JP2020077109A - Handle rotation auxiliary device and handle rotation method - Google Patents

Abstract

To easily perform a rotation operation of a handle.SOLUTION: A handle rotation auxiliary device includes a connection part 2 engaging with a handle 102 for enabling a rotation operation of an on-off valve 100, a support shaft 3 for supporting the connection part 2 in a rotatable manner, and a rotation imparting part 5 for imparting rotation power to the support shaft 3. The connection part 2 is switched to a transmission state for transmitting the rotation power to the handle 102 and a non-transmission state for transmitting no rotation power to the handle 102 in accordance with a rotational position around the support shaft 3.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a handle rotation assist device and a handle rotation method.

  For example, Patent Document 1 discloses a technique in which operations such as opening and closing a valve are remotely operated by a manipulator on behalf of a worker.

Japanese Patent Publication No. 6-45109

  For example, in a nuclear power plant, on-off valves and on-off doors have various types of handles having different sizes, shapes, orientations, etc., and it is desired that these handles be operated remotely by a manipulator. However, in order to remotely operate various types of handles with a manipulator, complicated control is required to adjust the posture of rotating the handles, the torque to rotate the handles, etc., to the various types of handles, and Many gripping mechanisms are required for exchanging the gripping mechanism for various types of handles.

  The present invention solves the above-mentioned problems, and an object of the present invention is to provide a handle rotation assisting device and a handle rotation method capable of easily rotating a handle.

  In order to achieve the above object, a handle rotation assisting device according to an aspect of the present invention includes a connecting portion that engages with a handle that allows a device to be rotated, and a support shaft that rotatably supports the connecting portion. And a rotation imparting portion that imparts rotational power to the support shaft, wherein the connecting portion transmits a rotational power to the handle according to a rotational position around the support shaft, and a rotational power to the handle. Switch to a non-transmitted state that does not transmit.

  In the steering wheel rotation assisting device according to an aspect of the present invention, the connecting portion has a gap such that an elastic member that comes into contact with the handle with elastic force does not come into contact with the handle in a rotation direction around the support shaft. Is preferably provided.

  In the steering wheel rotation assisting device according to an aspect of the present invention, the connecting portion has a main gear that is fixed coaxially with the handle, and an auxiliary gear that meshes with the main gear, and the auxiliary gear is It is preferable to include a meshing portion that meshes with the main gear and a non-meshing portion that does not mesh with the main gear in the rotation direction around the support shaft.

  In the steering wheel rotation assisting device according to an aspect of the present invention, the connecting portion includes a main rotating portion that is fixed coaxially with the handle, and an auxiliary rotating member that is rotatable about an axis parallel to the main rotating portion. And an annular belt that rotatably connects the main rotating portion and the auxiliary rotating portion, and the auxiliary rotating portion engages with the annular belt in a rotation direction around the support shaft. It is preferable to include an engaging portion that engages with the annular belt and a non-engaging portion that does not engage with the annular belt.

  In the steering wheel rotation assisting device according to an aspect of the present invention, it is preferable that the steering shaft includes a support portion that transmits rotational power to the support shaft and that supports the support shaft so as to be movable in the extending direction of the shaft of the handle.

  In the steering wheel rotation assisting device according to an aspect of the present invention, it is preferable that the handle rotation assist device include a transmission unit that transmits the rotational power of the rotation imparting unit to the support shaft, and the transmission unit includes a reduction mechanism.

  In the steering wheel rotation assisting device according to an aspect of the present invention, the handle rotation assist device includes a transmission unit that transmits the rotational power of the rotation imparting unit to the support shaft, the transmission unit including the support shaft and the rotation shaft of the rotation imparting unit. It is preferable to include a shaft angle changing mechanism for changing the shaft angle of the.

  In the handle rotation assisting device according to one aspect of the present invention, it is preferable that the rotation imparting unit includes an auxiliary handle that is rotationally operated.

  In the handle rotation assisting device according to an aspect of the present invention, it is preferable that the rotation imparting unit includes a jig attachment unit to which a rotation jig can be attached and detached.

  In order to achieve the above-mentioned object, a handle rotation method according to an aspect of the present invention includes a connecting portion that engages with a handle capable of rotating a device, and a support shaft that rotatably supports the connecting portion. A rotation imparting portion for imparting rotation power to the support shaft, and transmitting rotation power to the handle through the connecting portion, and not transmitting rotation power from the connecting portion to the handle. The free rotation of the handle is switched according to the rotational position of the connecting portion around the support shaft.

  According to the present invention, the connecting portion switches between a transmission state in which rotational power is transmitted to the handle and a non-transmission state in which rotational power is not transmitted to the handle, depending on the rotational position around the support shaft. For this reason, it is possible to easily perform the rotation operation of the handle by the rotation imparting unit without hindering the direct operation of the handle.

FIG. 1 is a side view of a handle rotation assist device according to an embodiment of the present invention. FIG. 2 is a front view of the handle rotation assisting device according to the embodiment of the present invention. FIG. 3 is a plan view showing the operation of the handle rotation assisting device according to the embodiment of the present invention. FIG. 4 is a plan view showing the operation of the handle rotation assisting device according to the embodiment of the present invention. FIG. 5 is a schematic view of an example of a robot used in the handle rotation assisting device according to the embodiment of the present invention. FIG. 6 is a side view of another application example of the handle rotation assisting device according to the embodiment of the present invention. FIG. 7 is a front view of another application example of the handle rotation assistance device according to the embodiment of the present invention. FIG. 8 is a plan view showing an operation of another application example of the handle rotation assisting device according to the embodiment of the present invention. FIG. 9 is a plan view showing an operation of another application example of the steering wheel rotation assisting device according to the embodiment of the present invention. FIG. 10 is a front view of another example of the connecting portion of the handle rotation assisting device according to the embodiment of the present invention. FIG. 11 is a plan view of another example of the connecting portion of the handle rotation assisting device according to the embodiment of the present invention. FIG. 12 is a plan view of still another example of the connecting portion of the handle rotation assisting device according to the embodiment of the present invention. FIG. 13 is a plan view of another application example of the handle rotation assistance device according to the embodiment of the present invention. FIG. 14 is a side view of another example of the handle rotation assisting device according to the embodiment of the present invention. FIG. 15 is a front view of another example of the handle rotation auxiliary device according to the embodiment of the present invention. FIG. 16 is a front view of another example of the handle rotation auxiliary device according to the embodiment of the present invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, constituent elements in the following embodiments include elements that can be easily replaced by those skilled in the art, or substantially the same elements.

