JPS6224236B2 - - Google Patents
Info
- Publication number
- JPS6224236B2 JPS6224236B2 JP12305281A JP12305281A JPS6224236B2 JP S6224236 B2 JPS6224236 B2 JP S6224236B2 JP 12305281 A JP12305281 A JP 12305281A JP 12305281 A JP12305281 A JP 12305281A JP S6224236 B2 JPS6224236 B2 JP S6224236B2
- Authority
- JP
- Japan
- Prior art keywords
- mounting bracket
- mounting
- hole
- steel ball
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
Description
【発明の詳細な説明】
本発明は、マニプレータのITVカメラ取付部等
に使用される着脱自在なボールロツク機構に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a removable ball lock mechanism used in an ITV camera mounting portion of a manipulator.
現在、マニプレータは多くの分野にて広く利用
されており、中でも人間が容易に近づけない環
境、特に原子力関係での役割は大である。すなわ
ち特殊な環境下では、第１図に示すように、マニ
プレータ本体１はマジツクハンド２を装着し、マ
ジツクハンド２の手先部をITVカメラ３で監視し
ながらマニプレータを操作するものである。た
だ、かかる環境下では、ITVカメラ３が故障した
り、耐用年数が経過した場合には、カメラ自体の
交換等も遠隔操作で行なわなければならず、この
ためにITVカメラ３はマニプレータ本体１より簡
単に着脱できる構造でなければならない。 Currently, manipulators are widely used in many fields, and among them, they play a major role in environments that cannot be easily accessed by humans, especially in nuclear power-related fields. That is, under special circumstances, as shown in FIG. 1, a magic hand 2 is attached to the manipulator main body 1, and the manipulator is operated while monitoring the tip of the magic hand 2 with an ITV camera 3. However, in such an environment, if the ITV camera 3 breaks down or reaches the end of its useful life, the camera itself must be replaced by remote control. It must be constructed so that it can be easily attached and detached.
しかしながら、従来のマニプレータ本体１と
ITVカメラ３の取付けは、第２図に示すように、
マニプレータ本体１に形成した取付部１ａの嵌合
孔４に円環状溝４ａを設け、ITVカメラ３を固着
したカメラ取付台５にバネ６と鋼球７を装着して
なるボールロツク機構を有する取付金具８を固定
し、この取付金具８をマニプレータ本体１の取付
部１ａに嵌着して固定する方法が採られていた。
したがつて、この従来構造では、取付金具８を嵌
着するとき鋼球７がいつたん引つ込み、嵌合孔４
の溝４ａにて再び突き出してロツクされる機構に
なつているので、嵌着するとき又は引き抜くとき
には、どこにも反力の受けがなく、多大な力がマ
ニプレータ本体１の先端に加わる等、マニプレー
タ本体１の先端部が破損する惧れがあり、しか
も、遠隔で着脱する構造のものには不向きであつ
た。 However, the conventional manipulator main body 1
To install the ITV camera 3, as shown in Figure 2,
A mounting bracket having a ball lock mechanism in which an annular groove 4a is provided in a fitting hole 4 of a mounting portion 1a formed in a manipulator body 1, and a spring 6 and a steel ball 7 are mounted on a camera mounting base 5 to which an ITV camera 3 is fixed. 8 is fixed, and this mounting bracket 8 is fitted and fixed to the mounting portion 1a of the manipulator main body 1.
Therefore, in this conventional structure, when the mounting bracket 8 is fitted, the steel ball 7 is retracted and the fitting hole 4 is closed.
Since the mechanism is such that it is pushed out and locked again in the groove 4a of the manipulator body 1, there is no reaction force anywhere when it is fitted or pulled out, and a large force is applied to the tip of the manipulator body 1. There is a risk that the tip of the first part may be damaged, and furthermore, it is not suitable for a structure that can be attached and detached remotely.
