JPH0718543Y2 - Tool and tool connector to tongs for manipulators - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is applied to a tongue of a master-slave type manipulator used in a facility called a cell or a cave of a facility that handles radioactive materials in the nuclear industry. The present invention relates to a connector for easily and surely mounting various jigs and tools by remote control.

(Prior art and its problems) Conventionally, when working with various jigs and tools in a cell or cave of a facility that handles radioactive substances by remote control, the jigs are generally used with manipulators. Tongs that can be grasped or whose toes can be exchanged are selected after selecting a toe that is similar to the shape of the grip of the jig and then grasping the jig to perform the work. I couldn't hold. For this reason, not only accurate support at the working position is impossible but also the jigs and tools may be dropped, so that accurate, precise, and quick work cannot be expected. Further, since various jigs and tools cannot be handled sufficiently, the ability of the manipulator is limited to the range of simple work.

(Problem to be Solved by the Invention) In view of the problems of the conventional technology, an object of the present invention is to provide a manipulator connector that allows various jigs and tools to be mounted on the tongs easily and reliably by remote operation by the manipulator.

(Means for Solving the Problem) A connector body 1 which is formed symmetrically and a fixing pin 2, and the connector body 1 is a jig fixing plate 7 to which a jig B is attached, and the jig fixing plate. 7 is provided with a toe holder 3 having a groove-shaped cross section that is open to the outside and that engages with the tongue claws 13 of the tongue body C on both sides of one end thereof, and an end face 4 that abuts against the tip of the tongue body C at the other end. A square insertion hole 5 is provided on the front surface of the end surface 4 for inserting the two legs 2a of the fixing pin 2.
After having a pair of connecting projections 6 having the above, the tip of the tongue body C is butted against the end face 4, the fixing pin 2 is inserted into the rectangular insertion hole 5, and the tongue 13 holds the toe from the side. The device 3 is clamped. It consists of a connector body 21 formed symmetrically and a fixing pin 22, and the connector body 21 is on a jig fixing plate 27 to which a jig B is attached, and is on the jig fixing plate 27 and on both sides at one end thereof. A toe holder 23 having a groove-shaped cross section opened to the outside for engaging with the tongue claw 13 of the tongue body C,
A square block 24 is fixed to the opposite side of the toe holder 23, an L-shaped hook 25 is erected at the center of the front surface, and a jig / tool fixing plate 27 between the L-shaped hook 25 and the toe holder 23 is fixed. 1
A pair of holes 26, 26 are bored, the tip of the tongue body C ′ is abutted against the L-shaped hook 25, and the fixing pin is inserted in the pair of holes.
The two legs 22a of 22 are inserted, and the toe holder 23 is sandwiched by the nails 30 from both sides.

(First Embodiment) Reference numeral A in FIG. 1 represents a coupler according to the present invention. Connector A
Consists of a connector body 1 and a fixing pin 2 with two legs 2a. A jig / tool B, for example, a cylindrical brush in the illustrated example, is attached to the connector body 1, and the connector body 1 is connected to the I-shaped projection of the tongue body C by using the fixing pin 2. .

The connector main body 1 is formed symmetrically, has a groove-shaped cross section on both sides of the end portion, and has a tongue holder for a tong claw whose opening faces outward.
3,3 are stuck. On both sides of the end surface 4 on the opposite side of the toe holder 3, there are two projecting portions 6 and 6 provided with a square insertion hole 5 into which the leg 2a of the fixing pin 2 is inserted. Two protrusions 6,6
The spaces are separated by a distance a, and the height of the protrusion 6 is b. A jig fixing plate 7 is attached to the bottom surface of the connector body 1, and an attaching portion 9 of the jig B is attached to the lower portion of the fixing plate 7 with a fixing bolt 8. Reference numeral 10 is a motor for driving the cylindrical brush.

The tongue main body C has two upper and lower lateral protruding members 11 pivotally attached to the tip thereof by a pin 12 at the center thereof. The width of the pivoting portion is a ', the distance between the upper and lower side projecting members 11, 11 is b', and the pivoting portion fits between the projecting portions 6 and 6 of the connecting part body 1 and the upper and lower projecting members. Left and right protrusions 6, 6 are sandwiched between 11, 11.

2 to 3 show a state in which the connector A is mounted on the tongue body C, and the connector body 1 is provided between the upper and lower side projecting members 11, 11.
The projections 6, 6 are sandwiched and brought into contact with the end face 4 of the connector A, and then the leg 2a of the fixing pin 2 is dropped into the rectangular insertion hole 5 for insertion. At this time, a, a ', b, and b'are designed so that they fit in correspondence with each other. 13 is a tongue claw, which is used after fixing the connector body 1 with the fixing pin 2.
When 13 is contracted to the bottom of the groove of the toe holder 3 and squeezed to the position 13 'in FIG. 2, it is completely held.

(Operation) 1) The connecting protrusions 6 and 6 are sandwiched between the lateral protrusion members 11 and 11 of the tongue body C, and the pivotal portions of the protrusion members are the protrusions 6 and 6.
Push it in so that it fits in between.

2) Drop the leg 2a of the fixing pin 2 into the square insertion holes 5,5.

3) The toe holder 3 of the connector body 1 is sandwiched by the pair of tongs 13 ... The connection is completed.

(Second Embodiment) FIG. 4 and subsequent drawings show a second embodiment of the coupler of the present invention. This is an example of a coupler applied to a tongue body C ′ different from the tongue body C in the first embodiment.

