apart.

[0009] The joining device can be configured to admit at least:

[0019] - a first configuration, in which the first jaw and the second jaw are loosened, with the first ball joint at least partially free to rotate in the first housing and the second ball joint at least partially free to rotate in the second housing, while the connecting member is at least partially free in translation relative to the first ball joint and free to insert into the second ball joint; and

[0020] - a second configuration, in which the first and second jaws are clamped, with at least the first ball joint which is blocked in rotation in the first housing and the second ball joint which is blocked in rotation in the second housing.

[0021]

[0010] The first ball joint and the second ball joint can each have their external surface forming a portion of a sphere, and the first and second housings each have a complementary internal surface forming a portion of a sphere.

[0022]

[0011] The first and second passages can be through passages.

[0023]

[0012] The first and second ball joints may each comprise slots extending radially from their outer surface to, respectively, the first and second through-holes, and opening longitudinally alternately on one side or the other of the first and second ball joints.

[0013] The opening of at least the second ball joint may terminate in a chamfer into which the connecting member is inserted.

[0014] The connecting member may comprise a rigid rod having, at its second end, a tapered portion configured to facilitate engagement of the connecting member with the second ball joint.

[0024]

[0015] The connecting member may include a first stop and a second stop limiting translation relative to the first ball joint member, with the first stop disposed at the first end of the connecting member and the second stop disposed between the first and second ends of the connecting member.

[0025]

[0016] The connecting member may include a gripping element configured to be manipulated by a gripping tool.

[0026]

[0017] The guiding part arranged in the extension of the second passage can be in the form of a hollow centering element having a frustoconical guiding surface.

[0027]

[0018] Each jaw can be formed in one piece and have an intermediate section connecting first and second portions, each partially forming the housing. The intermediate section is configured to deform elastically so as to bring the first and second portions, each partially forming the housing, closer together and further apart. Each jaw includes a recess opening into a space between the first and second portions, each partially forming the housing. The recess also extends, in part, behind said first and second portions relative to the housing.

[0019] Each jaw can also be made of two parts, each having an internal surface forming a portion of a sphere. The two parts of each jaw are, for example, connected to each other by a pivot or sliding joint and are configured so as to be able to move closer together or further apart.

[0028]

[0020] Each ball joint can be limited in its range of motion relative to its jaw, a recess provided in the ball joint or respectively in the jaw collaborating, for this purpose, with a projecting stud fixed to the jaw or respectively to the ball joint, the recess forming a stop limiting the movements of the stud.

[0029]

[0021] Each jaw may include at least one clamping screw and a torque recovery mechanism disposed around an area receiving a head of the clamping screw.

[0030]

[0022] The invention also relates, according to a second aspect, to a spacecraft comprising a first mechanical assembly mechanically connected to a second mechanical assembly, and in particular a second mechanical assembly of the spacecraft, by means of at least one connecting device according to the invention.

[0031]

[0023] The invention also relates, according to a third aspect, to a method of joining a first mechanical assembly to a second mechanical assembly, using at least one joining device as defined above, comprising: - a step of positioning said joining device, with its male part and its female part facing each other and with its connecting member at a distance from its guiding part, then for each joining device:

[0032] - a step of engaging the male part with the female part, by introducing the connecting member of the male part into the second ball joint, by applying a translational movement of the connecting member allowing transverse adjustments and

[0033] - a tightening step of the first jaw and the second jaw.

[0034]

[0024] Advantageously, when the first jaw of the male part and the second jaw of the female part of one or more connecting devices are loosened, each connecting member is able to be moved both rotationally and translationally. Furthermore, when the first jaw of the male part and the second jaw of the female part are tightened, the connecting member can, for example, be locked in rotation and translation so as to secure the two mechanical assemblies.

[0035]

[0025] Advantageously, several joining devices can be used to join two mechanical assemblies together by allowing adjustments, while combining the efforts for joining.

[0036]

[0026] Advantageously, the joining device according to the invention makes it possible to avoid the formation of residual stresses during connections, thanks to a mechanical fastening that can be achieved by the joining device, without having to force into position which would have the disadvantage of producing internal mechanical forces in the mechanical assemblies.

[0037] BRIEF DESCRIPTION OF THE FIGURES

[0038]

[0027] The invention will be well understood and its advantages will become more apparent upon reading the following detailed description, given by way of example and not limiting in any way, with reference to the attached drawings illustrating examples of implementation.

[0039]

[0028] Figure 1 schematically and partially represents, from the side, an example of a spacecraft comprising a first mechanical assembly, a second mechanical assembly and a connecting device according to the invention, having a male part mechanically connected to the first assembly and a female part mechanically connected to the second assembly and being in a first configuration, in which the male part and the female part are at a distance from each other.

[0040]

[0029] Figure 2 is a view similar to Figure 1, but with the joining device in a second configuration, in which the male and female parts are mechanically joined.

[0030] Figure 3 is an isolated, exploded perspective view of the male part of the joining device.

