JPS634625Y2 - - Google Patents
Info
- Publication number
- JPS634625Y2 JPS634625Y2 JP1983053460U JP5346083U JPS634625Y2 JP S634625 Y2 JPS634625 Y2 JP S634625Y2 JP 1983053460 U JP1983053460 U JP 1983053460U JP 5346083 U JP5346083 U JP 5346083U JP S634625 Y2 JPS634625 Y2 JP S634625Y2
- Authority
- JP
- Japan
- Prior art keywords
- power
- frame
- spring
- cradle
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000012857 radioactive material Substances 0.000 description 1
Description
【考案の詳細な説明】
本考案はパワーマニプレータシステムにおい
て、パワースレーブの着脱保管に使用するパワー
マニプレータ着脱装置に関する。Detailed Description of the Invention The present invention relates to a power manipulator detachment device used for attaching, detaching and storing a power slave in a power manipulator system.
従来、パワーマニプレータシステムにおけるパ
ワースレーブの着脱は机や木枠等を使用し、４〜
５人の熟練工が長時間をかけて取付部の芯を出し
ながら行つている。また今後放射性物質の存在す
るセル内等でパワーマニプレータシステムを使用
する機会が増えると予想され、このような場合に
は、人手によらず支援設備のみでパワースレーブ
の着脱交換を行なう必要がある。 Conventionally, power slaves in power manipulator systems were attached and detached using a desk, wooden frame, etc.
Five skilled workers spend long hours trying to get the core of the mounting part out. In addition, it is expected that there will be more opportunities to use power manipulator systems in cells where radioactive materials are present, and in such cases, it will be necessary to attach and detach power slaves using support equipment alone, without manual intervention.
本考案はかかる要望に応えるものであつて、パ
ワースレーブの着脱が容易でしかも着脱の際にお
けるパワースレーブの破損の虞の小さいパワーマ
ニプレータ着脱装置を提供することを目的とす
る。斯かる目的を達成する本考案の構成一側部が
開口する枠体に移動機構を設け、該枠体の上面に
上下動可能に下受台を設け、前記枠体の上面と該
下受台の下面とに亘り該下受台の上下動を支える
第一ばねを介装し、前記枠体の開口部位に対応す
る辺が切欠かれた上受台を該枠体の上面に直交す
る軸回りで回動可能に前記下受台の上面に設け、
該上受台の回動方向に付勢力を有して該上受台の
回動を規制する第二ばねを前記下受台の上面と該
上受台の下面とに亘り設け、パワースレーブを取
り付けるための取付金具を前記上受台に設けたこ
とを特徴とする。 SUMMARY OF THE INVENTION It is an object of the present invention to provide a power manipulator attachment/detachment device in which a power slave can be easily attached and detached, and there is less risk of damage to the power slave during attachment and detachment. The present invention achieves such an object by providing a moving mechanism in a frame whose one side is open, and providing a lower pedestal on the upper surface of the frame so as to be movable up and down, and connecting the upper surface of the frame and the lower pedestal. A first spring supporting the vertical movement of the lower holder is interposed between the bottom surface of the frame body and the upper cradle, which has a notched side corresponding to the opening part of the frame body, around an axis perpendicular to the top surface of the frame body. provided on the top surface of the lower pedestal so as to be rotatable with the
A second spring that has a biasing force in the rotational direction of the upper cradle and restricts the rotation of the upper cradle is provided across the upper surface of the lower cradle and the lower surface of the upper cradle, and the power slave is It is characterized in that a mounting bracket for mounting is provided on the upper holder.
以下、本考案のパワーマニプレータ着脱装置を
実施例に基づいて詳細に説明する。 EMBODIMENT OF THE INVENTION Hereinafter, the power manipulator attaching/detaching device of this invention will be described in detail based on an example.