本発明は、かかる従来構造の欠点を解決するた
めに、マニプレータ本体のITVカメラ取付部等に
使用されるボールロツク機構を簡単な操作で着脱
ができるよう構成したボールロツク機構を提供す
ることを目的とするものであつて、その要旨とす
るところは、取付台に突設された軸芯と、この軸
芯に対して相対回転可能に嵌着された筒状の取付
金具と、この取付金具の前記軸芯の径方向に形成
された貫通孔と、この貫通孔に変位可能に収納さ
れ且つ当該貫通孔が形成された部分の当該取付金
具の壁厚よりも大径の鋼球と、本体取付部に形成
されて前記取付金具が着脱自在に差し込まれる嵌
合孔と、この嵌合孔の内周に形成され且つ前記鋼
球が前記取付金具の外周面から突出して係合し得
る係合溝と、前記軸芯の外周に形成されて前記鋼
球を前記貫通孔内に退避させ得る切欠部とを具え
たものである。 SUMMARY OF THE INVENTION In order to solve the drawbacks of the conventional structure, it is an object of the present invention to provide a ball lock mechanism used in an ITV camera mounting part of a manipulator body, etc., which is configured so that it can be attached and detached with a simple operation. The gist of this is that a shaft core protrudes from a mounting base, a cylindrical mounting bracket fitted so as to be rotatable relative to this shaft core, and the shaft of this mounting bracket. A through hole formed in the radial direction of the core, a steel ball that is displaceably housed in the through hole and has a larger diameter than the wall thickness of the mounting bracket in the part where the through hole is formed, and the main body mounting part. a fitting hole formed and into which the mounting bracket is detachably inserted; an engagement groove formed on the inner periphery of the fitting hole and into which the steel ball protrudes from the outer peripheral surface of the mounting bracket and can be engaged; A notch is formed on the outer periphery of the shaft core so that the steel ball can be retracted into the through hole.
以下、本発明に係るボールロツク機構を第３図
ないし第６図に示した実施例を参照して詳細に説
明する。 Hereinafter, the ball lock mechanism according to the present invention will be explained in detail with reference to the embodiments shown in FIGS. 3 to 6.
第３図はマニプレータ本体（第１図中、符号１
参照）にITVカメラ１３を着脱自在に嵌着するた
めのボールロツク機構を示す一部破断した側面図
でありマニプレータ本体の取付部１１ａには本実
施例では断面方形の嵌合孔１４が設けられるとと
もに、この方形の嵌合孔１４には内周にこの嵌合
孔１４より大きい径を有する係合溝１４ａが形成
されている。 Figure 3 shows the manipulator main body (numeral 1 in Figure 1).
This is a partially cutaway side view showing a ball locking mechanism for removably fitting an ITV camera 13 into an ITV camera 13 (see above).In this embodiment, a fitting hole 14 having a rectangular cross section is provided in a mounting portion 11a of the manipulator main body. An engaging groove 14a having a diameter larger than the engaging hole 14 is formed on the inner periphery of the square fitting hole 14. As shown in FIG.
一方、ITVカメラ１３は取付台１５ａの一端に
固定され、この取付台１５ａの他端はピン１９に
より上下に回動できるように取付台１５ｂのブラ
ケツト１５b′に枢着されている。取付台１５ｂの
他端には、前記取付部１１ａの嵌合孔１４に挿着
される本実施例では第４図中の−矢視断面構
造を表す第４図に示すような断面方形状の取付金
具１８が軸芯２０の外周を回動自在に装着される
とともに、第４図中の−矢視断面構造を表す
第５図に示すように、取付金具１８の軸芯２０よ
り外周側の上面に形成した溝２１ａに鋼球１７ｂ
がスプリング２２により装着されており、取付金
具１８が回動したとき、90゜毎に節度を有してロ
ツクされるよう取付台１５ｂの下面には鋼球１７
ｂの軌跡に対応してロツク溝２１ｂが形成されて
いる。また取付金具１８を回動自在に装着する軸
芯２０には後述する鋼球１７ａをこの軸芯２０側
へ退避させるための一対の切欠部２０ａが相互に
180度隔てて形成され、かつ、この切欠部２０ａ
に対応する取付金具１８には相対向する面に鋼球
１７ａの装入された貫通孔２３が穿設されてい
る。この鋼球１７ａは、貫通孔２３と切欠部２０
ａが一致したときには取付金具１８の外周側より
突き出さず、取付金具１８を90゜回動させたとき
に軸芯２０の外周で鋼球１７ａが取付金具１８の
外周側より突き出すように鋼球１７ａの直径、取
付金具１８の肉厚及び軸芯２０の切欠部２０ａの
深さ等がそれぞれ設定されている。 On the other hand, the ITV camera 13 is fixed to one end of a mounting base 15a, and the other end of this mounting base 15a is pivotally connected to a bracket 15b' of a mounting base 15b by a pin 19 so as to be able to rotate up and down. The other end of the mounting base 15b has a rectangular cross-section as shown in FIG. 4, which is inserted into the fitting hole 14 of the mounting portion 11a and is shown in FIG. The mounting bracket 18 is rotatably attached to the outer periphery of the shaft core 20, and as shown in FIG. A steel ball 17b is inserted into the groove 21a formed on the top surface.
is attached by a spring 22, and a steel ball 17 is provided on the underside of the mounting base 15b so that when the mounting bracket 18 is rotated, it is locked with moderation every 90 degrees.