[0041]

[0031] Figure 4 is an isolated perspective view of the male part of the junction device illustrating the angular deflection of the connecting member.

[0042]

[0032] Figure 5 is an isolated and exploded perspective view of the female part of the junction device.

[0043]

[0033] Figure 6 is an isolated perspective view of the female part of the junction device.

[0044]

[0034] Figure 7 is a cross-sectional view of the joining device showing the male part and the female part at a distance from each other, where the male part is offset from the female part.

[0045]

[0035] Figure 8 is a view of the joining device of Figure 7, where the connecting member of the male part is being inserted into a guiding part of the female part.

[0046]

[0036] Figure 9 is a view of the joining device of Figure 7, where the connecting member of the male part is being inserted into the through passage of the female part.

[0047]

[0037] Figure 10 is a view of the joining device of Figure 7, where the connecting member of the male part is inserted into the through passage of the female part.

[0048]

[0038] Figure 11 is a similar view to Figure 10, but where the jaws are clamped around the ball-and-socket organs of the male and female parts.

[0049]

[0039] Figure 12, comprising Figures 12A and 12B, represents an example of a tool for gripping the connecting member.

[0050]

[0040] Figure 13, comprising figures 13A and 13B, represents an example of a tool for tightening or loosening the jaws of the male and female parts.

[0051]

[0041] Figure 14, comprising Figures 14A and 14B, represents an example of a junction device according to the invention in a disjoint configuration and then in a junction configuration of the male and female parts.

[0052]

[0042] Figure 15 represents an alternative embodiment of the junction device.

[0053]

[0043] Figure 16 represents another example of a ball joint according to the invention.

[0054] DETAILED DESCRIPTION OF THE INVENTION

[0055]

[0044] Figures 1 and 2 partially illustrate a first mechanical assembly 2 and a second mechanical assembly 3 belonging, for example, to a spacecraft 1 or to separate spacecraft. The spacecraft is, for example, an artificial satellite such as a telecommunications satellite. The mechanical assemblies will be joined, for example, for the deployment of the spacecraft or for the joining of two spacecraft.

[0045] In the example illustrated in Figure 1, the first mechanical assembly 2 comprises a first panel 4 and the second mechanical assembly 3 comprises a second panel 5. The first panel 4 and the second panel 5 are, for example, reflective panels configured to collect and / or project energy, such as light or radio waves. Other mechanical assemblies to be joined are also conceivable.

[0056]

[0046] The joining device 10 is suitable for the space environment. In particular, automatic assembly is facilitated. The male and female parts do not include, for example, any loose elements that can detach.

[0057]

[0047] The joining device is for example configured to mechanically fasten together the first mechanical assembly 2 and the second mechanical assembly 3.

[0058]

[0048] Alternatively, the joining of two mechanical assemblies can be achieved by means of several joining devices.

[0059]

[0049] As shown in Figure 1, the junction device 10 comprises a male part 11 connected to the first mechanical assembly 2 and a female part 12 connected to the second mechanical assembly 3.

[0060]

[0050] The male part 11 is for example mechanically secured to the first assembly 4 by screwing, and the female part 12 is for example mechanically secured to the second assembly 5 by screwing.

[0061]

[0051] Alternatively, the male and female parts of the joining device can, for example, be attached respectively to the first assembly and the second assembly by interlocking and / or gluing and / or welding.

[0062]

[0052] As shown in Figure 1, the male part 11 comprises a first jaw 100 forming a first housing 110. This first housing receives a first ball joint 150. The first ball joint comprises a first through passage 155 receiving a connecting member 170 extending between a first end 171 and a second end 172.

[0063]

[0053] As shown in Figure 1, the female part 12 comprises a second jaw 200 forming a second housing 210. This second housing receives a second ball joint 250 comprising a second through-hole 255. Thus, the second ball joint can receive the connecting member in this second through-hole, for example, at its second end 172. A guide portion 270 extends the second through-hole 255. The ball joint is free to rotate relative to the guide member. A limitation on the angular deflection of the ball joint can be provided, for example, to always face the guide space of the guide member.

[0054] Each jaw comprises, for example, at least two internal surfaces in the form of portions of a sphere, while each ball joint comprises at least one surface in the form of a portion of a sphere.

[0064]

[0055] Each ball joint is for example elastically deformable to allow deformation or reduction of the cross-section of the through passage.

[0065]

[0056] Alternatively, each ball joint may comprise two parts, each having an external surface in the form of a portion of a sphere. The ball joint is configured so that its two parts can be pressed against each other or separated from each other. Its two parts are, for example, connected to each other by a pivot or sliding joint.

[0057] The first jaw 100 of the male part 11 is, for example, configured to vary the volume of the first housing 110 so as to elastically deform the first ball joint 150, while the second jaw 200 of the female part 12 is, for example, configured to vary the volume of the second housing 210 so as to elastically deform the second ball joint 250.

[0066]

[0058] Each jaw can, for example, be elastically deformed to tighten or loosen its ball joint. Alternatively, each jaw can be made in two parts that are either tightened towards each other or loosened around its ball joint.

