JP4321875B1 - Hand manipulator - Google Patents

Abstract

An object of the present invention is to maintain a gripping state even when operation on a lever member is stopped, and to improve airtightness while maintaining operability.
An operating rod 303s that moves forward when a trigger-like lever member 302 is pulled on a hand manipulator, a guide tube 303g that has a through-hole 303p open on the circumferential side, and that is provided so as to be able to advance and retreat, and each through-hole 303p. An inserted clutch ball 303b, a wedge surface member 303w having an inclined surface 303t arranged facing each through hole 303p into which the clutch ball 303b is inserted, a spring means 303d for applying a retreating force to the guide tube 303g, a guide A restriction releasing means for temporarily advancing the pipe 303g, and a backward movement restricting means 303 for the action transmission shaft 307 constituted by the pipe 303g, are provided between the rear end of the branch transmission shaft 307d and the inner periphery of the branch outer pipe 308b. A diaphragm 314 is disposed on the outer surface of the ball hole 308bh, and an elastic sheet 313s is disposed on the outer surface side of the ball hole 308bh.
[Selection] Figure 2

Description

  The present invention tries to handle various dangerous goods arranged in an isolated space from other spaces shielded from them while the operator avoids dangers such as radiation and toxic gas. It is related with the hand manipulator used in a case.

  FIG. 6 shows a conventional hand manipulator having almost the same content as that of Patent Document 1 except that a part of the opening / closing mechanism of the pair of clamping claws is different.

  This hand manipulator is roughly attached to the distal ends of a plurality of tubular fixed shafts 208 connected in series, the first moving shaft 206a to the fourth moving shaft 206d inserted therein, and the fixed shaft 208 at the distal end. The pair of clamping claws 221 and 221 that are configured to be closed by the advance operation of the fourth moving shaft 206d at the front end and the fixed shaft 208 at the rear end A grip part 201 coupled to the rear part, and a trigger-like lever member 204 disposed on the grip part 201, the first movement axis 206a at the rear end is advanced by the pulling action, and the second movement axis immediately before that is sequentially moved. 206b, the third moving shaft 206c, and the fourth moving shaft 206d are moved forward, and the pair of clamping claws 221 and 221 are closed by the moving operation of the fourth moving shaft 206d. A trigger-like lever member 204, spring members 207 and 217 for moving them in the retreating direction disposed on the first moving shaft 206a and the fourth moving shaft 206d, and the first moving shaft 206a on the rear of the grip portion 201, An adjustment screw 202 screwed so as to be coaxial, and a ball joint mechanism constituting a connecting portion between the adjustment screw 202 that limits the retreat range of the first moving shaft 206a and the adjacent front and rear fixed shafts 208 and 208 The insertion portion formed at the end of one adjacent fixed shaft 208, the stopper groove formed at the outer periphery of the insertion portion, and the insertion portion formed at the corresponding end of the other adjacent fixed shaft An outer fitting portion, one or more ball holes formed in the outer fitting portion, stopper balls 211 and 216 inserted in the ball hole, and an outer periphery of the outer fitting portion along its length direction. And a ball joint mechanism composed of sliders 213, 214, ball escape grooves 210, 215 formed on the inner periphery of the sliders 213, 214, and both axial sides of the outer fitting portion across a plurality of ball holes And an O-ring groove 209a and 209b inserted into the O-ring groove.

Therefore, this hand manipulator is used as follows and operates as follows. These actions will be described with the addition of a slightly detailed configuration of each part.
First, when the operator grasps the trigger lever member 204 at the same time as the grip portion 201 and performs an operation of pulling the latter, the trigger lever member 204 rotates about the lever shaft 205 and reaches the first end side thereof. The rear end of one moving shaft 206a is pushed in the advancing direction, and this causes a linear advancing motion. This linear advancing motion is sequentially transmitted from the first moving shaft 206a to the second moving shaft 206b, the third moving shaft 206c, and the fourth moving shaft 206d, and is arranged in a T shape at the tip of the fourth moving shaft 206d. It is transmitted to the two cam shafts 220 and 220 located near both ends of the shaft support piece. The cam shafts 220 and 220 respectively advance in cam grooves 219 and 219 formed in triangular plate-like portions inside the base portions of the pair of clamping claws 221 and 221 respectively, as shown in FIG. Then, the pair of clamping claws 221 and 221 are operated in a closing direction.

  Next, when the operator loosens the hand from the above state, the trigger-like lever member 204 is allowed to return in the opening direction, and the action of the spring members 207 and 217 accompanying this, The backward movement of the first movement axis 206a, the second movement axis 206b, the third movement axis 206c, and the fourth movement axis 206d occurs. When the fourth moving shaft 206d is retracted, the pair of clamp claws 221 and 221 in a closed state are opened as shown in FIG. 6B. That is, as described above, when the fourth moving shaft 206d is retracted, the cam shafts 220 and 220 return to the rear side of the cam grooves 219 and 219. That is, the claws 221 and 221 are opened.

  Note that the cam grooves 219 and 219, as shown in FIGS. 6 (a) and 6 (b), are formed in the triangular plate-like portions inside the clamping claws 221 and 221 on both sides in a state where both are opened. The cam shafts 220 and 220 are inserted into the corresponding cam grooves 219 and 219, respectively. As described above, the cam shafts 220 and 220 are disposed in the vicinity of both ends of the support member coupled to the tip of the fourth moving shaft 206d in a T shape.

  In such a conventional hand manipulator, the trigger lever member 204 is operated on the grip part 201 side to open and close the clamp claws 221 and 221 at the tip, thereby grasping various dangerous objects and the like. However, the operation object is a dangerous object in various meanings, and the operator and the operation object are located in different isolated spaces. The operation target object which is a dangerous object is arranged in the adjusted atmospheric pressure space, and the operator is located in the general atmospheric pressure space.

  The hand manipulator is used by entering from a general atmospheric pressure space isolated by a shielding wall into a regulated atmospheric pressure space. An opening for entering the hand manipulator must be formed in the shielding wall. Naturally, it is necessary to maintain airtightness with the hand manipulator that enters through the opening, and the fixed axis of the hand manipulator A ball socket is attached to a required part, an inner edge of a boot having an outer edge connected to the ball socket is attached to another part of the fixed shaft, and the inner edge of the ball socket is formed in the shielding wall. Join while maintaining the circumference and airtightness.

  The inner edge of the boot and the required part of the fixed shaft are rotatably coupled, and the ball socket can of course be tilted and rotated in the direction of 360 degrees with respect to the vertical axis. It is connected as it is.

  Thus, the above-described operation can be performed between the two spaces separated by the shielding wall.

  However, in the operation using the normal hand manipulator, there are many cases in which one is used simultaneously with both the left and right hands. Therefore, when the operation object is grasped and moved, or when the state continues for a long time, the trigger lever member 204 must be continuously held, so that the burden on the operator's hand is very large.