A lock groove 21b is formed corresponding to the locus b. In addition, a shaft core 20 on which the mounting bracket 18 is rotatably mounted has a pair of notches 20a mutually arranged for retracting a steel ball 17a, which will be described later, toward the shaft core 20 side.
The cutout portions 20a are formed at 180 degrees apart.
A through hole 23 into which a steel ball 17a is inserted is bored on the opposing surface of the mounting bracket 18 corresponding to the above. This steel ball 17a has a through hole 23 and a notch 20.
When a matches, the steel ball 17a does not protrude from the outer periphery of the mounting bracket 18, and when the mounting bracket 18 is rotated 90 degrees, the steel ball 17a protrudes from the outer periphery of the mounting bracket 18 on the outer periphery of the axis 20. The diameter of the shaft 17a, the wall thickness of the mounting bracket 18, the depth of the notch 20a of the shaft core 20, etc. are set respectively.
したがつて、ITVカメラ１３を装着した取付台
１５ｂをマニプレータ本体の取付部１１ａに取付
ける場合には、第４図に示すように、図示しない
何らかの手段にて予め取付金具１８を回動して貫
通孔２３と軸芯２０の切欠部２０ａを一致させ、
鋼球１７ａが取付金具１８より突き出していない
状態にしてマニプレータ本体の取付部１１ａに設
けた嵌合孔１４に差し込み、取付台１５ｂを90゜
右方向に図示しない何らかの手段にて回動させれ
ば、軸芯２０が取付台１５ｂと一体に回動し、第
６図に示すように鋼球１７ａは貫通孔２３内で軸
芯２０の外周で外方に押し出され、嵌合孔１４内
の係合溝１４ａに突き出してロツクされる。な
お、このとき取付金具１８の上面に装着した鋼球
１７ｂも取付台１５ｂの下面に形成したロツク溝
２１ｂに係合してロツクされる。 Therefore, when attaching the mounting base 15b on which the ITV camera 13 is mounted to the mounting part 11a of the manipulator main body, as shown in FIG. The hole 23 and the notch 20a of the shaft core 20 are aligned,
With the steel ball 17a not protruding from the mounting bracket 18, insert it into the fitting hole 14 provided in the mounting part 11a of the manipulator main body, and rotate the mounting base 15b 90 degrees to the right by some means not shown. , the shaft core 20 rotates together with the mounting base 15b, and as shown in FIG. It protrudes into the matching groove 14a and is locked. At this time, the steel ball 17b mounted on the upper surface of the mounting bracket 18 is also engaged with the locking groove 21b formed on the lower surface of the mounting base 15b and is locked.
一方、ITVカメラ１３の交換等の際に取り外す
場合には、第６図中の矢印で示すように、前述し
た取付け操作の逆の順序により取付台１５ｂを90
゜回動させれば、鋼球１７ａ及び１７ｂが所定の
係合から外れ、容易に取り外すことができるもの
である。 On the other hand, when removing the ITV camera 13 when replacing it, etc., as shown by the arrow in FIG.
If the steel balls 17a and 17b are rotated by .degree., they will come out of their predetermined engagement and can be easily removed.
以上、図面に示した実施例にもとづいて詳細に
説明したように、本発明に係るボールロツク機構
は構造が簡単であり、しかも、ボールロツク機構
は差し込み、抜き取り方向には何ら操作力を必要
とせず、てこの原理を利用した小さな回動力によ
りロツク及びロツク解除が可能である。従つて、
ITVカメラ等をマニプレータ本体に装着する場合
又は抜き取る場合には、何ら反力がマニプレータ
に与えられないので、本体が破損したりせず耐久
性も向上するものであり、遠隔操作で容易に着脱
が可能である等の効果を奏する。 As described above in detail based on the embodiment shown in the drawings, the ball lock mechanism according to the present invention has a simple structure, and furthermore, the ball lock mechanism does not require any operating force in the insertion and removal directions. Locking and unlocking is possible with a small turning force using the lever principle. Therefore,
When attaching or removing an ITV camera, etc. to the manipulator body, no reaction force is applied to the manipulator, so the main body will not be damaged and its durability will be improved, and it can be easily attached and detached by remote control. It has the effect that it is possible.