  FIG. 1 is a side view of the handle rotation assisting device according to the present embodiment. FIG. 2 is a front view of the handle rotation assisting device according to the present embodiment. FIG. 3 is a plan view showing the operation of the handle rotation assistance device according to the present embodiment. FIG. 4 is a plan view showing the operation of the handle rotation assisting device according to the present embodiment. FIG. 5 is a schematic diagram of an example of a robot used in the handle rotation assisting device according to the present embodiment.

  The handle rotation assisting device 1 of the present embodiment is attached to, for example, an opening / closing valve 100 which is a manually operated device. The on-off valve 100 has a valve mechanism (not shown) that opens and closes the piping portion 101. The handle 102 is connected to the valve mechanism via a shaft 103. The valve mechanism of the on-off valve 100 operates by rotating the handle 102 around the shaft 103 by a manual rotation operation.

  The handle rotation assist device 1 rotates a handle 102 of a device such as the on-off valve 100 described above. The handle rotation assisting device 1 includes a connecting portion 2, a support shaft 3, a transmitting portion 4, a rotation imparting portion 5, and a mounting portion 6.

  The connecting portion 2 is connected to the handle 102 of a device such as the on-off valve 100 described above. The connecting portion 2 has a pair of plate members 2A and an elastic member 2B attached to each plate member 2A. Each plate member 2A faces each plate surface 2Aa and is provided at a predetermined interval between each plate surface 2Aa. The predetermined interval is an interval for sandwiching the handle 102 in a non-contact state in the extending direction of the shaft 103 of the handle 102 on each plate surface 2Aa of each plate member 2A. Each plate member 2A is formed in a disc shape, and its center is attached to the support shaft 3 so as to be rotatable around the support shaft 3. The support shaft 3 is arranged parallel to the shaft 103 of the handle 102. When each plate member 2A rotates about the support shaft 3, a part of the rotation direction sandwiches the handle 102 in a non-contact state.

  The elastic member 2B is attached to each plate surface 2Aa of each plate member 2A. The elastic members 2B form a pair at positions facing each other on the plate surface 2Aa of each plate member 2A. The pair of elastic members 2B are provided in plural at intervals in the rotation direction around the support shaft 3 around which each plate member 2A rotates. As shown in FIG. 3, when the plate members 2A rotate around the support shaft 3, the pair of elastic members 2B come into contact with the handle 102 at positions where the handle 102 is sandwiched between the plate members 2A and sandwich the handle 102. Hold with. Further, as shown in FIG. 4, the pair of elastic members 2B do not exist at positions where the handles 102 are sandwiched between the plate members 2A when the plate members 2A rotate around the support shaft 3, and the pair of elastic members 2B are attached to the handle 102. It becomes non-contact. That is, the pair of elastic members 2 </ b> B are provided at plural intervals in the rotation direction around the support shaft 3 so as not to contact the handle 102.

  The transmission unit 4 is interposed between the rotation imparting unit 5 and the support shaft 3 to transmit rotational power to the support shaft 3. The transmission unit 4 has a variable shaft angle mechanism 4A and a speed reduction mechanism 4B. The shaft angle varying mechanism 4A has a transmission shaft 4Aa that transmits rotational power to the support shaft 3, and the shaft angle that is the extending direction of the transmission shaft 4Aa is different from the shaft angle that is the extending direction of the support shaft 3. To change. As shown in FIG. 1, the variable shaft angle mechanism 4A includes a bevel gear 4Ab that is provided between the transmission shaft 4Aa and the support shaft 3 and meshes with each other, or, for example, a worm gear and a wheel or a universal joint, which is not shown in the drawing. There is. Therefore, the shaft angle varying mechanism 4A changes the shaft angle between the support shaft 3 and the rotation shaft of the rotation imparting unit 5 (the transmission shaft 4Aa or the input shaft 4Ba).

  The deceleration mechanism 4B has an input shaft 4Ba and an output shaft 4Bb to which rotational power is input, and when transmitting the rotation input to the input shaft 4Ba to the output shaft 4Bb, the rotational speed is reduced to provide the rotational power. To increase. As shown in FIG. 1, the speed reduction mechanism 4B includes a planetary gear 4Bc that connects the input shaft 4Ba and the output shaft 4Bb. The planet gear 4Bc can be coaxially connected to the input shaft 4Ba and the output shaft 4Bb. Further, the speed reduction mechanism 4B is not limited to the planetary gears, and is composed of various gear combinations, although not shown in the drawing.

  In the transmission section 4, the output shaft 4Bb of the speed reduction mechanism 4B is coaxially connected to the transmission shaft 4Aa of the variable shaft angle mechanism 4A. In the transmission unit 4, the positions of the variable shaft angle mechanism 4A and the speed reduction mechanism 4B are exchanged, the output shaft 4Bb of the speed reduction mechanism 4B is connected to the support shaft 3, and the variable shaft angle mechanism 4A is connected to the input shaft 4Ba of the speed reduction mechanism 4B. It may be connected. Further, the transmission unit 4 may be configured by only the shaft angle varying mechanism 4A or only the speed reducing mechanism 4B. Moreover, the transmission part 4 does not necessarily have to be provided.

