Method and apparatus for releasably connecting first and second objects

• US 5,061,112 A
• Filed: 02/13/1991
• Issued: 10/29/1991
• Est. Priority Date: 02/13/1991
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Agriculture
• Original Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Inventors: Monford, Leo G. Jr.
• Primary Examiner(s): KUNDRAT, ANDREW
• Application Number:
  US07/654,704
• Time in Patent Office: 258 Days
• Field of Search: 403/328, 403/DIG. 1, 24/303, 24/115 C, 24/136 A, 411/348, 292/251.5, 89/1.54, 89/1.58, 192/84 PM, 251/65, 70/276
• US Class Current: 403/328
• CPC Class Codes: E05B 63/121 using balls or the like cooperating with notches
• CPC Class Codes: F16B 21/165 with balls or rollers for connections of rods or tubes engaged telescopically F16B7/1409
• CPC Class Codes: F16B 21/183 internal, i.e. with spreading action
• CPC Class Codes: F16B 5/0642 the plates being arranged one on top of the other and in full close contact with each other
• CPC Class Codes: F16B 5/065 the plates being one on top of the other and distanced from each other, e.g. by using protrusions to keep contact and distance
• CPC Class Codes: Y10S 403/01 Magnetic
• CPC Class Codes: Y10T 292/11 Magnetic
• CPC Class Codes: Y10T 403/604 Radially sliding catch

Abstract

Apparatus and method for releasably connecting first and second objects, wherein a magnetic end effector may include at least one elongated pin member (10) a proximal end of which is connected to the first object (1) and the distal end of which may be inserted into a receiving portion (4) in the second object (2). Latch members (16) are carried by the pin member (10) for radial movement between retracted and expanded positions for releasing and locking, respectively, first and second objects (1, 2). A plunger member (20) carried by the pin member (11) is axially moveable between first and second positions. In the first plunger position, the latch members (16) are located in the expanded (locked) position and in the second plunger position the latch members (16) are released for movement to retracted or unlocked position. Magnetic end effector (30) is provided for releasable attachment to the first object (1) and for moving the plunger member (20) to the second position, thereby releasing the first object (1).

Claims

1. Apparatus for releasably connecting a first object to a second object, said apparatus comprising:

at least one elongated pin member a proximal end of which is fixedly attached to said first object and the distal end of which projects therefrom for axial insertion into a corresponding hole provided on said second object, said pin member being tubular and having a longitudinal bore;

latch means carried by said pin member radially movable, relative to the central axis of said pin member, from a retracted position in which said latch means would be totally encompassed by the perimeter of said hole, allowing insertion and withdrawal of said pin member into and from said hole, to an expanded position which, if said pin member has been previously inserted into said hole, would engage a surface surrounding said hole preventing withdrawal of said pin member from said hole;

plunger means carried in the longitudinal bore of said pin member for coaxial reciprocal movement between a first and a second position, in said first position engaging and locking said latch means in said expanded position and in said second position permitting movement of said latch means to said retracted position; and

magnetic end effector means engageable with said first object for effecting movement of said plunger means from said first position to said second position and allowing release of said first object from said second object, wherein,

said latch means comprises a plurality of latch members, each of which are at least partially disposed in corresponding apertures through the tubular walls of said pin member, said latch members projecting radially out of said aperture when said plunger means is in said first position but being allowed to withdraw within said apertures when said plunger means is in said second position and, wherein further, at least one correlative key and slot for each of said latch members is provided, said key being provided on one of said latch members and said plunger member and said slot being provided on the other, relative movement of said key within said slot, in response to movement of said plunger members between said first and second position, effecting movement of said latch members between said radially projecting and said radially withdrawn dispositions.