  In addition, for example, the maximum opening of the clamp claws 221 and 221 for grasping the operation target should be adjusted according to the size of the operation target for each experiment, and by doing so, it is larger than necessary. The operation of the trigger-like lever member 204 is not necessary, but it is convenient to adjust the opening degree by adjusting the adjustment screw 202 in the above hand manipulator to limit the retreat range of the first moving shaft 206a. Is. Further, through this, the retraction ranges of the second moving shaft 206b, the third moving shaft 206c, and the fourth moving shaft 206d are limited, and thereby the opening degree of the clamping claws 221 and 221 that is the final purpose is adjusted.

  Thus, in the above hand manipulator, the opening adjustment of the clamping claws 221 and 221 is performed by adjusting the advancement state by rotating the adjusting screw 202, so that a slight size is required. It is necessary to carry out the rotation operation many times even in advance, and it becomes a troublesome work that takes time and effort. Further, the adjustment screw 202 described above cannot be easily adjusted when the operation target is actually operated.

  As described above, the above-described conventional hand manipulator is configured by connecting a plurality of fixed shafts 208, and the connecting portion is configured by the ball joint mechanism. Therefore, since air flows through the gap between the stopper ball and the ball hole into which the stopper ball is inserted, as described above, the plurality of ball holes in one outer fitting portion of the adjacent fixed shaft 208 are sandwiched. O-ring grooves are formed on both sides in the axial direction, and O-rings 209a and 209b are inserted into the O-ring grooves to form a sealing means for maintaining airtightness between the inner surfaces of the sliders 213 and 214. Yes. However, such O-rings 209a and 209b have a problem that if the sealing property is enhanced, the linear motion of the sliders 213 and 214 is impaired, and if these motions are given priority, the sealing property is sacrificed. Therefore, at present, the actual situation is that the improvement in operability has been obtained mainly at the expense of the accuracy of hermeticity.

Japanese Patent Publication No. 01-16633

The present invention relates to an operation of grasping an object which is one of the functions of a hand manipulator, and once the lever member is pulled and the object is grasped, the lever can be stopped even if the pulling operation on the lever member is stopped. If the member is not immediately returned to the open state but can continue to be held (clamped), and if the object is intended to be released (unclamped), perform a simple operation in accordance with the intention. By making it easy to open, the handling effort can be improved, and the opening of the clamping claw that grips the operation target, which is one of the functions, can be easily set to an arbitrary range with one touch. by so it can be released in the same one-touch this solution to provide a hand manipulator also solved either with this improving the efficiency of preparation The challenge.

1 of the present invention is an action transmission shaft composed of a plurality of branch transmission shafts, and an outer tube that sheathes the action transmission shafts so as to advance and retreat, and is adjacent to the outer tube made of a plurality of branch armor pipes. A ball joint mechanism for connecting the branch armor pipes to each other, the insertion part formed at one end of one adjacent branch armor pipe, the stopper groove formed at the outer periphery of the insert part, the other adjacent one An outer fitting portion capable of sheathing the insertion portion formed at a corresponding end portion of the branch outer tube, one or more ball holes formed in the outer fitting portion, a stopper ball inserted into the ball hole, A slider externally mounted on the outer periphery along its length direction, a ball joint mechanism composed of a ball escape groove formed on the inner periphery of the slider, and arranged to be openable and closable at the forefront of the outer tube, Closed by advancing movement of the action transmission shaft, and retracted A pair of clamping claws, a grip portion coupled to the rear end of the outer tube, a lever member arranged in or close to the grip portion to advance the action transmission shaft, and a branch transmission shaft And a spring member arranged to apply an acting force in the backward direction to the action transmission shaft, the movement of the advancement direction is always allowed in the action transmission shaft, and the movement in the backward direction is subjected to a restriction release operation by the restriction release means. If the cracks only at the hand manipulator which was attached a retraction restricting means to allow,
The backward movement restricting means;
An operating rod that is advanced by the pulling operation of the lever member;
A guide tube that externally supports the operating rod so that it can be moved forward and backward, and has a plurality of through holes that are arranged in the circumferential direction on the circumferential side and have a diameter larger than the thickness of the circumferential side. Tube,
A clutch ball having a diameter larger than the thickness of the guide tube on the circumferential side, inserted into each through hole;
A wedge surface member having an inclined surface that faces the guide tube in the retracting direction of the operating rod, and is arranged to face each through-hole into which the clutch ball of the guide tube is inserted;
Spring means for applying an acting force in the backward direction to the guide tube;
Restriction release means for temporarily moving the guide tube in the advance direction in order to allow the backward movement of the operating rod;
It is the hand manipulator comprised by this .

2 of the present invention is the hand manipulator of 1 of the present invention,
The lever member is provided with opening adjustment means for adjusting the maximum opening between the lever member and the grip portion,
The opening degree adjusting means is
A contact member arranged so as to be able to contact the back side of the lever member;
A follower spring means arranged to extend toward the lever member so that the contact member contacts the lever member in a desired opening state;
Braking means for stopping extension of the contact member by the follower spring means by its braking action, and when the lever member is in a desired opening state, the braking action is released and the corresponding contact member is followed. A braking means that extends until it abuts against the lever member by the action of the spring means, and then applies the braking action again to fix the extended state;
It is composed of

Needless to say, the hand manipulator 1 of the present invention can be effectively used as a hand manipulator. However, since it constitutes a backward movement restricting means, it is operated by grasping and pulling the lever member to clamp the tip. When the operation object is gripped (clamped) with the nail for one end, the movement of the action transmission shaft is restricted by the backward movement restricting means even if the pulling force of the lever member is loosened. Maintain state. Therefore, the clamping claw maintains a state where the operation target is gripped.
Therefore, it is advantageous in that the labor can be reduced when the state where the operation target is held for a relatively long time is continued. Further, when opening the operation object, it can be easily opened by operating the restriction release means. That is, by operating the restriction release means, the action transmission shaft is temporarily allowed to retreat, and by causing the retraction, the clamping claw opening operation is allowed and the operation that has been grasped (clamped). The object can be opened.
In detail, since the backward movement restricting means is configured as described above, it is possible to stop the backward movement at any position of the operating rod in a stepless manner. It is also possible to fix at the opening of the angle. Therefore, if the size of the object to be operated is an object that can be gripped (clamped) within the range of the maximum opening to the minimum opening of the clamping claw, after the operator grasps (clamps) the lever member Even if the hand is released, it does not open from there, and the opening when it is pulled can be reliably maintained. Therefore, the clamping claw can maintain the clamped state of the operation object.
The restriction release means is also a simple configuration, and the operation rod can be allowed to move backward in a single operation. Therefore, when it is operated, the restriction is released instantaneously, the operation rod is retracted, and the lever member At the same time, the clamping claws are opened, and the operation object that has been clamped can be released instantly.