  The rotation imparting section 5 imparts rotational power to the support shaft 3. In this embodiment, the transmission unit 4 is provided between the support shaft 3 and the rotation imparting unit 5. Further, in the transmission unit 4, the shaft angle variable mechanism 4A is connected to the support shaft 3, and the reduction mechanism 4B is connected to the shaft angle variable mechanism 4A. The rotation imparting unit 5 is connected to the speed reduction mechanism 4B and imparts rotational power to the support shaft 3 via the speed reduction mechanism 4B and the shaft angle varying mechanism 4A. The rotation imparting section 5 is configured to easily transmit the rotational power, and in FIG. 1, it is a disc 5a whose center is connected to the input shaft 4Ba of the reduction mechanism 4B and a position deviated from the center of the disc 5a. It is configured as an auxiliary handle having a rod-shaped grip portion 5b arranged in parallel with the input shaft 4Ba. The grip portion 5b may be provided rotatably around an axis parallel to the input shaft 4Ba with respect to the disc 5a. Therefore, the rotation imparting unit 5 can impart rotational power from the input shaft 4Ba to the support shaft 3 by gripping the gripping unit 5b and rotating the disc 5a at the center thereof.

  In addition, in the transmission unit 4, when the positions of the variable shaft angle mechanism 4A and the speed reduction mechanism 4B are switched, the speed reduction mechanism 4B is connected to the support shaft 3, and the variable shaft angle mechanism 4A is connected to the speed reduction mechanism 4B, rotation is imparted. The portion 5 is connected to the transmission shaft 4Aa of the shaft angle varying mechanism 4A. When the transmission unit 4 is not provided, the rotation imparting unit 5 is directly connected to the support shaft 3.

  The attachment portion 6 attaches the handle rotation assisting device 1 to a fixed position. 1 and 2, the attachment portion 6 attaches the transmission portion 4 to the on-off valve 100, which is a fixed portion. In FIG. 2, the mounting portion 6 is configured as a rod-shaped or plate-shaped metal fitting for mounting the transmission portion 4 on the on-off valve 100. Although not clearly shown in the figure, the mounting portion 6 may be one in which the handle rotation assisting device 1 is mounted on a fixed location such as a floor or wall of equipment where the on-off valve 100 is grounded, in addition to the on-off valve 100.

  In the handle rotation assisting device 1 described above, rotational power is applied to the support shaft 3 by rotating the rotation applying unit 5. When rotational force is applied to the support shaft 3, the connecting portion 2 rotates around the support shaft 3. As described above, the connecting portion 2 has a position where the pair of elastic members 2B sandwiches the handle 102 as shown in FIG. 3 and a position where the pair of elastic members 2B does not contact the handle 102 as shown in FIG. Switch. For this reason, when the pair of elastic members 2B are in a position to sandwich the handle 102, the handle 102 is rotated around the shaft 103. That is, the connecting portion 2 is in a transmission state in which the rotational power is transmitted to the handle 102 according to the rotational position around the support shaft 3. On the other hand, when the pair of elastic members 2 </ b> B are in non-contact positions with the handle 102, the handle 102 is not rotated around the shaft 103. That is, the connecting portion 2 is in a non-transmission state in which rotational power is not transmitted to the handle 102 according to the rotational position around the support shaft 3. Further, when the pair of elastic members 2B are in a non-transmitting state where they are in non-contact with the handle 102, the handle 102 can be rotated about the shaft 103 regardless of the elastic member 2B by directly rotating the handle 102. It will be in a state.

  The rotation operation of the rotation imparting unit 5 is performed by the robot 150 as illustrated in FIG. The robot 150 is, for example, a robot that can move inside a building or underground to perform disaster prevention support activities. The robot 150 has a hollow frame 151 as a base, and a traveling device 152 is provided below the frame 151. Therefore, the robot 150 can be moved by the traveling device 152. In FIG. 5, the traveling device 152 shows crawlers provided on the front, rear, left, and right of the frame 151, but may be wheels. Further, the robot 150 is provided with a manipulator 153 as an operation device on the upper portion of the frame 151. The manipulator 153 includes a telescopic mechanism unit 153A, a multi-axis multi-joint mechanism 153B provided at the extension and contraction end of the extension mechanism unit 153A, and a gripping mechanism 153C provided at the end of the multi-joint mechanism 153B. And have. The manipulator 153 carries the multi-joint mechanism 153B and the gripping mechanism 153C to a near position or a distant position by the expansion and contraction of the expansion and contraction mechanism section 153A. The manipulator 153 changes the posture of the gripping mechanism 153C by the multi-joint mechanism 153B. The manipulator 153 performs a grip operation by the grip mechanism 153C. Therefore, the robot 150 can be operated by the manipulator 153.

  In the handle rotation assisting device 1 of the present embodiment, the gripping mechanism 153C of the robot 150 described above grips the gripping portion 5b of the rotation imparting portion 5 and the rotation imparting portion 5 is rotated. As a result, normally, the handle 102 is kept in a non-transmission state in which it can rotate around the shaft 103 regardless of the elastic member 2B of the connecting portion 2, and when an accident occurs, the handle 102 is remotely operated by the robot 150. Can be brought into a transmission state in which it is rotated about the shaft 103.

  As described above, in the steering wheel rotation assisting device 1 of the present embodiment, the connecting portion 2 transmits the rotation power to the handle 102 and does not transmit the rotation power to the handle 102 according to the rotation position around the support shaft 3. Switch to non-transmitted state. For this reason, it is possible to easily perform the rotation operation of the handle by the rotation imparting unit 5 without hindering the direct operation of the handle 102. Further, in the handle rotation method of the present embodiment, the rotational power is transmitted to the handle 102 via the connecting portion 2, and the handle 102 can be freely rotated without transmitting the rotational power from the connecting portion 2 to the handle 102. And that according to the rotational position of the connecting portion 2 around the support shaft 3.