2. A method for releasing first and second objects connected by apparatus which comprises:

at least one elongated pin member a proximal end of which is fixedly attached to said first object and the distal end of which projects therefrom into a corresponding hole provided on said second object;

latch means carried by said pin member radially movable, relative to the central axis of said pin member, from an expanded position engageable with a surface surrounding said hole preventing withdrawal of said pin member from said hole to a retracted position in which said latch means would be totally encompassed by the perimeter of said hole;

allowing withdrawal of said pin member from said hole, and plunger means carried by said pin member and axially movable between a first position engaging and locking said latch means in said expanded position and a second position permitting movement of said latch means to said retracted position;

said method including the step of moving magnetic end effector means into engagement with said first object to effect movement of said plunger means from said first position to said second position, to release said first object from said second object, wherein,

said plunger member, when in said first position, projects for engagement by said magnetic end effector means as it moves into engagement with said first object to force said plunger means, in a direction away from said magnetic end effector means, from said first position to said second position to allow said release of said first object from said second object.

3. The method of claim 2 in which said magnetic end effector means is attached to a third object so that upon said release of said first object from said second object said first object is substantially simultaneously connected to said third object.

4. The method of claim 3 including the additional step of moving said third object and said first object connected thereto away from said second object.

5. The method of claim 4 including the additional steps of:

returning said third object and said connected first object to said second object;

engaging said pin member thereon with said hole on said second object; and

releasing said magnetic end effector from said plunger means to allow said plunger means to return to said first position so that said second object is again connected to said first object.

6. A method of connecting, by latching means and magnetic effector means, first and second objects;

the first object having a magnetically attractable mating surface;

the latching means being fixed with respect to first object and being capable of both a latched and an unlatched configuration with respect to the second object;

the latching means having a connecting portion capable of extending from a portion of the first object to a portion of the second object and also having a protruding portion extending beyond, and being biased outwardly from, first object when in the latched configuration;

the latching means being in unlatched configuration when the protruding portion is depressed against the bias a sufficient distance inwardly toward the first object;

the second object having a receiving portion adapted for receiving the connecting portion of latching means;

the magnetic effector having an electromagnet, comprising the steps;

a) moving the magnetic effector into contact with the mating surface of the first object, thereby depressing protruding portion of latching means against the bias and placing latching means in the unlatched configuration;

b) activating electromagnet of magnetic effector which acts by magnetic force of attraction on the mating surface of first object to attach the first object to the magnetic end effector;

c) moving the magnetic end effector with attached first object so as to engage the connecting portion of latching means with the receiving portion of second object;

d) deactivating the electromagnet of magnetic end effector to detach first object from the magnetic end effector;

e) moving the magnetic end effector away from mating surface of first object sufficient distance to allow protruding portion of latching means to move with bias away from the mating surface and thus placing latching means in latched configuration with respect to second object.

7. The method of claim 6 wherein steps a) and b) are combined such that activating the electromagnet of magnetic end effector acts by magnetic force of attraction on the mating surface of first object to move the magnetic end effector and the mating surface of first object into mutual contact, thereby depressing protruding portion of latching means against the bias and placing latching means in the unlatched configuration as well as attaching the first object to the magnetic end effector.

8. A method of disconnecting, by latching means and magnetic effector means, a first from a second object;

the first object having a magnetically attractable mating surface;

the latching means being fixed with respect to first object and being capable of both a latched and an unlatched configuration with respect to second object;

the latching means having a connecting portion capable of extending from a portion of first object to a portion of second object and also having a protruding portion extending beyond, and being biased outwardly from, first object when in the latched configuration;

the latching means being in unlatched configuration when the protruding portion is depressed against the bias a sufficient distance inwardly toward the first object;

the second object having a receiving portion adapted for receiving the connecting portion of latching means;

the magnetic effector having an electromagnet, comprising the steps;

a) moving the magnetic effector into contact with the mating surface of the first object, thereby depressing protruding portion of latching means against the bias and placing latching means in the unlatched configuration;

b) activating electromagnet of magnetic effector which acts by magnetic force of attraction on the mating surface of first object to attach the first object to the magnetic effector;

c) moving the magnetic effector and attached first object away from second object thereby removing connecting portion of latching means from receiving portion of second object.

9. The method of claim 8 wherein steps a) and b) are combined such that activating the electromagnet of magnetic effector acts by magnetic force of attraction on the mating surface of first object to move the magnetic effector and the mating surface of the first object into mutual contact, thereby depressing protruding portion of latching means against the bias and placing latching means in the unlatched configuration as well as attaching the first object to the magnetic effector.