第１図および第２図は従来構造を示し、第１図
はマニプレータ本体とITVカメラの取付状態を示
す側面図、第２図は従来の実施例を示す要部の一
部破断した側面図である。また、第３図は本発明
に係るボールロツク機構を示す一部破断した側面
図、第４図はその−矢視断面図、第５図はそ
の−矢視断面図、第６図はロツクした状態を
表す第４図に対応した作動原理図である。
図面中、１１ａは取付部、１４は嵌合孔、１４
ａは係合溝、１５ａ，１５ｂは取付台、１７ａ，
１７ｂは鋼球、１８は取付金具、２０は軸芯、２
０ａは切欠部、２１ａ，２１ｂは溝、２３は貫通
孔である。
Figures 1 and 2 show the conventional structure, Figure 1 is a side view showing the manipulator main body and the ITV camera installed, and Figure 2 is a partially cutaway side view of the main part of the conventional embodiment. be. Further, Fig. 3 is a partially broken side view showing the ball lock mechanism according to the present invention, Fig. 4 is a cross-sectional view taken in the - arrow direction, Fig. 5 is a cross-sectional view in the - arrow direction, and Fig. 6 is a locked state. FIG. 4 is an operating principle diagram corresponding to FIG. In the drawing, 11a is a mounting part, 14 is a fitting hole, 14
a is the engagement groove, 15a, 15b are the mounting bases, 17a,
17b is a steel ball, 18 is a mounting bracket, 20 is a shaft core, 2
0a is a notch, 21a and 21b are grooves, and 23 is a through hole.
Claims (1)
て相対回転可能に嵌着された筒状の取付金具と、
この取付金具の前記軸芯の径方向に形成された貫
通孔と、この貫通孔に変位可能に収納され且つ当
該貫通孔が形成された部分の当該取付金具の壁厚
よりも大径の鋼球と、本体取付部に形成されて前
記取付金具が着脱自在に差し込まれる嵌合孔と、
この嵌合孔の内周に形成され且つ前記鋼球が前記
取付金具の外周面から突出して係合し得る係合溝
と、前記軸芯の外周に形成されて前記鋼球を前記
貫通孔内に退避させ得る切欠部とを具えたボール
ロツク機構。1. A shaft protruding from the mounting base, a cylindrical mounting bracket fitted to be rotatable relative to the shaft,
A through hole formed in the radial direction of the axis of this mounting bracket, and a steel ball displaceably accommodated in this through hole and having a diameter larger than the wall thickness of the mounting bracket at the portion where the through hole is formed. and a fitting hole formed in the main body mounting portion into which the mounting fitting is detachably inserted;
an engagement groove formed on the inner periphery of the fitting hole and into which the steel ball protrudes from the outer periphery of the mounting bracket and can be engaged; A ball lock mechanism with a notch that can be retracted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12305281A JPS5828487A (en) | 1981-08-07 | 1981-08-07 | Ball locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12305281A JPS5828487A (en) | 1981-08-07 | 1981-08-07 | Ball locking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5828487A JPS5828487A (en) | 1983-02-19 |
| JPS6224236B2 true JPS6224236B2 (en) | 1987-05-27 |
Family
ID=14851006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12305281A Granted JPS5828487A (en) | 1981-08-07 | 1981-08-07 | Ball locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5828487A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4613209A (en) * | 1982-03-23 | 1986-09-23 | At&T Bell Laboratories | Smectic liquid crystals |
| JP5544957B2 (en) * | 2010-03-18 | 2014-07-09 | 株式会社Ｉｈｉ | Camera detachable robot apparatus, work gripping system, and work gripping method |
| JP5593866B2 (en) * | 2010-06-11 | 2014-09-24 | 富士通株式会社 | Tool change mechanism |
| JP5516974B2 (en) * | 2010-07-07 | 2014-06-11 | 株式会社Ｉｈｉ | Vision sensor mounting apparatus and method |
-
1981
- 1981-08-07 JP JP12305281A patent/JPS5828487A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5828487A (en) | 1983-02-19 |
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