According to the hand manipulator of 2 of the present invention, the lever member is provided with the opening degree adjusting means having the above-described configuration. Therefore, the lever member is pulled to check the opening degree of the clamping claw in the opening state. If it is determined that it is appropriate, the braking action of the braking means is released, the contact member is advanced by the action of the follower spring means, this is brought into contact with the rear side of the lever member, and then Again, the braking action of the braking means can be applied to fix the contact member in its advanced state. This is an extremely simple and speedy operation that can adjust the opening of the lever member and fix it at that opening, and at the same time adjust the opening of the clamping claw, which is the original purpose. And can be fixed at the opening.

  In this way, especially when the size of the operation object is small, the initial opening degree of the clamping claw is made small correspondingly, thereby reducing the amount of wasted operation and the clamping claw by the operator. By reducing the opening reduction operation amount, that is, the opening reduction operation amount of the lever member, it is possible to reduce the operation effort of the operator.

In the hand manipulator according to 1 or 2 of the present invention, a portion where the shielding means is coupled in the middle of the outer tube is sandwiched, and inside the outer tube, from one side of the shielding means through the inside of the outer tube. An air flow blocking means for blocking the flow of air to the other side is arranged, and a diaphragm is adopted as the air flow blocking means, and the center side of the diaphragm is connected to the side of the clamping claw from the clamping claw side. Connected to the rear end of the branch transmission shaft extending in the vicinity or the front end of the branch transmission shaft extended in the vicinity of the shielding means from the grip portion side, and the outer edge of the diaphragm is connected to the inner side of the branch outer tube In this configuration , the hand does not affect the movement of the adjacent parts such as the movement of the slider constituting the connecting part of the outer tube. Manipulator operation It is possible to perform a reliable air flow shielding between the position space and position space of the operator of the operation target to.

Air flow for blocking the flow of air from one side of the shielding means to the other side through the interior of the exterior tube, with the portion where the shielding means is joined in the middle of the exterior tube A blocking means is provided, and as the air flow blocking means, an elastic sheet that closes the outer surface side of the ball hole of the ball joint mechanism is adopted, and the periphery of the elastic sheet is coupled to the periphery of the ball hole. Alternatively, the air flow blocking means can be constituted by an elastic bush that can be tightly fitted to the inner periphery of the ball hole of the ball joint mechanism and can hold the stopper ball tightly. , when it is configured so without affecting the movement of the proximity to the site of such movements of the slider constituting the connecting portion of the outer tube, further exploded of the hand manipulator Without giving a convenient effect, it is possible to perform a reliable air flow shielding between the space located in the space between the operator of the position of the operating object to be operated by this hand manipulator.

  The best mode for carrying out the invention will be described based on embodiments with reference to the drawings.

2A, 2B, and 2C show the hand manipulator of the embodiment.
As shown in FIGS. 2A, 2B, and 2C, the hand manipulator of this embodiment includes an action transmission shaft 307 including five branch transmission shafts 307a, 307b, 307c, 307d, and 307e, An exterior tube 308 including three branch exterior tubes 308a, 308b, and 308c for exteriorly moving the action transmission shaft 307, and another branch exterior adjacent to the adjacent branch exterior tubes 308a and 308b. Two ball joint mechanisms that detachably connect the tubes 308b and 308c to each other, and a branching outer tube 308c at the front end of the outer tube 308 that can be opened and closed, and the action transmission shaft 307 moves forward. A pair of clamping claws 322 and 322 that are closed and opened by a retreating operation, a grip portion 301 coupled to a rear end of the branch outer tube 308a at the rear end of the outer tube 308, and the action transmission shaft Reversing spring members (springs) respectively disposed on the trigger-like lever member (lever member) 302 disposed on the grip portion 301, the most advanced branch transmission shaft 307e, and the halfway branch transmission shaft 307c to move the 07 to advance. Member) 318, 309 and the action transmission shaft 307 are always allowed to move in the advancing direction, and the backward movement is allowed only when the restriction releasing operation by the restriction releasing lever (regulation releasing means) 303l is performed. Restricting means 303, opening adjusting means 306 for adjusting the maximum opening between the trigger-like lever member 302 and the grip portion 301 (maximum opening of the pair of clamping claws 322 and 322), and air flow interruption Means.

  As described above, the action transmission shaft 307 is composed of the five branch transmission shafts 307a to 307e, but does not specifically connect them. The two adjacent to each other in the front and rear only have the front end of the front and the front end of the rear thereof joined to each other. The forward movement operation occurs when the upper end of the trigger-like lever member 302 is pushed by the operator's pulling operation on the rear end of the rearmost branch transmission shaft 307a, and the movement operation of the branch transmission shaft 307a is: Sequentially, the signal is transmitted by pushing the rear end immediately before it, and all the subsequent signals are transmitted in the same manner to the foremost branch transmission shaft 307e.

  On the other hand, the backward movement of the action transmission shaft 307 is based on the premise that the restriction is temporarily released by the restriction release lever 303l because the backward movement restriction means 303 is acting. In addition, the foremost branch transmission shaft 307e is retracted by the action of the retreating spring member 318 disposed between the frontmost branch distribution shaft 308e and the foremost branch transmission shaft 307e. The rear branch transmission shafts 307d, 307c, 307b, and 307a are all pushed by this and moved backward. The third branch transmission shaft 307c from the rear is provided with a similar retraction spring member 309 between the rearmost branch outer tube 308a and can be retreated also by its action. ing.

  As shown in FIGS. 2 (a), 2 (b), and 2 (c), the retreating spring member 318 has a step portion formed on the inner peripheral front portion of the branch outer tube 308c and a branch portion of the frontmost portion. The transmission shaft 307e is disposed between the rear portion of the transmission shaft 307e and the flange portion, and thus applies an acting force in the backward direction to the branch transmission shaft 307e. In addition, as shown in the figure, the other spring member 309 for retreating projects from the stepped portion of the front inner periphery of the rearmost branch outer tube 308a and the rear outer periphery of the third branch transmission shaft 307c from the rear. In this way, the acting force in the backward direction is given to the split transmission shaft 307c.

  The outer tube 308 is composed of three branch outer tubes 308a, 308b, and 308c as described above and as shown in FIGS. 2 (a), 2 (b), and 2 (c). As shown in the figure, the rearmost branch outer tube 308a is a straight tube except for the foremost part, and the foremost part is a connecting tube that is coupled with the front part of the tube in a fitted state. Part. As shown in the figure, the rear portion of the straight tube body of the branch exterior tube 308a is connected and fixed to a portion extending forward from the upper portion of the grip portion 301 in a fitted state. As described above, the front connecting pipe portion of the branch outer tube 308a is configured separately from the rear straight tube body, and is coupled and fixed to the front end in a fitted state, as shown in FIG. Thus, the stepped portion formed in the coupling portion becomes the stepped portion that locks the front end of the retreating spring member 309. Further, a certain range slightly ahead of the stepped portion is a rotation stop portion 308ak formed into a quadrangle when viewed from the end face, and the front side thereof is a slightly small cylindrical shape. It is assumed that a ring-shaped stopper groove 308am extending 360 degrees in the circumferential direction is formed on the outer periphery of a portion of the connecting pipe portion slightly retracted from the tip of the slightly small-diameter cylindrical portion. The annular stopper groove 308am constitutes a part of the ball joint mechanism, as will be described later.

