JPS6140067Y2 - - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a manipulator.

Manipulators must be operated accurately while monitoring their operating status, but this monitoring is generally done through a window or a monitoring television camera fixed in the cell. It is. However, with a closed window or an appropriate number of fixed TV cameras, a blind spot may be created at the end of the manipulator, making it impossible to accurately monitor the operating status of the manipulator, resulting in a lack of reliability and safety in the work. . Therefore, a configuration in which a television camera for monitoring is fixed to an appropriate part of the manipulator body may be considered, but in this case, cables such as control lines and power lines for the television camera would be routed on the floor. As a result, the cable may interfere with the operation of the manipulator, resulting in a lack of workability and safety. These inconveniences also occur with the cables of power tools and the like that are gripped and operated by the manipulator, and therefore, the above-mentioned conventional technology has the disadvantage that workability and safety cannot be sufficiently ensured.

This invention was devised in view of the drawbacks of the prior art described above, and the purpose is to provide a manipulator that can obtain high operating functions and also ensure sufficient workability and safety. It is something. An embodiment of this invention will be described in detail below with reference to the drawings.

In Fig. 1, the main body of the manipulator, generally indicated by 1, is a remotely controllable manipulator body, which is composed of a shoulder section 2, an upper arm section 3, a lower arm section 4, a wrist section 5, a finger section 6, etc., and each of these sections can be rotated. The object to be operated (not shown) can be remotely operated by moving and bending the object. In addition, 7 is a lifting device attachment part. Reference numeral 8 denotes a television camera for monitoring the operating state of the hand section 6, which is attached to an appropriate part of the lower arm section 4 via a mounting base 9.

10 indicates cable 1 of TV camera 8.
A connector device for reliably and safely connecting and supporting a connector 12 provided at the tip of a manipulator body 1 to a connector 13 fixed to the manipulator body 1, and configured as shown in FIGS. 2 to 4, for example. has been done. That is, 14 in the figure is a supporting body (supporting member) made of an elastic member formed in a U-shape. The chamfered portion 15 is configured to be able to freely engage with the chamfered portion 15, and when engaged with the chamfered portion 15, the chamfered portion 15
The supporting body 14 is designed to clamp and fix both sides of the
The free dimension of the opening in is set to be narrower than the width dimension B of the chamfered portion 15.
Reference numeral 16 indicates a steel ball for preventing extraction (for locking) that is rotatably mounted in a hole 17 provided in the support parts 14a, 14a on both sides of the opening of the support body 14. As shown in FIG. 5, the amount of inward protrusion is restricted to a certain amount e by a locking portion 18 provided on the inside of the hole 17, and movement in the outward direction is limited to a fixed amount e by a locking portion 18 provided on the inside of the hole 17. It is regulated by a regulating member 20 fixed to the portions 14a, 14a.
21 indicates connector 1 on the TV camera 8 side.
A connector support member for fixedly supporting the bracket 2.
It is fixed to the support body 14 via 2. Note that 23 and 24 indicate fixing bolts. A hole 25 for attaching the connector 12 is provided at a position corresponding to the connector 13 in the connector support member 21, and the connector 12 is attached thereto. Reference numeral 26 denotes a cable base fixing member formed in a band shape as shown in FIG.
It is configured so that it can be fixed freely. Note that reference numeral 28 indicates a set screw for preventing rotation of the connector 12. The connector 13 includes a manipulator main body 1.
The power line and control line of the television camera 8 which are inserted and wired inside are connected.

According to the above configuration, the connector 12 can be easily attached and detached even in a wall-penetrating master-slave manipulator, etc., and the wiring inside the manipulator body 1 and the power line and control line of the external TV camera 8 etc. can be connected extremely easily. Since it is possible, TV camera 8
The cable 11 does not run on the floor, improving workability and safety. Furthermore, even if the connector section is placed in the lower position due to rotation of the lower arm section 4, the support member 14 holds the manipulator main body 1, and the protruding portion of the locking steel ball 16 is engaged with the manipulator main body 1. Since the connector 12 is fixed, the connector 12 does not fall off from the manipulator main body 1, and a stable connection state is always maintained.

Note that the connector 12 is not limited to the one for the television camera 8, and can of course be applied to a connector for other electrical equipment such as a power tool operated by the manipulator 1.

As described above, according to the present invention, the power supply side connector is fixedly provided on the manipulator body, and the cable side connector of the electrical equipment and the power supply side connector are connected to each other to extract the power of the electrical equipment. Therefore, when installing a television camera or the like on the manipulator body, for example, when installing a television camera to eliminate blind spots when operating the manipulator, there is no need to run cables on the floor, improving operational efficiency. Safety can be sufficiently ensured. Since the U-shaped support member is fitted onto and engaged with the manipulator main body, the connector can be easily attached and detached, and the power source can be easily taken out. Moreover, since the connector is fixed to the manipulator by the engaging action of the U-shaped support member and the locking action of the locking sphere, the connector will not fall off during operation. Furthermore, since the locking sphere rolls on the outer peripheral surface of the manipulator when the connector is attached or detached, attachment and detachment can be carried out smoothly and there is no risk of damaging the manipulator.

[Brief explanation of the drawing]

The drawings show one embodiment of this invention, in which Fig. 1 is an explanatory diagram of a manipulator equipped with a device according to this invention, Fig. 2 is an explanatory side view of the main part of this invention, and Fig. 3 is an explanatory diagram of a manipulator equipped with a device according to this invention. is an explanatory front view with a part of the main part of this invention cut away, FIG. 4 is an explanatory plan view thereof, and FIG.
The figure is a partially enlarged sectional view of the main part of this invention, and FIG. 6 is an explanatory diagram of the main part of this invention. 1... Manipulator body, 12... Connector,
13... Connector, 14... Support member, 16...
wrecking ball.

Claims (1)

[Scope of utility model registration request] A power supply side connector is fixedly provided on the manipulator main body, and a cable side connector that is detachable from the power supply side connector is provided at the tip of a cable of an electric device that is attached to or operated on the manipulator body, and the cable side connector is detachably attached to the power supply side connector. is provided with a U-shaped support member made of an elastic member that is fitted externally and engaged with the manipulator main body, and on each inner side of the mutually opposing support portions of this support member, there is a The locking sphere to be locked,
A manipulator characterized in that each manipulator is rotatably buried so that a part thereof protrudes inward.