  It should be noted that the transmission state and the non-transmission state may be switched by a clutch mechanism driven by an electric motor or the like. However, the clutch mechanism driven by an electric motor or the like must be protected against ambient pressure, temperature, radiation and the like. In addition, the mechanical clutch mechanism must be operated before operating the handle 102. In this respect, the handle rotation assisting device 1 of the present embodiment can mechanically switch between the transmission state and the non-transmission state based on the rotational position of the connecting portion 2 around the support shaft 3, so that the number of operations is reduced. In addition, the rotation operation of the handle 102 can be easily performed by remote operation of the robot 150 which is protected against ambient pressure, temperature, radiation, and the like.

  Further, in the steering wheel rotation assisting device 1 of the present embodiment, the shaft angle varying mechanism 4A of the transmission unit 4 can change the shaft angle of the rotation shaft of the rotation imparting unit 5 with respect to the shaft angle of the support shaft 3. Therefore, the orientation of the rotation imparting section 5 can be changed to a direction that facilitates access and operation by the gripping mechanism 153C of the robot 150. As described above, the handle rotation assisting device 1 of the present embodiment can change the axis angle of the rotation imparting section 5 with respect to the handle 102 having various axis angles.

  In addition, the handle rotation assisting device 1 of the present embodiment reduces the load on the manipulator 153 by reducing the load of the rotation imparting unit 5 for transmitting the rotational power to the handle 102 by the reduction mechanism 4B of the transmitting unit 4. It can be reduced. As described above, the handle rotation assisting device 1 of the present embodiment can make the rotation load of the rotation imparting unit 5 constant with respect to the handles 102 having various rotation loads.

  FIG. 6 is a side view of another application example of the handle rotation assistance device according to the present embodiment. FIG. 7 is a front view of another application example of the handle rotation assistance device according to the present embodiment. 8 and 9 are plan views showing the operation of another application example of the handle rotation assistance device according to the present embodiment.

  6 to 9, in comparison with the on-off valve 100 of FIGS. 1 to 4, the handle rotation assisting device for the on-off valve 110, which has a smaller outer diameter than the handle 102 and has a small rotational load on the handle 112. The application example of No. 1 is shown.

  The on-off valve 110 is a device that is manually operated. The on-off valve 110 has a valve mechanism (not shown) that opens and closes the piping part 111. A handle 112 is connected to the valve mechanism via a shaft 113. Then, the on-off valve 110 operates the valve mechanism by rotating the handle 112 around the shaft 113 by a manual rotation operation.

  6 to 9, the steering wheel rotation assist device 1 is configured not to include the speed reduction mechanism 4B of the transmission unit 4 because the rotational load of the handle 112 is small. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  The connecting portion 2 is connected to the handle 112 of the on-off valve 110. The connecting portion 2 has a pair of plate members 2A and an elastic member 2B attached to each plate member 2A. Each plate member 2A faces each plate surface 2Aa and is provided at a predetermined interval between each plate surface 2Aa. The predetermined interval is an interval for sandwiching the handle 112 in a non-contact state in the extending direction of the shaft 113 of the handle 112 on each plate surface 2Aa of each plate member 2A. Each plate member 2A is formed in a disc shape, and its center is attached to the support shaft 3 so as to be rotatable around the support shaft 3. The support shaft 3 is arranged parallel to the shaft 113 of the handle 112. When each plate member 2A rotates around the support shaft 3, a part of the plate member 2A in the rotation direction sandwiches the handle 112 in a non-contact state.

  The elastic member 2B is attached to each plate surface 2Aa of each plate member 2A. The elastic members 2B form a pair at positions facing each other on the plate surface 2Aa of each plate member 2A. The pair of elastic members 2B are provided in plural at intervals in the rotation direction around the support shaft 3 around which each plate member 2A rotates. As shown in FIG. 8, when the plate members 2A rotate around the support shaft 3, the pair of elastic members 2B come into contact with the handle 112 at positions where the handle 112 is sandwiched between the plate members 2A and sandwich the handle 112. Hold with. Further, as shown in FIG. 9, when the plate members 2A rotate around the support shaft 3, the pair of elastic members 2B do not exist at positions where the handles 112 are sandwiched between the plate members 2A, and the pair of elastic members 2B are attached to the handle 112. It becomes non-contact. That is, the pair of elastic members 2 </ b> B are provided at plural intervals in the rotation direction around the support shaft 3 so as not to contact the handle 112.

  As the connecting portion 2, the same structure as that shown in FIGS. 1 to 4 can be applied.

  In this steering wheel rotation assisting device 1, rotation power is applied to the support shaft 3 by rotating the rotation applying unit 5. When rotational power is applied to the support shaft 3, the connecting portion 2 rotates around the support shaft 3. As described above, the connecting portion 2 has a position where the pair of elastic members 2B sandwiches the handle 112 as shown in FIG. 8 and a position where the pair of elastic members 2B does not contact the handle 112 as shown in FIG. Switch. For this reason, when the pair of elastic members 2B are at positions sandwiching the handle 112, the handle 112 is rotated around the shaft 113. That is, the connecting portion 2 is in a transmission state in which the rotational power is transmitted to the handle 112 according to the rotational position around the support shaft 3. On the other hand, when the pair of elastic members 2 </ b> B are in the non-contact position with the handle 112, the handle 112 is not rotated around the shaft 113. That is, the connecting portion 2 is in a non-transmission state in which rotational power is not transmitted to the handle 112 depending on the rotational position around the support shaft 3. Further, when the pair of elastic members 2B are in a non-transmission state where they are in non-contact with the handle 112, the handle 112 can be rotated about the shaft 113 regardless of the elastic member 2B by directly rotating the handle 112. It becomes a state.