[0067]

[0059] As shown in Figure 2, the male part 11 and the female part 12 of the junction device 10 are configured to cooperate together so as to mechanically connect the first mechanical assembly 2 and the second mechanical assembly 3.

[0068]

[0060] The junction device 10 is, for example, configured to admit:

[0069] - a first configuration, in which the first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 are loosened, with the first ball joint 150 partially free to rotate in the first housing 110, the second ball joint 250 partially free to rotate in the second housing 210, and the connecting member 170 free to insert into the second ball joint 250; and

[0070] - a second configuration, in which the first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 are clamped, with the first ball joint 150 which is blocked in rotation in the first housing 110, the second ball joint 250 which is blocked in rotation in the second housing 210.

[0071]

[0061] The connecting device 10 is, for example, configured so that in the second configuration the connecting member 170 is blocked in translation in the first through passage 155 of the first ball joint 150 and in the second through passage 255 of the second ball joint 250, so as to mechanically fasten the first mechanical assembly 2 and the second mechanical assembly 3.

[0062] The connecting device 10 is, for example, configured so that in the first configuration of the connecting device 10, the connecting member 170 is partially free in translation relative to the first ball joint 150 so as to allow a joining of the first and second mechanical assemblies, without relative displacement of the first and second mechanical assemblies, but only a displacement of the connecting member and an angular adjustment of the connecting member and the ball joints.

[0063] Alternatively, the joining device can be configured so that in the first configuration of the joining device, the connecting member is blocked in translation relative to the first ball joint member, for example by the use of stops arranged on either side of the connecting member as detailed later in relation to Figure 12.

[0064] In particular, in Figure 2, the connecting device 10 is in its second configuration, in which the first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 are each clamped, thus making it possible to lock in rotation respectively the first ball joint 150 in the first housing 110 of the first jaw 100 and the second ball joint 250 respectively in the second housing 210 of the second jaw 200, and for example to lock in translation the connecting member 170 of the male part 11 in the first through passage 155 of the first ball joint 150 and in the second through passage 255 of the second ball joint 250. The connecting member comprises for example a straight rod of circular cross-section cooperating with the through passages of the ball joints.

[0072]

[0065] Alternatively, other means of translational locking can be considered. For example, clamping the jaws on each ball joint can provide rotational locking, while a screw passing through the ball joint can bear against the connecting member for translational locking.

[0073]

[0066] Alternatively, multiple rotational locks can also be made of several connecting devices, whose connecting members are not parallel to each other, so as to secure two mechanical assemblies.

[0074]

[0067] Alternatively, a curved connecting member can also be used, allowing the male and female parts to be joined by locking the ball joints against rotation. Various through-hole profiles complementary to the profile of the connecting member are possible.

[0075]

[0068] We will now describe in more detail an example of a male part 1 1 of the junction device 10 in relation to figures 3 and 4 and in part an example of a female part in relation to the part of figure 5 similar to figure 3.

[0076]

[0069] As shown in Figure 3 or 5, the ball joint is in the form of a sphere cut into two opposing flat areas. The first flat area and the second flat area 153 or 252 are separated from each other by an intermediate portion 154 or 254 in the form of a sphere and are parallel to each other. The ball joint 150 or 250 has an external surface 151 or 251 in the form of a sphere, which acts as a guide surface relative to the jaw. A through passage 155 or 255 opens on either side of the ball joint 150 at the center of the flat areas. The ball joint 150 is, for example, metallic, such as steel or titanium.

[0077]

[0070] Alternatively, the ball joint may not be metallic, but rather be at least partially made of a plastic material, or even of another material suitable for use in the space field.

[0078]

[0071] As shown in Figure 3 or 5, the ball joint 150 or 250 comprises a plurality of first slots 160 or 260 and a plurality of second slots 161 or 261 arranged around the entire circumference of the spherical portion. The first slots 160 or 260 and second slots 161 or 261 are arranged alternately and respectively connect to one or the other of the flats. The first slots 160 or 260 extend radially from the spherical outer surface 151 or 251 to the through passage 155 or 255 and open at the first flat. The second slots 161 or 261 extend radially from the external surface 151 or 251 to the through passage 155 or 255 and open at the second flat 153 or 252, opposite the first flat. In other words, the plurality of first slots 160 or 260 and the plurality of second slots 161 or 261 open alternately on the side of the first flat and on the side of the second flat 153 or 252.The ball joint 150 or 250 here includes six first slots 160 or 260 and six second slots 161 or 261.

[0079]

[0072] Thus, thanks to slots made in a ball joint, it is possible to improve the ability of the ball joint to deform elastically so as to exert a force exerted by the internal surface delimiting the through passage, when a clamping is applied to a jaw around the ball joint and when the connecting member is disposed in the through passage.