In FIG. 4, the connector A'comprises a connector main body 21 and a fixing pin 22 having two legs 22a. A jig B, for example, a cylindrical brush in the illustrated example, is attached to the connector body 21, and the connector body 21 is attached to the fixing pin on the protrusion of the tongue body C '.
It is designed to be connected using 22.

The connector body 21 is formed symmetrically and has a jig fixing plate 27.
The toe holders 23, 23 of the tongue claws having a groove shape in cross section and having openings facing outward are fixed to both sides of the upper end of the. A rectangular block 24 is fixed to the opposite side of the toe holder 23, and an L-shaped hook 25 is erected at the center of the front surface thereof. Reference numeral 26 denotes a pair of holes formed in the jig fixing plate 27, and the fixing pins 22 are provided in the holes.
Leg 22a is inserted. Reference numeral 28 denotes a jig attachment bolt, which is inserted through a hole formed in an attachment plate 29 attached to the attachment portion 9 of the jig B and fastened with a nut. The top of the rectangular block 24 and the bottom of the groove of the toe holder 23 are flush with each other.

To connect the tongue body C'and the coupler A ', first fit the tip portion 32 (Fig. 9) of the tongue body C'to the L-shaped hook 25 provided at the center of the front surface of the rectangular block 24, and then hold the toe. Bowl 2
3,23 are clamped by the pair of claws 30,30 of the tongue body C '.

Next, the leg 32a of the fixing pin 22 is inserted into the hole 32 provided in the side portion of the claw 30 and the pair of holes 26, 26 provided in the main body of the connector A'corresponding thereto.
, The connector A'is completely fixed to the tongue body C '. Reference numeral 23 'is a rubber spacer provided on the bottom of the toe holder 23, whereby the toe is tightly held on the bottom of the toe holder 23 closely.

(Effect) After attaching various jigs and tools to the jig fixing plate at the bottom of the connector body, abutting the connecting projection of the tongue body and fixing with the fixing pin, the other end of the tongue claw The toe holder was sandwiched between the tongues.

Since the connector main body is held in the front and rear as described above, it is possible to fix the connector firmly.

Further, since the fixing pin may be dropped and pinched by the tongue claws, the connecting work between the connector body and the tongue body becomes extremely easy.

Therefore, the connection to the tongue body can be performed by remote control. Therefore, it is extremely effective in handling jigs and tools in facilities that handle radioactive substances.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a connector according to the present invention. FIG. 2 shows a state in which the connector is connected to the tongue body and is just before being gripped by the tongue claws. FIG. 3 is a top view of FIG. FIG. 4 is a perspective view of a second embodiment of the present invention. FIG. 5 is a plan view of the coupler in the second embodiment. FIG. 6 is a front view of the same. FIG. 7 is a view on arrow VII of FIG. FIG. 8 is a plan view showing a state in which the tongue body is connected. FIG. 9 is a view on arrow IX in FIG. FIG. 10 is a view on arrow X in FIG. In the figure: A, A '... coupler, B, B' ... jig C, C '... tong body 1 ... coupler body 2, ... fixing pin 3 ... (tongue claw) toe holder 4 ... end face, 5 … Insertion hole 6… Connecting protrusion, 7… Jig tool fixing plate 8… Fixing bolt, 9… Mounting part 10… Drive motor, 11… Side protruding member 12… Pin, 13… Tong claw 21… Coupler body , 22 ... Fixing pin 23 ... Toe holder, 23 '... Rubber spacer 24 ... Square block, 25 ... L-shaped hook 26 ... Hole, 27 ... Tool fixing plate 28 ... Tool mounting bolt, 29 ... Mounting plate 30 ... Claw , 31 ... Hole 32 ... Tip of the tongue body

Claims (2)

[Scope of utility model registration request] 1. A connector body (1) which is symmetrically formed.
And a fixing pin (2), the connector body (1) is a jig / tool fixing plate (7) to which the jig / tool (B) is attached, and is located on both sides of the jig and tool fixing plate (7). The tongue body (C) is provided with a toe holder (3) having a groove-shaped cross section opened to engage with the tongue nail (13), and the other end has an end face (4) that abuts against the tip of the tong body (C). And two legs (2a) of the fixing pin (2) on the front face of the end face (4).
Has a pair of connecting protrusions (6) each having a square insertion hole (5) for inserting a fixed pin (2) after the tip of the tongue body (C) is butted against the end face (4). Is inserted into the square insertion hole (5), and the tongue holder (3) is sandwiched by the tongue jaws (13) from the side. 2. A connector body (21) which is symmetrically formed.
And a fixing pin (22), the connector main body (21) is a jig / tool fixing plate (27) for attaching the jig / tool (B), and is located on both sides of one end of the jig / tool fixing plate (27). The tongue body (C) is provided with a toe holder (23) having a groove-shaped cross section opened to the outside that engages with the tongue nail (13), and a rectangular block (24) is provided on the opposite side of the toe holder (23). An L-shaped hook (25) is erected at the center of the front surface, and a pair of holes (26) are provided in the jig-fixing plate (27) between the L-shaped hook (25) and the toe holder (23). , 26) are bored, the tip of the tongue body (C ′) is butted against the L-shaped hook (25), and the two legs of the fixing pin (22) are fitted into the pair of holes (26, 26). (22a) is inserted, and a jig-tool connector to a tongue for a manipulator in which a toe holder (23) is clamped by a claw (30).