  The second branch exterior tube 308b is composed of two front and rear members that are coupled and fixed together in a fitted state. An annular mounting groove 308br for coupling with the boot 104 for coupling in a movable state while maintaining airtightness on the shielding wall 102 is provided on the rear outer periphery of the rear side member, The first branch armor tube 308a has a similar shape to which the periphery stopper (key) 308ak at the tip end is fitted, and a slightly larger size stopper stopper (key groove) 308bk. Further, the front part of the front side member is an insertion part, and a ring-shaped stopper groove 308bm extending 360 degrees in the circumferential direction is formed on the outer periphery of the part slightly retracted from the tip. The annular stopper groove 308bm constitutes a part of the other ball joint mechanism, as will be described later.

  The branch exterior tube 308b has various other configurations, but each of them constitutes a part of the ball joint mechanism, and the above will be described later as the mechanism.

  As shown in FIGS. 2 (a), 2 (b), and 2 (c), the third, that is, the foremost branch outer tube 308c is externally attached to the front insertion portion of the second branch outer tube 308b. An annular member having an inner diameter. The inner diameter of the front end is reduced and a step portion is formed immediately thereafter. This stepped portion becomes a stepped portion that locks the front end of the retreating spring member 318.

  The branch exterior tube 308c has other configurations, but it is a part of the ball joint mechanism and the like and will be described later.

  As shown in FIGS. 2, (a), (b), (c) and FIGS. 5 (a), (b), the ball joint mechanism for detachably connecting the branch outer tubes 308a, 308b is the last. A rotation stopper 308ak formed at the base of the insertion cylindrical portion (insertion portion) of the branch outer tube 308a of the portion, a stopper groove 308am formed at the outer periphery of the tip of the insertion cylindrical portion, and a rear end of the other branch outer tube 308b A rotation stop fitting portion 308bk formed on the outer fitting portion, an outer fitting portion for fitting the insertion cylindrical portion ahead thereof, and three ball holes 308bh formed side by side in the circumferential direction on the circumferential side of the outer fitting portion, A stopper ball 313 inserted into the ball hole 308bh, a slider 311 externally mounted on the outer periphery of the outer fitting portion so as to be movable along its length, and a ball escape groove 312 formed on the inner periphery of the slider 311 It is.

  The positions of the stopper groove 308am at the tip of the insertion cylindrical portion of the rear branch outer tube 308a and the ball hole 308bh of the outer fitting portion of the front branch outer tube 308b are positioned forward of the insertion cylindrical portion of the rear branch outer tube 308a. In the state inserted in the external fitting part of the branch exterior pipe | tube 308b, it shall position so that it may mutually correspond. Further, the ball escape groove 312 formed in the inner periphery of the slider 311 does not coincide with the ball hole 308bh formed in the branch outer tube 308b when the slider 311 is in a position where it is normally positioned, and slides by a predetermined width. It shall be positioned so as to coincide with the case.

  The ball hole 308bh is formed to have a diameter larger than the thickness of the portion where the ball hole 308bh of the branch outer tube 308b is formed, and the stopper ball 313 inserted into the ball hole 308bh has almost no gap in the ball hole 308bh. Adopt that of a size that can be inserted without, but can move smoothly within. As described above, the stopper ball 313 is restrained by the slider 311 so as not to protrude to the outer surface side by adopting the stopper ball 313 having a diameter larger than the thickness of the corresponding portion of the outer fitting portion of the branch outer tube 308b. In this state, a part thereof protrudes to the inner peripheral side, and this is a stopper groove in the insertion cylindrical portion of the rear branch outer tube 308a that is inserted and fitted into the outer fitting portion of the branch outer tube 308b. It enters and locks at 308am and prevents it from coming off.

  As shown in FIGS. 2 (a), (b), (c) and FIGS. 5 (a), (b), the slider 311 has an outer periphery of a portion corresponding to the outer fitting portion of the front branching outer tube 308b. The external branch tube 308b is externally slidable in the length direction. In this embodiment, normally, the slider 311 is positioned at the end of the slide range by a coil spring member 311b disposed in the front notch, and slides forward against the coil spring member 311b. When moved, the ball escape groove 312 can be made to coincide with the ball hole 308 b h, and a part of the stopper ball 313 can escape to the escape groove 312. In this state, when the rear branch outer tube 308a is pulled rearward, the stopper ball 313 is removed from the stopper groove 308am of the insertion cylindrical portion, and is pulled out from the outer fitting portion of the front branch outer tube 308b. Will be able to.

  The sliding range of the slider 311 on the outer periphery of the branch outer tube 308b is regulated on the rear side by a stopper 308bs. The movement of the front side is elastically restricted by the coil spring member 311b disposed between the front stopper 308bt and the inner front end of the slider 311. The front end of the slider 311 is formed with a notch having a constant depth on the inner peripheral side, and the coil spring member 311b is disposed in the notch as described above. Therefore, only a certain range corresponding to the depth is provided. The slider 311 can move forward. Naturally, the moving distance needs to be longer than the distance between the centers of the ball escape groove 312 and the ball hole 308bh in a normal state.

  As shown in FIGS. 2, (a), (b), and (c), another ball joint mechanism for detachably connecting the branch outer tubes 308b and 308c to each other is shown in FIG. A stopper groove 308bm formed on the outer periphery of the distal end of the insertion cylindrical portion (insertion portion) and an outer fitting portion for fitting the insertion cylindrical portion of the foremost branch exterior tube 308c, on the circumferential side of the outer fitting portion Three ball holes 308ch formed side by side in the circumferential direction, stopper balls 317 inserted into the ball holes 308ch, a slider 315 externally mounted on the outer periphery of the outer fitting portion along its length direction, and the slider 315 The ball escape groove 316 is formed on the inner periphery.

  The positions of the stopper groove 308bm at the tip of the insertion cylindrical portion of the middle branch outer tube 308b and the ball hole 308ch of the outer fitting portion of the front branch outer tube 308c are located in front of the insertion cylindrical portion of the intermediate branch outer tube 308b. In the state inserted in the outer fitting part of the branch exterior tube 308c, positioning is performed so as to coincide with each other. Further, the ball escape groove 316 formed on the inner periphery of the slider 315 does not coincide with the ball hole 308ch formed in the branch outer tube 308c when the slider 315 is in a position where it is normally positioned (normal position). , Positioning is performed so as to coincide with the case of sliding by a predetermined width.