[0080]

[0073] Alternatively, a ball joint comprising two parts, each having an external surface forming a portion of a sphere, may be provided, the two parts of each ball joint being, for example, connected to each other by a pivot or sliding joint, and being configured so as to be able to move closer together or further apart. An example of a two-part ball joint will be described in more detail with reference to Figure 16.

[0081]

[0074] As shown in Figure 3 or 5, the ball joint 150 or 250 further comprises a recess 162 or 262 formed in the external surface 151 or 251 at its portion 154 or 254 that is a sphere. This recess cooperates with a stud 135 or 235 projecting from the jaw to limit the ball joint's rotational movement. The stud 135 or 235 passes through a passage 137 or 237 formed in the jaw to reach the interior of the recess.

[0075] Alternatively, a stud could be fixed to the ball joint to cooperate with a recess formed in the jaw.

[0082]

[0076] Alternatively, several blocks 135 and 136 or 235 and 236 could be provided, cooperating with several recesses, the recesses having different directions defining different freedoms of movement.

[0083]

[0077] As shown in Figure 3 or 5, the jaw 100 or 200 comprises a first portion 101 or 201 and a second portion 102 or 202, spaced apart and arranged opposite each other. A gap 103 or 203 separates these two portions 101 and 102 or 201 and 202. The first portion 101 or 201 and the second portion 102 or 202 each comprise an internal surface 104 or 204 in the form of a portion of a sphere, to cooperate with the external surface in the form of a portion of a sphere of the ball joint. The jaw thus forms a housing for the ball joint. During assembly, the ball joint 150 or 250 can, for example, be inserted laterally through the space 103 or 203 between the first portion 101 or 201 and the second portion 102 or 202 up to the first housing 110 or 210, and then can be pivoted by an angle of 90°.

[0084]

[0078] As shown in Figure 3 or 5, the jaw 100 or 200 is formed in one piece. The jaw 100 or 200 includes an intermediate section 105 or 205 connecting the first portion 101 or 201 and the second portion 102 or 202. The intermediate section

[0085] 105 or 205 is configured to deform elastically so as to bring the first portion 101 or 201 closer together or further apart and the second portion 102 or 202 further apart.

[0086]

[0079] As shown in Figure 3 or 5, the jaw 100 includes a recess

[0087] 106 or 206 is located in the intermediate section 105 or 205 and connects to the first housing 110 or 210. The recess 106 or 206 thus opens into the space 103 or 203 between the first portion 101 or 201 and the second portion 102 or 202, and extends partially behind the first portion 101 or 201 and the second portion 102 or 202. The recess 106 or 206 has, for example, a "T"-shaped profile. Thus, the recess 106 or 206 facilitates elastic deformation of the jaw.

[0088]

[0080] Alternatively, a jaw could be provided in two distinct parts, opposite each other. These two parts are, for example, tightened or loosened by screwing. The two parts are, for example, connected by a pivot or hinge joint.

[0089]

[0081] As shown in Figure 3 or 5, the jaw 100 or 200 includes a tightening and loosening mechanism by screwing. The tightening mechanism includes, for example, a clamping screw 115 or 215 arranged opposite the intermediate section relative to the housing of the ball joint. The clamping screw 115 or 215 includes a head 116 or 216 and a threaded rod 117 or 217 extending from the head 116 or 216. The head 116 or 216 is provided with two first actuating members 118 or 218 extending radially from the first head 116 or 216 and configured to be actuated in tightening and / or loosening by complementary second actuating members of a tightening and / or loosening tool. The head 116 or 216 is further equipped with a fiducial marker 1, 19, or 219 configured to facilitate positioning of the tightening and / or loosening tool for the clamping screw 115 or 215. To receive the clamping screw 115 or 215, the jaw 100 or

[0090] 200 includes a through hole 121 or 221 in the first portion 101 or 201 and a second threaded hole 122 or 222 in the second portion 102 or 202 opposite the through hole 155 or 255. The through hole 155 or 255 and the second threaded hole 122 or 222 each open into the space 103 or 203 between the first portion 101 or 201 and the second portion 102 or 202. A first circlip 125 or 225, configured to be mechanically fastened around the threaded rod 117 or 217, is positioned between the first portion 101 or 201 and the second portion 102 or 202 of the jaw 100 or 200, in order to retain the clamping screw 115 or 215 on the jaw. 100 or 200 when the screw is not engaged in the second portion. A recess 126 or 226 is provided in the first portion 101 or

[0091] 201 around the first through hole 155 or 255. The recess 126 or 226 is configured to receive the base of the head 1 16 or 216 of the clamping screw 115 or 215 when the clamping screw 115 or 215 is screwed in.

[0092]

[0082] As shown in Figure 3 or 5, the jaw 100 or 200 further includes a torque-retaining mechanism to provide support for a clamping tool. The torque-retaining mechanism is, for example, in the form of four prismatic teeth 130 or 230, one end of which is beveled. The torque-retaining mechanism is, for example, arranged around the opening of the through hole located opposite the jaw housing.

