JPS6243740Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an attachment/detachment device that allows for easy attachment and detachment of work equipment, and is particularly suitable for use as a device that can automatically replace a television camera attached to a manipulator by remote control. This relates to a device for attaching and detaching equipment.

As shown in FIG. 1, a television camera 1 is attached to the shoulder of the slave of the master-slave type manipulator as a visual device (working device) that allows the worker to observe the working state. This television camera 1 operates by processing electrical signals from each joint of the slave 2, so that the camera drive device 3 works to automatically capture the hand of the slave 2, or the operator manually operates the camera drive device 3 to automatically capture the image of the slave 2's surroundings. It is now possible to observe.

By the way, such a manipulator is useful when used in a dangerous place such as a nuclear reactor that cannot be approached by people, but if the TV camera 1 breaks down while being used in such a dangerous place. Therefore, the television camera 1 must have a structure that allows it to be easily replaced with a new one by remote control.

The present invention was devised in response to the above-mentioned needs, and an object of the present invention is to provide an attachment/detachment device that allows work equipment to be easily attached/detached and replaced even by remote control.

The structure of the present invention to achieve this purpose is to rotatably pivot a movable support to a holder to which a working device is attached via a pin parallel to the drive shaft and having a bracket fixed to the end. , a second grip part facing the first grip part fixed to the holder is formed at one end of the movable support, and a second grip part opposite to the first grip part fixed to the holder is formed at the other end of the movable support tool. An engaging portion is formed that faces the engaging portion with the bracket in between, and engages with each of these engaging portions to regulate the relative position of the holder with respect to the bracket in a direction parallel to the axis of the drive shaft. A pair of positioning engaging parts are formed on the bracket, and at least one of the engaging parts and the positioning engaging part engage with each other, and the holder is positioned relative to the bracket in a direction perpendicular to the axis of the drive shaft. regulate the location,
A spring is interposed between the holder and the movable support, and has a spring force that causes the positioning engagement portion of the bracket to be held between the engagement portion of the fixed support and the engagement portion of the movable support. It is characterized by the fact that

DESCRIPTION OF THE PREFERRED EMBODIMENTS The attachment/detachment device for working equipment according to the present invention will be described in detail below based on an embodiment shown in FIGS. 2 to 4. A plate-shaped bracket 5 is attached to the lower end of the drive shaft 4 of the camera drive device 3 at right angles to the drive shaft 4. At both ends of the bracket 5, a movable support 7 and a fixed support 8 (these will be described in detail later) of a holder 6 to which the television camera (work equipment) 1 is attached are attached. A positioning engagement part 9 is formed to be held in place, and in this embodiment, this positioning engagement part 9 has a tapered shape so that the television camera 1 can be held horizontally whenever the television camera 1 is mounted. The one end is chamfered, and one end is for positioning the television camera 1 in a certain direction so that the optical axis of the television camera lens 1a and the longitudinal direction of the holder 6 are parallel to each other.
It has a straight line shape, and the other end has an arc shape so that when the TV camera 1 is attached, the set position of the TV camera 1 is automatically corrected to a predetermined mounting position in the longitudinal direction of the holder 6. . Note that the holder 6 can be attached and positioned even if a cylindrical bracket is used and tapered positioning engagement parts such as a conical shape are formed at both ends of the cylindrical bracket. The television camera 1 can be made to follow. The above-mentioned holder 6 has a groove shape and the television camera 1 is fixed thereto by screws.The upper part of the holder 6 has an engagement part with which one of the arcuate positioning engagement parts 9 of the bracket 5 engages. A fixed support 8 having a groove 10 carved therein is fixed, and further engages with the other linear positioning engagement portion 9 of this bracket 5, and cooperates with the fixed support 8 to move the bracket 5. A movable support 7 having a clamping engagement groove 10a cut into one end is attached to a pin 11 on the top of the holder 6.
It is rotatably attached via the A spring (tension coil spring) 13 for holding the bracket 5 is attached to locking protrusions 12, 12a provided at the tips of the movable support 7 and fixed support 8. In addition, at the other end of the movable support 7,
A second gripping portion 15 is formed to be gripped together with the first gripping portion 14 protruding from the holder 6 by a remote-controlled exchange device (not shown).

Therefore, either the entire slave arm shown in FIG. When gripped, the engagement groove 10a of the movable support 7
One end formed with the pin 11 moves away from the fixed support 8 against the spring force. As a result, the engagement of the bracket 5 with the positioning engagement part 9 is released,
The holder 6 to which the television camera 1 is attached is gripped by the exchange device and removed from the bracket 5. Further, in order to attach a new television camera 1 to the bracket 5, the movable support 7 is brought into an open state by being gripped by a replacement device. Engagement grooves 10 and 10a between fixed support 8 and movable support 7
When the positioning engagement portions 9 of the bracket 5 position the television camera 1 so as to face each other, and release the grip by the exchange device, the movable support 7 closes due to the spring force and the engagement grooves 10, 1 close.
0a engages with the positioning engagement portion 9, respectively. At this time, even if the engagement grooves 10, 10a and the positioning engagement part 9 are slightly misaligned, the engagement groove 10 will move along the tapered surface, linear surface, and arcuate surface of the positioning engagement part 9 during engagement. , 10a slide and are automatically corrected.

In this embodiment, the TV camera 1 can be mounted so as to be hung, but it can also be mounted so that it can be placed, or can be mounted in various ways depending on the orientation of the bracket 5, such as facing upward or downward. Needless to say. Further, as the working equipment, a lighting device or the like can be considered, and this working equipment can also be replaced by hand.

As explained above, according to the present invention, it is possible to easily attach and detach the work equipment, and it is also possible to automatically replace the work equipment without having to process the mounting part with high precision in order to position the work equipment with respect to the bracket during installation. Since it is corrected and installed in the correct position, it is very easy to perform work by remote control.

[Brief explanation of the drawing]

Fig. 1 is a general view of a slave equipped with a television camera, Figs. 2 to 4 show an embodiment of the work equipment attaching/detaching device according to the present invention, Fig. 2 is its front view, and Fig. 3 is its plan view. 4 is a right side view of FIG. 2. In the drawings, 1 is a working device, 4 is a drive shaft, 5 is a bracket, 6 is a holder, 7 is a movable support, 8 is a fixed support, 9 is a positioning engagement part, 10 and 10a are engagement grooves, and 11 is a pin. , 13 is a spring, 14 is a first gripping portion, and 15 is a second gripping portion.

Claims (1)

[Scope of utility model registration request] A movable support is rotatably pivoted to a holder to which a working equipment is attached via a pin parallel to a drive shaft with a bracket fixed to the end thereof, and a movable support is fixed to the holder at one end of the movable support. forming a second gripping part that faces the first gripping part, and further includes an engaging part of a fixed support fixed to the holder at the other end of the movable support, and an engagement part facing the bracket with the bracket in between. forming a pair of positioning engaging parts on the bracket, each engaging with the engaging parts to regulate the relative position of the holder in a direction parallel to the axis of the drive shaft with respect to the bracket; At least one of the engaging portions and the positioning engaging portion that engage with each other regulate the relative position of the holder with respect to the bracket in a direction perpendicular to the axis of the drive shaft, and the holder and the movable support A working device characterized in that a spring having a spring force that causes the positioning engagement part of the bracket to be held between the engagement part of the fixed support and the engagement part of the movable support is interposed therebetween. attachment/detachment device.