  The ball hole 308ch is formed to have a diameter larger than the thickness of the portion where the ball hole 308ch of the branch outer tube 308c is formed, and the stopper ball 317 inserted into the ball hole 308ch is almost free from the ball hole 308ch. Adopt that of a size that can be inserted without, but can move smoothly within. The stopper ball 317 is restrained by the slider 315 so as not to protrude to the outer surface side by adopting a stopper ball 317 having a diameter larger than the thickness of the corresponding portion of the outer fitting portion of the branch outer tube 308c as described above. In this state, a part thereof protrudes toward the inner peripheral side, and this is a stopper groove in the insertion cylindrical portion of the intermediate branch outer tube 308b that is inserted and fitted into the outer fitting portion of the branch outer tube 308c. It enters and locks at 308bm and prevents it from coming off.

  As shown in FIGS. 2A, 2B and 2C, the slider 315 has a length of the branch outer tube 308c on the outer periphery of a portion corresponding to the outer fitting portion of the front branch outer tube 308c. It is externally slidable in the direction. In this embodiment, normally, the slider 315 is positioned at the end of the slide range by a coil spring member 315b disposed in the front notch, and slides forward against the coil spring member 315b. When moved, the ball escape groove 316 can be aligned with the ball hole 308ch, and a part of the stopper ball 317 can escape to the escape groove 316. In this state, when the middle branch outer tube 308b is pulled rearward, the stopper ball 317 is removed from the stopper groove 308bm of the insertion cylindrical portion, and the insertion cylindrical portion is attached to the outer fitting portion of the front branch outer tube 308c. It can be pulled out from.

  The sliding range of the slider 315 on the outer circumference of the branch outer tube 308c is restricted by the stopper 308cs on the rear side. The movement of the front side is elastically restricted by the coil spring member 315b disposed between the front stopper 308ct and the notch inside front end of the slider 315. As described above, a notch having a certain depth is formed on the inner peripheral side at the front end of the slider 315. Therefore, the slider 315 moves forward by a certain range within the depth. Can be made. Naturally, the moving distance needs to be longer than the distance between the centers of the ball escape groove 316 and the ball hole 308ch in a normal state.

  The pair of clamping claws 322 and 322 are disposed so as to be openable and closable at the front end of the branch outer tube 308c at the tip of the outer tube 308, as shown in FIGS. 2 (a), 2 (b), and 2 (c). Is. Each of the clamping claws 322 and 322 on both sides has a triangular plate-shaped portion inside the base portion, and each of the leading ends of the branch-outside outer tube 308c is located near the apex inside the rear portion of the triangular plate-shaped portion. It is attached to the side so that it can be opened and closed. Further, cam grooves 321 are opened in the triangular plate-like portions of the clamping claws 322 and 322 on both sides. As shown in FIG. 2A, the cam grooves 321 and 321 are formed so as to be opened forward when the pair of clamping claws 322 and 322 are opened to the maximum extent. . Further, as shown in FIG. 2C, the angle between the cam grooves 321 and 321 is made small with the pair of clamping claws 322 and 322 closed.

  On the other hand, as shown in FIGS. 2 (a) and 2 (c), a shaft support piece oriented in a direction orthogonal to the tip of the most advanced branch transmission shaft 307e of the action transmission shaft 307 is fixed at the center thereof. Then, the cam shafts 320 are coupled near the both ends. These cam shafts 320 and 320 are fitted into cam grooves 321 and 321 on the corresponding sides as shown in FIG.

  In this way, when the pair of clamping claws 322 and 322 shown in FIG. 2 (a) is opened, that is, when the state-of-the-art branch transmission shaft 307e is advanced from the retracted state, the tip thereof is attached to the tip. The cam shafts 320, 320 arranged in the vicinity of both ends of the arranged shaft support pieces advance forward in the cam grooves 321, 321 formed in the triangular plate-like portions of the corresponding clamping claws 322, 322, and accordingly As a result, the angle between the cam grooves 321 and 321 is reduced, and the pair of clamping claws 322 and 322 are narrowly opened, and finally closed as shown in FIG. 2 (c). . When the branch transmission shaft 307e is retracted, each part operates in the reverse manner to the above. Finally, as shown in FIG. 2 (a), the pair of clamping claws 322 and 322 are completely opened. Become.

  As shown in FIGS. 2 (a) and 2 (c), the trigger-like lever member 302 has its upper middle part inside the upper corner portion of the grip portion 301 via the lever shaft 302s, that is, the grip portion 301. It attaches to the inner corner | angular part used as the vicinity of the boundary of the postscript grip main body 301g and the postscript upper connection part 301r so that rotation is possible. Thus, the trigger-like lever member 302 can literally be operated like a trigger. As shown in the figure, the trigger-like lever member 302 has its upper end bent backward substantially at a right angle and extended, and the rear end of the extension is the upper end of an operating rod 303s of a backward movement restricting means 303 described later. Pin to. The trigger lever member 302 has a pressing portion 302p that bulges in a hemispherical shape on the front side of the upper end corner, and the rear end of the branch transmission shaft 307a at the rearmost portion of the action transmission shaft 307. It shall be made to contact.

  As shown in FIGS. 1 and 2 (a) and 2 (c), the grip portion 301 includes an upper connecting portion 301r for fitting and fixing the rear end of the branch tube 308a at the rearmost portion of the outer tube 308, The grip portion main body 301g extends obliquely downward from the upper connecting portion 301r, and the grip portion main body 301g is a means for grasping and operating the grip portion main body 301g in use. When operating the trigger-like lever member 302, an operation of pulling the trigger-like lever member 302 by grasping at the same time as the grip portion main body 301g or rotating the operation object grasped by the clamp claws 322 and 322 at the tip is performed. In order to make them move or move, the grip part main body 301g is grasped and used for a rotation operation, an operation of moving left and right, and the like.

  As shown in FIGS. 2 (a), 2 (c), 3 (a), and 3 (b), the action transmission shaft 307 is always allowed to move in the advancing direction in the grip portion 301, and in the backward direction. A backward movement restricting means 303 is provided that allows movement only when a restriction releasing operation is performed by the restriction releasing lever 303l.

  As shown in the figure, the backward movement restricting means 303 includes an operating rod 303s that is advanced by the pulling operation of the trigger-like lever member 302, and the operating rod 303s so that it can freely move forward and backward. A guide tube 303g for supporting the exterior, two through holes 303p opened on the circumferential side immediately before the rear end of the guide tube 303g, a clutch ball 303b inserted into each through hole 303p, and a rear portion of the guide tube 303g A wedge surface member 303w having an inclined surface 303t approaching the guide tube 303g toward the retreat direction disposed in a face-to-face relationship with each through-hole 303p, and a spring means 303d for applying an action force in the retreat direction to the guide tube 303g In order to allow the operation rod 303s to move backward, a restriction release lever 303l that temporarily advances the guide tube 303g in the advance direction. , In those that you configured.