[0093]

[0083] The torque recovery mechanism is configured for example to cooperate with second torque recovery elements of a screwing and / or unscrewing tool, so as to recover a screwing and / or unscrewing torque exerted on the clamping screw 1 15 or 215 by the screwing and / or unscrewing tool.

[0094]

[0084] As shown in Figure 3 or 5, lugs, each with a fixing hole 140 or 240, are attached to the jaw. For example, fixing by screwing to a mechanical assembly is provided.

[0095]

[0085] As shown in Figure 3, the connecting member 170 comprises a rigid rod 173. This rod is straight and has a circular cross-section. A circlip 178 is provided at one end, for example, to limit its translational movement relative to the jaw of the male part. The other end 174, intended to be inserted into the female part, is, for example, rounded, beveled, or tapered. A projecting element on a mid-portion of the rod limits, for example, its translational movement relative to the jaw of the male part. This element is, for example, in the form of a flat disc perpendicular to the axis of the rod. The projecting element is, for example, a gripping element for a tool. The projecting element is, for example, held onto the rod by circlips 176, 177.

[0096]

[0086] Alternatively, the gripping element can be formed as a single piece with the stem.

[0097]

[0087] Alternatively, the gripping element may be in the form of a hole or a recess machined into the stem.

[0098]

[0088] The gripping element 175 is configured to be manipulated by a gripping tool which will be described in more detail in relation to Figures 12A and 12B.

[0099]

[0089] As shown in Figure 4, the ball joint, which can rotate freely in the jaw housing, allows for angular movement of the connecting member. The end of the connecting member can, for example, be moved to the right or left and up or down. Thus, the end of the connecting member can be adjusted along two axes while the orientation of the connecting member is also adjusted. The first ball joint 150 is mounted for rotational movement in the first housing 110 of the first jaw 100, with the external surface 151 of the first ball joint 150 cooperating by complementary shapes with the internal surfaces 104 of the first portion 101 and the second portion 102 of the first jaw 100.

[0100]

[0090] In addition, the connecting member can be movable in translation relative to the ball joint member, so as to be able to advance the connecting member towards a guiding member.

[0101]

[0091] We will now describe in more detail the female portion 12 of the connecting device 10 with reference to Figures 5 and 6. As shown in Figure 5, the female portion comprises a second jaw 200 forming a second housing 210 cooperating with a second ball joint 250 having its external surface 251 fitting into the second housing 210. The second ball joint includes a second through passage 255 configured to receive the connecting member. Since the second ball joint can be made in the same way as the first ball joint, reference will be made to the preceding description. Similarly, since the second jaw can be made in the same way as the first jaw, reference will be made to the preceding description.

[0102]

[0092] As shown in Figure 5, the female portion further includes a guide portion 270. This guide portion, arranged in line with the second through-hole, allows the orientation of the connecting member to be changed during its insertion, so that the end of the connecting member is guided in the second through-hole. The guide surface 272 is, for example, frustoconical.

[0103]

[0093] As shown in Figure 5, the guide portion 270 includes an opening 275 with a diameter slightly larger than the diameter of the through passage and an enlarged opening 276 to capture the connecting member.

[0094] As shown in Figure 5, the guide portion 270 includes a mounting portion 277, such as a plate, mounted, for example, by screwing onto the second jaw.

[0104]

[0095] In Figure 6, the female part 12 is shown assembled. The guiding portion is here facing the through passage of the second ball joint.

[0105]

[0096] We will now describe the assembly of two male and female parts, with reference to figures 7 to 11.

[0106]

[0097] As shown in Figure 7, the connecting device is in its first configuration, in which the first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 are each loosened, thus allowing the first ball joint 150 and the second ball joint 250 to be partially free to rotate, respectively, in the first recess 110 of the first jaw 100 and in the second recess 210 of the second jaw 200. The male part 11 and the female part 12 of the connecting device 10 are spaced apart, with the connecting member 170 of the male part 11 being spaced apart from the second orifice 255 of the second ball joint 250 of the female part 12. The connecting member 170 is here partially free in translation relative to the first ball joint 150 and free to insert into the second ball joint 250.The male part 11 and the female part 12 of the connecting device 10 are arranged opposite each other here, but with a significant misalignment tolerance. This ability to function even in the event of misalignment is important so that the misalignment correction does not involve internal stresses in the mechanical assemblies. Furthermore, for a large number of connections using numerous connecting elements, a tolerance for misalignment is particularly advantageous.

[0107]

[0098] In Figure 8, the connecting member 170 of the male part 11 has been translated relative to the first ball joint 150 until it abuts against the guide portion. This sliding of the connecting member 170 relative to the first through passage 155 of the first ball joint 150 is achieved, for example, by means of a gripping tool that grasps the gripping disc of the connecting member. The connecting member, abutting against the frustoconical guide surface 272 of the guide portion 270, can then, for example, be guided towards the passage of the second ball joint of the female part.