  The rotation operation of the rotation imparting unit 5 is performed by the robot 150 as illustrated in FIG.

  As described above, in the handle rotation assisting device 1 of the present embodiment, the connecting portion 2 has the plate member 2A and the elastic member 2B, and the handle 112 has an outer diameter smaller than that of the handle 102 shown in FIGS. Can be installed. Further, the handle rotation assist device 1 of the present embodiment does not use the reduction mechanism 4B for the opening / closing valve 110 in which the rotation load of the handle 112 is smaller than that of the handle 102 of the opening / closing valve 100 shown in FIGS. The rotation imparting section 5 can be operated with a rotation load equivalent to that of the on-off valve 100 having a large rotation load. Therefore, the load of the robot 150 can be applied without changing, and the same robot 150 can be used to rotate various handles 102 and 112.

  FIG. 10 is a front view of another example of the connecting portion of the handle rotation assisting device according to the present embodiment. FIG. 11 is a plan view of another example of the connecting portion of the handle rotation assisting device according to the present embodiment.

  The handle rotation assisting device 1 shown in FIGS. 10 and 11 is different from the handle rotation assisting device 1 shown in FIGS. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  The connecting portion 21 is connected to the handle 102 of a device such as the on-off valve 100 described above. The connecting portion 21 has a handle-side gear (main gear) 21A and a connecting gear (auxiliary gear) 21B. The handle-side gear 21 </ b> A is fixed coaxially with the handle 102 about the shaft 103, and is rotatably provided around the shaft 103 together with the handle 102. In the handle-side gear 21A, meshing teeth 21Aa are evenly arranged at a predetermined interval. The coupling gear 21B is rotatably provided around the support shaft 3, and is provided so as to mesh with the handle-side gear 21A. The coupling gear 21B has a portion in which the meshing teeth 21Ba are evenly arranged at a predetermined interval, and a toothless portion 21Bb having no meshing teeth 21Ba. When the connecting gear 21B itself rotates around the support shaft 3, the meshing teeth 21Ba mesh with the meshing teeth 21Aa of the handle side gear 21A. When the connecting gear 21B rotates around the support shaft 3, the toothless portion 21Bb does not mesh with the meshing teeth 21Aa of the handle-side gear 21A and is not in contact with the handle-side gear 21A. In the coupling gear 21B, the part having the meshing teeth 21Ba is called a meshing part, and the part of the toothless part 21Bb is called a non-meshing part.

  In this steering wheel rotation assisting device 1, rotation power is applied to the support shaft 3 by rotating the rotation applying unit 5. When rotational power is applied to the support shaft 3, the connecting gear 21B of the connecting portion 21 rotates around the support shaft 3. As described above, the coupling gear 21B is switched between a meshing position where the meshing tooth 21Ba meshes with the meshing tooth 21Aa of the handle side gear 21A and a non-meshing position where the toothless portion 21Bb does not mesh with the meshing tooth 21Aa of the handle side gear 21A. .. Therefore, when the meshing teeth 21Ba are in a position where they mesh with the meshing teeth 21Aa of the handle-side gear 21A, the handle 102 is rotated around the shaft 103. That is, the connecting portion 21 is in a transmission state in which the rotational power is transmitted to the handle 102 according to the rotational position around the support shaft 3. On the other hand, when the toothless portion 21Bb is in a non-contact position where it does not mesh with the meshing teeth 21Aa of the handle side gear 21A, the handle 102 is not rotated around the shaft 103. That is, the connecting portion 21 is in a non-transmission state in which rotational power is not transmitted to the handle 102 according to the rotational position around the support shaft 3. Further, when the toothless portion 21Bb is in a non-contact position where it does not mesh with the meshing teeth 21Aa of the handle-side gear 21A, the handle 102 is directly rotated to rotate the handle 102 around the shaft 103 regardless of the connecting gear 21B. It becomes rotatable.

  The rotation operation of the rotation imparting unit 5 is performed by the robot 150 as illustrated in FIG.

  As described above, in the steering wheel rotation assisting device 1 of the present embodiment, the connecting portion 21 transmits the rotational power to the handle 102 and does not transmit the rotational power to the handle 102 according to the rotational position around the support shaft 3. Switch to non-transmitted state. Further, in the handle rotation method of the present embodiment, the rotational power is transmitted to the handle 102 via the connecting portion 21, and the handle 102 can be freely rotated without transmitting the rotational power from the connecting portion 21 to the handle 102. And that according to the rotational position of the connecting portion 21 around the support shaft 3. For this reason, it is possible to easily perform the rotation operation of the handle by the rotation imparting unit 5 without hindering the direct operation of the handle 102.

  Further, since the handle rotation assisting device 1 of the present embodiment can mechanically switch between the transmission state and the non-transmission state based on the rotational position of the connecting portion 21 around the support shaft 3, the number of operation steps can be reduced. In addition, the handle 102 can be easily rotated by remote operation of the robot 150 protected from ambient pressure, temperature, radiation, and the like.

  FIG. 12 is a plan view of still another example of the connecting portion of the handle rotation assisting device according to the present embodiment.