  As shown in FIGS. 2 (a) and 2 (c), the backward movement restricting means 303 is disposed inside the grip portion 301 along the extending direction of the grip portion main body 301g. The operating rod 303s is arranged along the direction while being slidably supported by the guide tube 303g. The upper end of the actuating rod 303s is pin-coupled to the rear end of the extension extending from the upper end of the trigger lever member 302 as described above and shown in the drawing. As shown in FIGS. 3 (a) and 3 (b), the operating rod 303s has an open groove 303m along the length direction from the vicinity of the upper end to a position about half the length direction. There is an open pin 303k penetrating through the length direction of the open pin 303k, and the open pin 303k penetrates in the vicinity of the upper end of the guide tube 303g that is externally mounted on the operating rod 303s. It is fixed.

  Two through holes 303p are formed at an angular interval of 180 degrees just before the rear end of the guide tube 303g. The diameter of the guide tube 303g is slightly larger than the thickness on the circumferential side. The clutch ball 303b has a diameter that slightly exceeds the circumferential thickness of the guide tube 303g, and at the same time, has a diameter that can be freely moved in the through hole 303p.

  As shown in FIGS. 3 (a) and 3 (b), the wedge surface member 303w has two through-holes 303p which are normally positioned with a positional relationship of 180 degrees in the circumferential direction of the guide tube 303g. The clutch ball 303b inserted into the through hole 303p is in contact with the inclined surface 303t of the wedge surface member 303w, and the inner part is further in the guide tube 303g. It comes into contact with the side surface of the actuating rod 303s inserted in such a manner as to be freely advanced and retracted. As described above and shown in FIG. 3A, the inclined surface 303t of the wedge surface member 303w is inclined toward the retreating direction of the operating rod 303s and toward the direction close to the guide tube 303g. Therefore, when the operating rod 303s attempts to retreat from the state shown in the figure, the clutch ball 303b is more strongly sandwiched between the peripheral side surface of the operating rod 303s and the inclined surface 303t of the wedge surface member 303w. It becomes a state. Therefore, the actuating rod 303s cannot be retracted any further. On the other hand, the actuating rod 303s moves in the direction opposite to the advancing direction in the direction in which the clutch ball 303b is loosened.

  The wedge surface members 303w and 303w on both sides are supported by a frame member 303f as shown in FIG. 3A, and the frame member 303f is fixed to the grip portion main body 301g.

  In this embodiment, as shown in FIGS. 3A and 3B, the spring means 303d employs a compression coil spring that is in an exterior state for the guide tube 303g. The rear end of the spring means 303d is brought into contact with a housing projecting in the middle of the outer periphery of the guide tube 303g, and the front end is brought into contact with the inner surface of the front portion of the frame member 303f. The tube 303g is given an acting force in the backward direction. In the normal state shown in the figure, the guide tube 303g is operated with the inclined surface 303t of the wedge surface member 303w when the guide tube 303g attempts to retract in the normal state shown in FIG. Since it will be clamped between the peripheral side surfaces of the rod 303s, it cannot be further retracted.

  The restriction release lever 303l is an operation member that protrudes from the inside of the grip portion main body 301g of the grip portion 301 to the back of the trigger lever member 302, as shown in FIGS. 2 (a) and 2 (c). . As shown in FIG. 3 and FIG. 3 (b), an open pin 303k that passes through the open groove 303m of the actuating rod 303s and is fixed in the vicinity of the upper end of the guide tube 303g is formed as a bifurcated plate. The member 303h is engaged by being inserted into the gap between the two forks. The bifurcated plate-like member 303h is rotatably attached to the grip part main body 301g of the grip part 301 by a shaft 303j at a portion between the bifurcated part and the base end. Is fixed to the base end of the bifurcated plate-like member 303h.

  Thus, when the restriction release lever 303l is temporarily pulled by a hand holding the grip portion main body 301g, the bifurcated plate-like member 303h rotates about the shaft 303j, and the release pin 303k is moved to the operating rod 303s. Accordingly, the guide tube 303g is moved in the advance direction. As a result, the clutch ball 303b moves to the wider side of the inclined surface 303t of the wedge surface member 303w. Therefore, the clutch ball 303b is sandwiched between the inclined surface 303t of the wedge surface member 303w and the circumferential side of the operating rod 303s. The action of preventing the retreat of the disappearance. Therefore, the operating rod 303s can be retracted while the regulation release lever 303l is being pulled. Actually, the actuating rod 303 s applies the acting force of the retreating spring members 318 and 309 arranged on the action transmitting shaft 307 to apply the acting force in the retreating direction to the action transmitting shaft 307 and the trigger lever member 302. When the action of restricting the backward movement is released as described above, the spring member 318 for backward movement is received through the upper pressing portion 302p and the upper extension portion of the trigger-like lever member 302 as described above. As long as the action of 309 reaches, it will retreat.

  As shown in FIGS. 2 (a), 2 (c) and 4 (a), 4 (b), the opening adjusting means 306 is brought into contact with the rear side of the trigger-like lever member 302 as necessary. Contact member 306t, the corresponding contact member 306t, a follower spring means 306b arranged to extend and contact the rear side of the trigger-like lever member 302 as necessary, and the corresponding contact member 306t When it is placed in contact with the side and does not need to be used, the action of the follower spring means 306b is restricted, and when the trigger lever member 302 has a desired opening, it is rotated. The corresponding contact member 306t is extended by the action of the follower spring means 306b and brought into contact with the rear side of the trigger-like lever member 302, and then returned to the original state again. A regulating bias for fixing the member 306t to its advanced state. And cam means (braking means) 306c, in those configured.

  As shown in FIG. 2, the contact member 306t is composed of a rod-shaped contact member main body 306s and a contact roller 306r rotatably disposed at the tip thereof via a bracket. As shown in (a) and (c), the positional relationship is set so that the trigger lever member 302 can be brought into contact with the rear side (opening direction side) in an orthogonal state as necessary.

  As shown in FIGS. 2 (a) and 2 (b), the following spring means 306b has one end fixed to the lower front end of the upper connecting portion 301r of the grip portion 301, extended rearward, and the rear end. Is coupled to the rear end of the abutting member main body 306s. In this embodiment, a coil spring is used, and when the opening degree of the trigger-like lever member 302 is variously changed, the trigger-like lever member 302 in any opening state is located behind the trigger-like lever member 302. A member that can be extended until the contact roller 306r of the contact member 306t contacts the back of the contact member 306t is employed.