[0108]

[0099] As shown in Figure 9, the end of the connecting member, guided by the guide portion, has now reached the opening of the second passage. The end is, for example, rounded to facilitate insertion. To reach this position, the first ball joint tolerated a change in its inclination. The gripping tool, for example, also tolerated this adjustment of orientation while translating the connecting member. Thanks to the pivoting of the first ball joint 150 in the first recess 110 of the first jaw 100 of the male part 11, the connecting member aligned itself with the two through passages of the two ball joints. In other words, the first ball joint 150 pivots in the first recess 110 of the first jaw 100 of the male part 11 in order to correct the axial misalignment of the male part 11 and the female part 12.

[0109]

[0100] As shown in Figure 10, the second ball joint is oriented according to the connecting member. The sliding of the connecting member 170 of the male part 11 in the second through passage 255 of the second ball joint 250 of the female part 12 was accompanied by a pivoting of the second ball joint 250 in the second recess 210 of the second jaw 200 of the female part 12. In other words, the second ball joint 250 also pivoted in the second recess 210 of the second jaw 200 of the female part 12, in order to correct the misalignment of the male part 11 and the female part 12.

[0110]

[0101] Furthermore, as shown in Figure 10, the second end 172 of the connecting member 170 of the male part 11 slides for example in the second through passage 255 of the second ball joint member 250 of the female part 12 until it protrudes through the second opening 257 of the second through passage 255 of the second ball joint member 250 of the female part 12.

[0111]

[0102] Figure 11 shows the connecting device 10 with the first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 clamped so as to lock the ball joints. The first jaw 100 of the male part 11 and the second jaw 200 of the female part 12 are, for example, tightened by screwing their clamping screws 115, 215, for example, by a quarter turn, which has the effect of locking the ball joints. Locking the ball joints prevents them from rotating. Locking the ball joints also prevents, for example, the connecting member from moving in translation.

[0112]

[0103] Thus, in the second configuration of the joining device, the first ball joint 150 is for example blocked in rotation in the first housing 110, the second ball joint 250 is blocked in rotation in the second housing 210, and the connecting member 170 is blocked in translation both in the first through passage 155 of the first ball joint 150 and in the second through passage 255 of the second ball joint 250, that is to say that the male part 11 and the female part 12 are mechanically secured to each other.

[0113]

[0104] A method for joining a first mechanical assembly 2 to a second mechanical assembly 3 can, for example, be implemented with a plurality of joining devices 10. It then comprises the following steps:

[0114]

[0105] - a step of positioning the connecting devices 10, with their male part 11 and their female part 12 facing each other and with their connecting member 170 at a distance from their second ball joint 250, then

[0106] - a step of engaging the male part 11 with the female part 12, for each connecting device 10, by introducing the connecting member 170 of the male part 11 into the second ball joint 250, by applying a translational movement allowing alignment adjustments, and

[0115]

[0107] - a step of connecting the male part 11 and the female part 12, by tightening the first jaw 100 and the second jaw 200, for each joining device 10.

[0116]

[0108] We will now describe, with reference to figures 12A and 12B, a gripping tool 300 configured to manipulate the connecting member of the male part of the joining device.

[0117]

[0109] As shown in Figure 12B, the gripping tool comprises a robotic arm 305 and a robotic gripper 310 mechanically connected to the robotic arm 305. The robotic gripper 310 includes, for example, a body 315 for mounting the robotic gripper 310 to the robotic arm 305, as well as a first finger 320 and a second finger 325, each motorized and mechanically rotationally connected to the body 315. The first finger 320 and the second finger 325 of the robotic gripper 310 are configured to move closer together or further apart so as to grasp or release the disc 175 of the connecting member of the male part of the joining device. Thus, the robotic gripper 310 can admit a first open configuration, in which the first finger 320 and the second finger 325 are at a distance from each other, and a second closed configuration, in which the first finger 320 and the second finger 325 are close together.

[0118]

[0110] As shown in Figure 12A, the first finger 320 and the second finger 325 of the robotic gripper 310 each comprise a gripping surface 330 having a shape complementary to the gripping element of the connecting member of the male part of the joining device.

[0119]

[0111] As shown in Figure 12A, the robotic arm 305 of the gripping tool 300 is first moved relative to the connecting device 10 so that the robotic gripper 310 is positioned opposite the gripping element 175 of the connecting member 170. The robotic gripper 310 is then in its open configuration.

[0120]

[0112] The robotic arm 305 is then translated towards the connecting member 175 so that the gripping element 175 is inserted between the first finger 320 and the second finger 325 of the robotic gripper 310.

[0121]

[0113] As shown in Figure 12B, the robotic gripper 310 is then closed to grasp the connecting member. In particular, the gripping surfaces 330 of the first finger 320 and the second finger 325 cooperate with the gripping element 175 so as to grasp the gripping element 175 of the connecting member 170.

[0114] The connecting member can then be moved, for example in translation, towards the female part.

[0122]

[0115] When the connecting member 170 has been introduced into the second ball joint member 250 of the female part 12, it is then sufficient to pass the robotic gripper 310 into its open configuration, and then to release the gripping tool.