  The handle rotation assisting device 1 shown in FIG. 12 is different from the handle rotation assisting device 1 shown in FIGS. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  The connecting portion 22 is connected to the handle 102 of a device such as the on-off valve 100 described above. The connecting portion 22 has a handle-side gear (main rotating portion) 22A, a connecting gear (auxiliary rotating portion) 22B, and a meshing belt (annular belt) 22C. The handle-side gear 22A is fixed to the handle 102 around the shaft 103, and is provided so as to be rotatable around the shaft 103 together with the handle 102. In the handle-side gear 22A, meshing teeth 22Aa are evenly arranged at a predetermined interval. The coupling gear 22B is rotatably provided around the support shaft 3. The meshing belt 22C is formed in a ring shape (endless shape) and is wound around the handle side gear 22A and the connecting gear 22B to relatively rotatably connect the handle side gear 22A and the connecting gear 22B. In the meshing belt 22C, meshing internal teeth 22Ca are evenly arranged at predetermined intervals. In the meshing belt 22C, the meshing internal teeth 22Ca mesh with the meshing teeth 22Aa of the handle side gear 22A. The coupling gear 22B has a portion in which the meshing teeth 22Ba are evenly arranged at a predetermined interval, and a toothless portion 22Bb having no meshing teeth 22Ba. When the coupling gear 22B rotates about the support shaft 3, the meshing teeth 22Ba mesh with the meshing internal teeth 22Ca of the meshing belt 22C. Further, when the coupling gear 22B rotates around the support shaft 3, the toothless portion 22Bb does not mesh with the meshing inner teeth 22Ca of the meshing belt 22C and is not in contact with the meshing belt 22C. In the coupling gear 22B, a portion having the meshing teeth 22Ba is referred to as an engaging portion that engages with the meshing belt 22C, and a portion of the toothless portion 22Bb is referred to as a non-engaging portion that does not engage with the meshing belt 22C.

  In this steering wheel rotation assisting device 1, rotation power is applied to the support shaft 3 by rotating the rotation applying unit 5. When rotational power is applied to the support shaft 3, the connecting gear 22B of the connecting portion 22 rotates around the support shaft 3. As described above, the coupling gear 22B switches between a position where the meshing teeth 22Ba mesh with the meshing internal teeth 22Ca of the meshing belt 22C and a position where the toothless portion 22Bb does not mesh with the meshing internal teeth 22Ca of the meshing belt 22C. Therefore, when the meshing teeth 22Ba are in a position where they mesh with the meshing internal teeth 22Ca of the meshing belt 22C, the handle 102 is rotated around the shaft 103. That is, the connecting portion 22 is in a transmission state in which the rotational power is transmitted to the handle 102 according to the rotational position around the support shaft 3. On the other hand, when the toothless portion 22Bb is in a non-contact position where it does not mesh with the meshing internal teeth 22Ca of the meshing belt 22C, the handle 102 is not rotated around the shaft 103. That is, the connecting portion 22 is in a non-transmission state in which rotational power is not transmitted to the handle 102 according to the rotational position around the support shaft 3. Further, when the toothless portion 22Bb is in a non-contact position where it does not mesh with the meshing internal teeth 22Ca of the meshing belt 22C, the handle 102 is directly rotated to move the handle 102 around the shaft 103 regardless of the meshing belt 22C. It becomes rotatable.

  The rotation operation of the rotation imparting unit 5 is performed by the robot 150 as illustrated in FIG.

  As described above, in the handle rotation assisting device 1 of the present embodiment, the connecting portion 22 transmits the rotation power to the handle 102 and does not transmit the rotation power to the handle 102 according to the rotation position around the support shaft 3. Switch to non-transmitted state. Further, in the handle rotation method of the present embodiment, the rotational power is transmitted to the handle 102 via the connecting portion 22, and the handle 102 can be freely rotated without transmitting the rotational power from the connecting portion 22 to the handle 102. And that according to the rotational position of the connecting portion 22 around the support shaft 3. For this reason, it is possible to easily perform the rotation operation of the handle by the rotation imparting unit 5 without hindering the direct operation of the handle 102.

  Further, since the handle rotation assisting device 1 of the present embodiment can mechanically switch between the transmission state and the non-transmission state based on the rotational position of the connecting portion 22 around the support shaft 3, the number of operation steps can be reduced. In addition, the handle 102 can be easily rotated by remote operation of the robot 150 protected from ambient pressure, temperature, radiation, and the like.

  FIG. 13 is a plan view of another application example of the handle rotation assistance device according to the present embodiment.

  The handle rotation assisting device 1 shown in FIG. 13 is different from the handle rotation assisting device 1 shown in FIGS. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  Here, in FIG. 13, a lever-type handle 122 is attached to the shaft 123 as the opening / closing valve 120, and a valve mechanism (not shown) is operated by rotating the handle 122 around the shaft 123. ..

  The connecting portion 23 is connected to the handle 122 of a device such as the on-off valve 120 described above. The connecting portion 23 has a handle-side gear 23A and a connecting gear 23B. The handle-side gear 23A is fixed to the handle 122 around the shaft 123 and is provided so as to be rotatable around the shaft 123 together with the handle 122. In the handle-side gear 23A, meshing teeth 23Aa are evenly arranged at a predetermined interval. The connecting gear 23B is rotatably provided around the support shaft 3, and is provided so as to mesh with the handle-side gear 23A. The coupling gear 23B has a portion in which the meshing teeth 23Ba are evenly arranged at a predetermined interval, and a toothless portion 23Bb having no meshing teeth 23Ba. When the connecting gear 23B rotates about the support shaft 3, the meshing teeth 23Ba mesh with the meshing teeth 23Aa of the handle-side gear 23A. When the coupling gear 23B rotates around the support shaft 3, the toothless portion 23Bb does not mesh with the meshing teeth 23Aa of the handle-side gear 23A and does not contact the handle-side gear 23A.