  As shown in FIGS. 2 (a) and 2 (b) and FIGS. 4 (a) and 4 (b), the regulating eccentric cam means 306c is rotatable around the lower center of the upper connecting portion 301r of the grip portion 301. A rotating shaft 306j attached to the outer surface, an eccentric cam 306h fixed to the exterior of the rotating shaft 306, an operating lever 306l fixed to the outer end of the rotating shaft 306j, and a rotational force applied to the rotating shaft 306j in a constant rotational direction. The torsion coil spring 306n to be rotated and the regulating rod 306d to stop the rotation of the rotating shaft 306j by the torsion coil spring 306n at a predetermined angle by bringing the operating lever 306l into contact therewith.

  In the eccentric cam 306h, when the operation lever 306l abuts on the regulating rod 306d and stops its rotation, the largest diameter portion bulged to the maximum is in contact with the side portion of the abutting member main body 306s of the abutting member 306t. It is attached to the rotary shaft 306j so as to be in a contact state so that the braking action on the contact member 306t works strongly and the extension operation by the following spring means 306b is restricted.

  The operation lever 306l rotates together with the rotary shaft 306j by the action of the torsion coil spring 306n. Needless to say, when the operation lever 306l abuts on the regulation rod 306d, the maximum diameter portion of the eccentric cam 306h is The attachment angle to the rotating shaft 306j is appropriately set so as to come into contact with the side portion of the contact member main body 306s. The restriction rod 306d has a base portion fixed to the lower portion of the upper connecting portion 301r of the grip portion 301 and extended forward.

  Accordingly, with the tracking spring means 306b shortened, the operation lever 3061 is brought into contact with the regulating rod 306d, and the maximum diameter portion of the eccentric cam 306h is brought into contact with the contact member 306t to apply braking. When the advancement of the trigger lever member 302 is set to a predetermined opening degree and the operation lever 306l is pulled up with the advancement being stopped, the braking action is released and the action of the follower spring means 306b is applied. The contact member 306t advances instantaneously, and the contact roller 306r at the tip thereof contacts the trigger-like lever member 302. At this time, if the operating lever 306l is released, it will return and rotate until it abuts against the restriction rod 306d instantaneously by the action of the torsion coil spring 306n. In this way, the maximum diameter portion of the eccentric cam 306n also abuts against the side portion of the abutting member main body 306s to exert a braking action and restrict further advancement. That is, in this way, the tip of the contact roller 306r works to regulate the opening degree of the trigger-like lever member 302, whereby the opening degree of the clamping claws 322 and 322, which is the final purpose, is set to the desired value. It can be regulated.

In this embodiment, the air flow shielding means includes two means.
First, as shown in FIGS. 2 (a), 2 (b), 2 (c) and FIG. 5 (a), the second branch transmission from the clamping claws 322 and 322 side of the action transmission shaft 307 is performed. A diaphragm 314 has a center attached to the rear end of the shaft 307d, and an outer edge fixed to the inner periphery of the intermediate branch outer tube 308b in the middle of the outer tube 308b.

  The other is one in which the outer surface side of the ball hole 308h opened in the intermediate branch outer tube 308b is covered with an elastic sheet 313s in the outer tube 308, as shown in FIG. The elastic sheet 313s is formed in a circular shape, and its peripheral edge is fixed around the outer periphery of the ball hole 308h of the branch outer tube 308b with an adhesive.

  As shown in FIG. 5 (b), the air flow shielding means of the other embodiment with respect to the above ball hole 308h is closely fitted to the inner periphery of the ball hole 308h, and the stopper ball 313 is This is an elastic bushing 313b that can be held.

  Therefore, according to the hand manipulator of this embodiment, for example, the operator can avoid various dangerous objects located in an isolated room from the adjacent safe room from the danger of radiation and toxic gas from them. However, it can be handled well.

  As described above and shown in FIG. 1, this hand manipulator, for example, maintains the airtightness between the two rooms when operating the operation target in the other room from one room separated by the shielding wall 102. The ball socket 103 and the boot 104 are used from the viewpoint of ensuring operability.

  As shown in FIG. 1, the inner edge of the front end of the boot 104 is connected to an annular mounting groove 308br formed in the rear part of the middle branch outer tube 308b of the hand manipulator of this embodiment in an outer state, The rear end outer edge portion 104 is fixed to the outer edge portion of the ball socket 103. It is assumed that all the bonded portions retain airtightness. An outer edge portion of the ball socket 103 is coupled to an inner peripheral portion of an opening portion opened in the shielding wall 102 in order to allow the hand manipulator to enter the other room from one room. Needless to say, a part of the rear of the hand manipulator is externally coupled to the central portion of the ball socket 103. In this embodiment, the central portion of the ball socket 103 is externally joined in the middle of the rear branch exterior tube 308a.

  Thus, the hand manipulator can freely tilt and rotate in any direction of 360 degrees around the center of the ball socket 103.

  When the operator grasps the grip portion 301 and pulls the trigger lever member 302, the rear end of the branch transmission shaft 307a is pushed by the uppermost pressing portion 302p of the trigger lever member 302. Produces linear motion. As described above, the upper portion of the trigger-like lever member 302 is pin-coupled to the upper end of the operating rod 303s of the backward movement restricting means 303, and at the same time, the operating rod 303s is pulled up in the advancing direction. As described above, the operation rod 303s is allowed to move.

  When the movement in the advancing direction occurs in the last branch transmission shaft 307a in this way, the intermediate ones are sequentially pushed one after another, and the same movement occurs, and the state-of-the-art branch transmission shaft 307e also advances, through the above-described process. As shown in FIG. 2 (a), the clamp claws 322 and 322 that were initially opened are closed as shown in FIG. 2 (c).

  Even if the operation of pulling the trigger lever member 302 is stopped and the finger is released from the operation, as described above, the backward movement restricting means 303 does not normally allow the backward movement of the actuating rod 303s. Therefore, the action transmission shaft 307 is not allowed to move backward and is maintained as it is. Therefore, the clamping claws 322 and 322 closed as described above maintain the closed state. When the operation object is gripped by the clamping claws 322 and 322, the state can be maintained. Therefore, when it is necessary to hold the operation object for a relatively long time, the gripping state of the operation object can be maintained even if the hand is released from the trigger-like lever member 302, so that the labor can be reduced. is there.

  When it is necessary to open the clamping claws 322 and 322, when the restriction release lever 303l is pulled, the operating rod 303s is allowed to move backward as described above, and the backward movement disposed on the action transmission shaft 307 is allowed. The action transmission shaft 307 is retracted by the action of the spring members 318 and 309, and the actuating rod 303s is also retracted at the same time. The clamping claws 322 and 322 are opened by the retraction of the action transmission shaft 307, in particular, the retraction operation of the foremost branch transmission shaft 307e.

  When the size of the operation object to be handled is small, it is unnecessary to open the clamp claws 322 and 322 to the maximum extent as shown in FIG. It is useless to grow. Therefore, it is appropriate to limit the opening to an appropriate maximum opening suitable for the operation object to be handled.