[0123]

[0116] We will now describe, with reference to figures 13A and 13B, the tightening of the jaws, using a screwing and unscrewing tool 400. The screwing and unscrewing tool 400 is configured to screw or unscrew the clamping screw of each of the first jaw of the male part and the second jaw of the female part.

[0124]

[0117] As shown in Figure 13A, the screwing and unscrewing tool 400 comprises a robotic arm 405 and a robotic head 410 mechanically connected to the robotic arm 405. The robotic head 410 comprises, for example, a rotating inner part 420 mounted for rotation on an external part 430 extending around the rotating inner part 420. The rotating inner part 420 comprises, for example, a tubular cylindrical wall 421 having a first slot 422 and a second slot (not visible in Figures 13A and 13B) arranged opposite each other at the end of the cylindrical wall. These slots can thus cooperate with two lugs of the screw.

[0125]

[0118] As shown in Figure 13B, the internal rotating portion 420 of the robotic head 410 is configured to actuate a clamping screw 215 by applying a tightening or loosening torque to the head 216 of the clamping screw 215. The external portion includes protrusions 431 that fit between the teeth of the jaw to allow the torque to be absorbed. A clamping screw can thus be tightened or loosened to tighten or loosen a jaw.

[0126]

[0119] As shown in Figure 13A, the robotic arm 405 of the screwing and unscrewing tool 400 is placed in alignment with the screw, with its protrusions facing the space between the torque-recovery teeth.

[0127]

[0120] As shown in Figure 13B, the screwing tool is then translated to come into contact with the screw and the torque-retaining teeth, before exerting a screwing or unscrewing action.

[0128]

[0121] Figures 14A and 14B show an alternative embodiment of a connecting device 500 in which the connecting member 570 of the male part 511 is integral with the first ball joint 550 of the male part. The connecting member is, for example, blocked against translation by means of circlips 560 arranged on either side of the ball joint of the male part.

[0129]

[0122] To achieve the connection with the female part 512, the male part is, for example, translated relative to the female part, so as to bring the male and female parts closer together. As described previously, the ball joints 550, 580 allow alignment with the connecting member during insertion of the connecting member. As described previously, the female part includes a guide portion for the connecting member.

[0130]

[0123] Figure 15 shows an alternative embodiment of a junction device 600 in which the ball joints and jaws lack a pin cooperating with a recess to limit angular deflection. The male part of the junction device, for example, includes a portion forming a frustoconical surface that limits angular deflection, similar to the guiding device of the female part. Angular deflection is thus limited by a component located outside the jaw.

[0131]

[0124] The male part 611 here includes a limiting part 670 such as for example a hollow organ 671 having a funnel shape.

[0132]

[0125] As shown in Figure 15, the hollow member 671 extends from a small circular opening 675 opposite the central passage in the ball joint, to a large circular opening 676, defining an internal surface limiting the frustoconical deflection cooperating with the end 681 of the connecting member 680. The angle defining the frustoconical surface thus defines the maximum angle of angular deflection.

[0133]

[0126] As shown in Figure 15, a mounting portion 677 is provided on the external surface of the limiting part 670, configured to ensure mounting of the limiting part 670 to the first jaw 605.

[0134]

[0127] In other words, during a rotation of the first ball joint 650, the end 681 of the connecting member 680 can come to rest against the hollow member of 671, which makes it possible to limit the angular movement of the connecting member 680.

[0135]

[0128] Thus, the first ball joint 650 is limited in rotation in the first housing 610 of the first jaw 605 by the cooperation of the first end 681 of the connecting member 680 and the hollow member 671.

[0136]

[0129] Other variants are of course conceivable. The limiting part 670 may, for example, have a non-truncated conical internal limiting surface.

[0137]

[0130] The first ball joint of the male part and the second ball joint of the female part can each, alternatively, not be elastically deformable but be plastically deformable, so that the clamping of the first jaw of the male part and the second jaw of the female part irreversibly deforms the first ball joint of the male part and the second ball joint of the female part.

[0138]

[0131] Figure 16 shows an example of a ball joint according to another embodiment. The ball joint comprises two parts 450 and 451, each having an external surface forming a portion of a sphere. The two rigid parts each comprise a hemisphere cut into two opposite sides forming parallel flat surfaces 452, 453, 454, and 455. The hemispheres are, for example, made of metal. The two parts 450 and 451 of the ball joint can move closer together or further apart. The two parts are, for example, connected to each other by a pivot or sliding joint. Two curved and elastic metal strips 456 and 457 are, for example, arranged symmetrically and fixed to the two parts. The two metal strips 456 and 457 extend, for example, on either side of the hemispheres 450 and 451.