  In this steering wheel rotation assisting device 1, rotation power is applied to the support shaft 3 by rotating the rotation applying unit 5. When rotational power is applied to the support shaft 3, the connecting gear 23B of the connecting portion 23 rotates around the support shaft 3. As described above, the coupling gear 23B is switched between a position where the meshing tooth 23Ba meshes with the meshing tooth 23Aa of the handle side gear 23A and a position where the toothless portion 23Bb does not mesh with the meshing tooth 23Aa of the handle side gear 23A. Therefore, when the meshing tooth 23Ba is in a position where it meshes with the meshing tooth 23Aa of the handle-side gear 23A, the handle 122 is rotated around the shaft 123. That is, the connecting portion 23 is in a transmission state in which the rotational power is transmitted to the handle 122 according to the rotational position around the support shaft 3. On the other hand, when the toothless portion 23Bb is in a non-contact position where it does not mesh with the meshing teeth 23Aa of the handle-side gear 23A, the handle 122 is not rotated about the shaft 123. That is, the connecting portion 23 is in a non-transmission state in which rotational power is not transmitted to the handle 122 depending on the rotational position around the support shaft 3. Further, when the toothless portion 23Bb is in a non-contact position where it does not mesh with the meshing teeth 23Aa of the handle-side gear 23A, the handle 122 is directly rotated to rotate the handle 122 around the shaft 123 regardless of the connecting gear 23B. It becomes rotatable.

  The rotation operation of the rotation imparting unit 5 is performed by the robot 150 as illustrated in FIG.

  As described above, in the steering wheel rotation assisting device 1 of the present embodiment, the connecting portion 23 transmits the rotational power to the handle 122 and does not transmit the rotational power to the handle 122 depending on the rotational position around the support shaft 3. Switch to non-transmitted state. Further, in the handle rotation method of the present embodiment, the rotational power is transmitted to the handle 122 via the connecting portion 23, and the handle 122 can be freely rotated without transmitting the rotational power from the connecting portion 23 to the handle 122. And that according to the rotational position of the connecting portion 23 around the support shaft 3. For this reason, it is possible to easily perform the rotation operation of the handle by the rotation imparting unit 5 without hindering the direct operation of the handle 122.

  Further, since the handle rotation assisting device 1 of the present embodiment can mechanically switch between the transmission state and the non-transmission state based on the rotational position of the connecting portion 23 around the support shaft 3, the number of operation steps can be reduced. In addition, the handle 122 can be easily rotated by remote operation of the robot 150 protected from ambient pressure, temperature, radiation, and the like.

  The handle rotation assist device 1 shown in FIG. 12 may be applied to the on-off valve 120 shown in FIG.

  The handle rotation assisting device 1 of the present embodiment can rotate the handle 122 of the on-off valve 120 by remotely operating the rotation imparting unit 5 similar to the handle rotation assisting device 1 of the above-described embodiment by the robot 150. The same robot 150 can easily rotate various handles 102, 112, 122.

  FIG. 14 is a side view of another example of the handle rotation auxiliary device according to the present embodiment. FIG. 15 is a front view of another example of the handle rotation auxiliary device according to the present embodiment.

  The on-off valve 130 shown in FIG. 14 has a handle 132 having the same structure as that of the on-off valve 100 shown in FIGS. 1 to 4, but as a valve mechanism (not shown) for opening and closing the piping 131. The shaft 133 is configured to move along with the handle 132 in the direction in which the shaft 133 extends.

  In contrast to such an on-off valve 130, the handle rotation assisting device 1 of this embodiment is different in the configuration of the support shaft 31 and the transmission portion 4 to which the support shaft 31 is connected. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  The spindle 31 is provided with a key 31a along the direction in which the spindle 31 extends.

  The transmission unit 4 has at least one of a variable shaft angle mechanism 4A and a speed reduction mechanism 4B. In FIG. 14, the transmission unit 4 has a variable shaft angle mechanism 4A and a speed reduction mechanism 4B. 14, in the transmission unit 4, the bevel gear 4Ab of the variable shaft angle mechanism 4A is provided between the transmission shaft 4Aa and the support shaft 31 and meshes with each other. The bevel gear 4Ab is fixed with a sleeve (support portion) 4Ac into which the support shaft 31 is inserted. The sleeve 4Ac is provided so that the key 31a of the support shaft 31 is inserted and engaged with the support shaft 31, and in the engagement state with the key 31a, the support shaft 31 extends in the direction in which the support shaft 31 extends with respect to the bevel gear 4Ab. To be relatively movable. Further, the bevel gear 4Ab transmits the rotational power given by the rotation giving unit 5 to the support shaft 31 in the engaged state with the key 31a of the sleeve 4Ac.

  That is, when the shaft 133 of the on-off valve 130 moves along with the handle 132 in the extending direction of the handle rotation assisting device 1 of the present embodiment, the support shaft 31 is connected to the handle 132 while the support shaft 31 rotates. Move like 133. Accordingly, the rotational power of the support shaft 31 can be transmitted from the connecting portion 2 to the handle 132 while always ensuring the connected state of the connecting portion 2 to the handle 132.

  In another example of the handle rotation assist device 1 shown in FIGS. 14 and 15, the sleeve (support portion) 4Ac is fixed to the bevel gear 4Ab to support the support shaft 31 relatively movably. Not as long. For example, the support shaft 31 may be fixed to the bevel gear 4Ab, the above-described sleeve (support portion) 4Ac may be fixed to the connecting portion 2, and the connecting portion 2 may be supported so as to be movable relative to the supporting shaft 31. Good. Even with this configuration, when the shaft 133 of the on-off valve 130 moves along with the handle 132 in the extending direction thereof, the shaft 133 is engaged with the support shaft 31 while the connecting portion 2 is connected to the handle 132. Move as well as. Accordingly, the rotational power of the support shaft 31 can be transmitted from the connecting portion 2 to the handle 132 while always ensuring the connected state of the connecting portion 2 to the handle 132. Further, it is not limited to the key 31a and may be serration or spline.

  FIG. 16 is a front view of another example of the handle rotation assisting device according to the present embodiment.

  The handle rotation assisting device 1 shown in FIG. 16 differs from the handle rotation assisting device 1 shown in FIGS. The other configurations are the same as those shown in FIGS. 1 to 4, and the same reference numerals are given to omit the description.