Setting of the maximum opening degree of the clamping claws 322 and 322 can be easily performed as follows.
As described above, the trigger lever member 302 is operated to first operate the clamping claws 322 and 322 to an optimum opening degree. Thereafter, when the operation lever 306l of the opening adjusting means 306 is pulled up, the abutting member 306t advances instantaneously, and the abutting roller 306r at the tip thereof abuts behind the trigger-like lever member 302. When the pulling operation of the operation lever 306l is stopped, this instantaneously returns to the original state, and the advanced state of the contact member 306t that has advanced is fixed in that state. That is, the maximum opening of the trigger lever member 302 is set to the current opening, and accordingly, the maximum opening of the clamping claws 322 and 322 is also set to the current opening.

  To cancel the opening setting, the operation lever 306l is lifted, the contact member 306t is pushed back, and the operation lever 306l is returned to the original position. In this way, the corresponding contact member 306t is fixed at the pushed back position.

  During the above operation or in any other case, as described above, the diaphragm 314 is attached to the rear end of the branch transmission shaft 307d, which is the second from the foremost part, and the outer edge is Since the middle branch outer tube 308b is fixed to the inner periphery in the vicinity of the middle, the airtightness on both sides in the longitudinal direction is reliably maintained without impairing the operability of the action transmission shaft 307.

  Further, since the outer surface side of the ball hole 308h opened in the intermediate branch outer tube 308b is covered with the elastic sheet 313s, the airtightness of the inner and outer sides of the branch outer tube 308b is securely maintained, and the hand manipulator is assembled and disassembled. The operability at the time does not cause any inconvenience.

  Regarding the latter, an example in which the elastic bushing 313b is fitted into the ball hole 308h has been shown, but even in this case, the assembly and disassembly of the hand manipulator is performed while the internal and external airtightness of the branch outer tube 308b is securely maintained. The operability at the time does not cause any inconvenience.

Side surface explanatory drawing which shows the use condition of the hand manipulator of an Example. (a) is a partially cutaway plan cross-sectional explanatory view of the hand manipulator of the embodiment with the clamping claws open, (b) is a partially cutaway side cross-sectional explanatory view, and (c) is a clamp claw closed. FIG. (a) is a plane explanatory view of the backward movement restricting means of the embodiment, (b) is a side explanatory view. (a) is plane explanatory drawing of the opening degree adjustment means of an Example, (b) is side surface explanatory drawing. (a) is sectional explanatory drawing which showed the longitudinal direction intermediate part vicinity of the hand manipulator of an Example, (b) is sectional explanatory drawing which showed the other Example. (a) is a partially cutaway cross-sectional plan view of the conventional hand manipulator with the clamping claws closed, (b) is a side sectional view of the grip part, and (c) is the clamping claws closed. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 102 Shielding wall 103 Ball socket 104 Boot 301 Grip part 301g Grip part main body 301r Upper connection part 302 Trigger-like lever member (lever member)
302p Pressing portion 302s Lever shaft 303 Backward movement restricting means 303b Clutch ball 303d Spring means 303f Frame member 303g Guide tube 303h Two-forked plate member 303j Shaft 303k Release pin 303l Restriction release lever (Release release means)
303m Open groove 303p Through-hole 303s Actuating rod 303t Inclined surface 303w Wedge surface member 306 Opening adjusting means 306b Following spring means 306c Restricting eccentric cam means (braking means)
306d Regulating rod 306h Eccentric cam 306j Rotating shaft 306l Operation lever 306n Torsion coil spring 306r Abutting roller 306s Abutting member main body 306t Abutting member 307 Action transmitting shaft 307a, 307b, 307c, 307d, 307e Branching transmitting shaft 308 Outer tube 308a, 308b, 308c Branch outer tube 308ak Around stop 308am Stopper groove 308bh Ball hole 308bk Around stop fitting part 308bm Stopper groove 308br Annular mounting groove 308bs Stopper 308bt Front stopper 308ch Ball hole 308cs Stopper 308ct Front stopper 309, 318 For retraction Spring member (spring member)
311 Slider 311b Coil spring member 312 Ball escape groove 313 Stopper ball 313b Elastic bush 313s Elastic sheet 314 Diaphragm 315 Slider 315b Coil spring member 316 Ball escape groove 317 Stopper ball 320 Cam shaft 321 Cam groove 322 Claw for clamping

Claims (2)

An action transmission shaft composed of a plurality of branch transmission shafts, and an outer tube that sheathes the action transmission shafts so as to be able to move forward and backward. A ball joint mechanism to be connected to an insertion portion formed at one end of one adjacent branch outer tube, a stopper groove formed at the outer periphery of the insertion portion, and correspondence between the other branch outer tube adjacent An outer fitting portion that can cover the insertion portion formed on the end portion, one or more ball holes formed in the outer fitting portion, a stopper ball inserted in the ball hole, and a length direction on an outer periphery of the outer fitting portion And a ball joint mechanism composed of a ball relief groove formed on the inner periphery of the slider, and an opening / closing operation that can be opened and closed at the foremost end of the outer tube, and the action transmission shaft advances. Closed by a pair and opened by a backward movement A claw, a grip portion coupled to the rear end of the outer tube, a lever member disposed near or in close proximity to the grip portion to advance the action transmission shaft, and a retracting direction to the branch transmission shaft of a spring member arranged to impart an action force, in configured, the action transmission shaft, when the advancing direction of movement allowed at all times, restriction release operation by regulation release means movement backward is performed only at the hand manipulator which was attached a retraction restricting means to allow,
The backward movement restricting means;
An operating rod that is advanced by the pulling operation of the lever member;
A guide tube that externally supports the operating rod so that it can be moved forward and backward, and has a plurality of through holes that are arranged in the circumferential direction on the circumferential side and have a diameter larger than the thickness of the circumferential side. Tube,
A clutch ball having a diameter larger than the thickness of the guide tube on the circumferential side, inserted into each through hole;
A wedge surface member having an inclined surface that faces the guide tube in the retracting direction of the operating rod, and is arranged to face each through-hole into which the clutch ball of the guide tube is inserted;
Spring means for applying an acting force in the backward direction to the guide tube;
Restriction release means for temporarily moving the guide tube in the advance direction in order to allow the backward movement of the operating rod;
Hand manipulator composed of The lever member is provided with opening adjustment means for adjusting the maximum opening between the lever member and the grip portion,
The opening degree adjusting means is
A contact member arranged so as to be able to contact the back side of the lever member;
A follower spring means arranged to extend toward the lever member so that the contact member contacts the lever member in a desired opening state;
Braking means for stopping extension of the contact member by the follower spring means by its braking action, and when the lever member is in a desired opening state, the braking action is released and the corresponding contact member is followed. A braking means that extends until it abuts against the lever member by the action of the spring means, and then applies the braking action again to fix the extended state;
The hand manipulator according to claim 1, comprising:

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