Claims

Demands 1. A junction device (10), suitable for the space environment, configured to mechanically connect a first mechanical assembly (2) to a second mechanical assembly (3), comprising a male part (11) configured to be connected to the first mechanical assembly (3) and a female part (12) configured to be connected to the second mechanical assembly (4), the device (10) being characterized in that the male part (11) comprises: - a first jaw (100) forming a first housing (1 10), - a first ball joint (150) comprising at least one external surface (151) fitting into the first housing (110) and being provided with a first passage (155), and - a connecting member (170) extending between a first end (171) and a second end (172) and being received in the first passage (155) of the first ball joint member (150), and in that the female part (12) comprises: - a second jaw (200) forming a second housing (210), - a second ball joint (250) comprising at least one external surface (251) coming into the second housing (210) and provided with a second passage (255) configured to receive the connecting member (170) by its second end (172), - a guiding part (270) arranged in the extension of the second passage (255).

2. A joining device according to claim 1, characterized in that the first ball joint (150) and the second ball joint (250) are elastically deformable, the first jaw (100) being configured to tighten and loosen the first ball joint (150) by varying the volume of the first housing (110), so as to elastically deform the first ball joint (150), and the second jaw (200) being configured to tighten and loosen the second ball joint (250) by varying the volume of the second housing (210), so as to elastically deform the second ball joint (250).

3. A junction device according to any one of the preceding claims, characterized in that the junction device (10) is configured to admit at least: - a first configuration, in which the first jaw (100) and the second jaw (200) are loosened, with the first ball joint (150) at least partially free to rotate in the first housing (110) and the second ball joint (250) at least partially free to rotate in the second housing (250), while the connecting member (170) is at least partially free in translation relative to the first ball joint and free to insert into the second ball joint (250); and - a second configuration, in which the first (100) and second jaws (200) are clamped, with at least the first ball joint (150) which is locked in rotation in the first housing (1 10) and the second ball joint (250) which is locked in rotation in the second housing (210).

4. A joining device according to any one of the preceding claims, characterized in that the first ball joint (150) and the second ball joint (250) each have their external surface (151, 251) forming a portion of a sphere, and the first (110) and second housings (210) each have a complementary internal surface (114, 214) forming a portion of a sphere.

5. Junction device according to any one of the preceding claims, characterized in that the first and second passes are through.

6. A joining device according to the preceding claim, characterized in that the first (150) and second ball joint members (250) each comprise slots (160, 161, 260, 261) extending radially from their external surface to respectively the first through passage (155) and the second through passage (255) and opening longitudinally alternately on one side or the other of the first ball joint member (150) and the second ball joint member (250).

7. Connecting device according to any one of the preceding claims, characterized in that the connecting member (170) comprises a rigid rod (173) provided, at its second end (172), with a tapered portion (174) configured to facilitate engagement of the connecting member (170) in the second ball joint member (250).

8. A connecting device according to any one of the preceding claims, characterized in that the connecting member (170) comprises a first stop and a second stop for limiting translation relative to the first ball joint member, with the first stop disposed at the first end of the connecting member and the second stop disposed between the first and second ends of the connecting member.

9. Joining device according to any one of the preceding claims, characterized in that the connecting member (170) comprises a gripping element (175) configured to be manipulated by a gripping tool (300).

10. Junction device according to any one of the preceding claims, characterized in that said guiding part (270) disposed in the extension of the second passage is in the form of a hollow centering member (271) having a frustoconical guiding surface (272).

11. A joining device according to any one of the preceding claims, characterized in that each jaw (100, 200) is formed in one piece and has an intermediate section (105, 205) connecting first and second portions (101, 102, 201, 202), each partially forming the housing (110, 210), the intermediate section (105, 205) being configured to deform elastically so as to bring together and move apart the first and second portions (101, 102, 201, 202), each partially forming the housing. jaw (100, 200) comprising a recess (106, 206) opening into a space (103, 203) between the first and second portions (101, 102, 201, 202) each forming part of the housing, the recess (106, 206) extending further, in part, behind said first and second portions (101, 102, 201, 202) in relation to the housing.

12. A joining device according to any one of the preceding claims, characterized in that each ball joint (150, 250) is limited in its amplitudes of movement relative to its jaw (100, 200), a recess (160, 260) provided in the ball joint (150, 250) or respectively in the jaw (100, 200) collaborating, for this purpose, with a projecting stud (135, 136, 235, 236) fixed to the jaw (100, 200) or respectively to the ball joint (150, 250).

13. Joining device according to any one of the preceding claims, characterized in that each jaw (100, 200) comprises a clamping screw (115, 215) and a torque recovery mechanism disposed around an area hosting a head (116, 216) of the clamping screw (115, 215).

14. A method for joining a first mechanical assembly (2) to a second mechanical assembly (3), using at least one joining device (10) according to any one of the preceding claims, comprising: - a positioning step of said junction device (10), with its male part (11) and its female part (12) facing each other and with its connecting member (170) at a distance from its guiding part, then for each junction device (10): - a step of engaging the male part (11) with the female part (12), by introducing the connecting member (170) of the male part (11) into the second ball joint (250), by applying a translational movement of the connecting member allowing transverse adjustments and - a tightening step of the first jaw (100) and the second jaw (200).

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