  The rotation imparting unit 7 is configured as a jig attachment unit to which a rotation jig (not shown) can be attached and detached. The rotation jig has a rotation axis, and for example, the robot 150 can have the gripping mechanism 153C. The rotary jig has a rotary shaft, and can be replaced and attached instead of the gripping mechanism 153C of the robot 150, for example. The rotation imparting portion 7 is formed as a hole portion into which the rotation shaft of the rotation jig is inserted and engaged. That is, the rotation imparting unit 7 can impart the rotational power of the rotation shaft of the rotation jig to the support shaft 3 by inserting and engaging the rotation shaft of the rotation jig.

  The rotation imparting unit 7 is, for example, a hole provided in the input shaft 4Ba of the speed reduction mechanism 4B, in which the rotation imparting unit 5 of the handle rotation assist device 1 shown in FIGS. It may be formed. That is, the rotation imparting portion 7 may be formed as a hole portion into which the rotation imparting portion 5 is inserted and engaged, and may appear by removing the rotation imparting portion 5.

  In this way, the handle rotation assisting device 1 of the present embodiment may have the rotation imparting portion 7 as a jig attachment portion for imparting the rotational power of the rotation shaft of the rotation jig to the support shaft 3.

  In each of the above-described embodiments, an example in which the handle rotation assisting device 1 is applied to the on-off valves 100, 110, 120, 130 has been described, but the handle rotation assisting device 1 of each embodiment is not limited to the on-off valve. For example, it can be applied to various devices having a handle such as a fire hydrant and an airtight door.

DESCRIPTION OF SYMBOLS 1 Handle rotation assisting device 2 Connection part 2A Plate member 2Aa Plate surface 2B Elastic member 3 Support shaft 4 Transmission part 4A Shaft angle varying mechanism 4Aa Transmission shaft 4Ab Bevel gear 4Ac Sleeve 4B Reduction mechanism 4Ba Input shaft 4Bb Output shaft 4Bc Planetary gear 5 Rotation imparting device 5 Part 5a Disc 5b Gripping part 6 Mounting part 7 Rotation imparting part 21 Connecting part 21A Handle side gear 21Aa Interlocking tooth 21B Interlocking gear 21Ba Interlocking tooth 21Bb No tooth part 22 Interlocking part 22A Handle side gear 22B Interlocking gear 22Ba Interlocking tooth 22Bb Part 22C Engagement belt 22Ca Engagement inner tooth 23 Connecting part 23A Handle side gear 23Aa Engaging tooth 23B Connecting gear 23Ba Engaging tooth 23Bb No tooth part 31 Support shaft 31a Key 100 Open / close valve 101 Piping part 102 Handle 103 Shaft 110 Open / close valve 111 Piping part Handle 113 Axis 120 Open / close valve 122 Handle 123 Axis 130 Open / close valve 131 Piping part 132 Handle 133 Axis 150 Robot 151 Frame 152 Traveling device 153 Manipulator 153A Telescopic mechanism part 153B Multi-joint mechanism 153C Grasping mechanism

Claims (10)

A connecting portion that engages with a handle capable of rotating the device,
A support shaft that rotatably supports the connecting portion,
A rotation imparting unit that imparts rotational power to the support shaft,
Equipped with
The handle rotation assist device, wherein the connecting portion switches between a transmission state in which the rotation power is transmitted to the handle and a non-transmission state in which the rotation power is not transmitted to the handle according to a rotation position around the support shaft.   The handle according to claim 1, wherein the connecting portion is provided with a space such that an elastic member that comes into contact with the handle with an elastic force does not come into contact with the handle in a rotation direction around the support shaft. Rotation assist device.   The connecting portion includes a main gear that is fixed coaxially with the handle, and an auxiliary gear that meshes with the main gear, and the auxiliary gear meshes with the main gear in a rotation direction around the support shaft. The handle rotation assist device according to claim 1, further comprising a meshing portion and a non-meshing portion that does not mesh with the main gear.   The connecting portion includes a main rotating portion that is fixed coaxially with the handle, an auxiliary rotating portion that is rotatable about an axis parallel to the main rotating portion, the main rotating portion, and the auxiliary rotating portion. An annular belt that rotatably couples with each other, the auxiliary rotating portion engaging with the annular belt in a rotation direction around the support shaft, and not engaging with the annular belt. The handle rotation assist device according to claim 1, further comprising a non-engagement portion.   The handle rotation assist according to any one of claims 1 to 4, further comprising: a support portion that transmits rotational power to the support shaft and supports the support shaft so as to be movable in an extending direction of the handle shaft. apparatus. A transmission unit that transmits the rotational power of the rotation imparting unit to the support shaft,
The handle rotation auxiliary device according to claim 1, wherein the transmission unit includes a speed reduction mechanism. A transmission unit that transmits the rotational power of the rotation imparting unit to the support shaft,
The handle rotation auxiliary device according to claim 1, wherein the transmission unit includes a shaft angle varying mechanism that changes a shaft angle between the support shaft and the rotation shaft of the rotation imparting unit.   The handle rotation assist device according to claim 1, wherein the rotation imparting unit includes an auxiliary handle that is rotationally operated.   The handle rotation assist device according to any one of claims 1 to 7, wherein the rotation imparting unit includes a jig attachment unit to which a rotation jig can be attached and detached. A connecting portion that engages with a handle capable of rotating the device,
A support shaft that rotatably supports the connecting portion,
A rotation imparting unit that imparts rotational power to the support shaft,
Using a device equipped with
Transmitting the rotational power to the handle via the connecting portion, and allowing the handle to freely rotate without transmitting the rotational power from the connecting portion to the handle, the support shaft of the connecting portion. A handle rotation method that switches according to the rotation position around it.

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