第１図〜第５図に本考案の一実施例を示す。同
図に示すように直方体状に枠組されてなるフレー
ム１の底部の４隅には移動機構として車輪座７が
取り付けられると共に該車輪座７にはそれぞれ車
輪８が具えられている。この車輪座７にはストツ
パボルト１１が付設されており、指定場所での固
定が行なわれるようになつている。一方、フレー
ム１の一側部としての前面は開口しており、該フ
レーム１の前面からパワースレーブ５が収納され
垂直に保持されるようになつている。該パワース
レーブ５を支持する下受台３、上受台４及び取付
金具６等がフレーム１の上面に設けられており、
下受台３及び上受台４はパワースレーブ５をフレ
ーム１の内側に保持できるようフレーム１の開口
に対応する前部の辺が切り欠れたリング状となつ
ている（第２図及び第３図参照）。この下受台３
はフレーム１の上面に第一ばねとしてのばね２を
介して上下動可能に装着されると共に該下受台３
に上受台４がフレーム１の上面に直交する軸回り
で回転自在に嵌着されている。即ち、第４図ａ，
ｂに示されるように、フレーム１の上面には固定
板９が溶接されると共に該固定板９に下受台３が
上下動自在に装着されている。固定板９の上面と
下受台３の向い合う下面には対向する凹部が６ケ
所形成されており、該凹部同士に亘りそれぞれば
ね２が嵌入されている。該ばね２、固定板９及び
下受台３をボルト１０が上下に貫通しており、該
ボルト１０の上端及び下端は下受台３、固定板９
にナツトにて固定されている。従つて、下受台３
に加わる衝撃荷重はばね２により吸収ないし緩和
されることとなる。尚、固定板９と下受台３との
嵌着部分には多少隙間が存在するので、下受台３
は上下動自在であるのみならず、前後左右方向に
も多少揺動することが可能である。また、ばね２
の配置ないしばね定数はパワースレーブ５の重心
ないし重量を考慮して適宜設定すれば良い。更
に、該下受台３上にはボールベアリング１２、ロ
ーラ１３を介して上受台４が装着されている。該
ボールベアリング１２は、第４図ａに示すように
上受台４の周辺部に適数下方に突設された垂直な
軸にそれぞれ嵌着され、下受台３の外周面に転接
するようになつている。また第３図及び第４図ｂ
に示されるように、下受台３の上面には凹部が適
数形成され、この凹部に水平な軸を具えたローラ
１３が回転自在に装着されている。従つて、上受
台４はボールベアリング１２、ローラ１３の転動
を伴つて垂直軸方向を回転中心としてスムーズに
回転することが可能である。また、この上受台４
を回動方向に支持する第二ばねとしてのばね１５
を設けて、ばね１５により上受台４の回転を左右
5゜程度に規制することができるようになつてい
る。即ち、第２図及び第３図に示すように、上受
台４の両端に対向するばね受金１４が下受台３に
固定されると共に上受台４の両端とばね受金１４
との間にそれぞればね１５が介装されている。従
つて、上受台４を左右に回動させても、このばね
１５の作用により元の位置に復帰するようになつ
ている。 An embodiment of the present invention is shown in FIGS. 1 to 5. As shown in the figure, wheel seats 7 are attached to the four corners of the bottom of a rectangular parallelepiped-shaped frame 1 as a moving mechanism, and each wheel seat 7 is provided with a wheel 8. A stopper bolt 11 is attached to this wheel seat 7 so that it can be fixed at a designated location. On the other hand, the front side of the frame 1 is open, and the power slave 5 is accommodated from the front side of the frame 1 and held vertically. A lower pedestal 3, an upper pedestal 4, a mounting bracket 6, etc. for supporting the power slave 5 are provided on the upper surface of the frame 1.
The lower pedestal 3 and the upper pedestal 4 are ring-shaped with the front side corresponding to the opening of the frame 1 cut out so that the power slave 5 can be held inside the frame 1 (see Figs. 2 and 4). (See Figure 3). This lower pedestal 3
is attached to the upper surface of the frame 1 via a spring 2 as a first spring so as to be movable up and down, and the lower holder 3
An upper pedestal 4 is fitted onto the upper surface of the frame 1 so as to be rotatable around an axis perpendicular to the upper surface of the frame 1. That is, FIG. 4a,
As shown in FIG. 1B, a fixing plate 9 is welded to the upper surface of the frame 1, and a lower holder 3 is attached to the fixing plate 9 so as to be vertically movable. Six opposing recesses are formed on the upper surface of the fixing plate 9 and the opposing lower surface of the lower pedestal 3, and the springs 2 are fitted into each of the recesses. A bolt 10 vertically passes through the spring 2, the fixed plate 9, and the lower pedestal 3, and the upper and lower ends of the bolt 10 are connected to the lower pedestal 3 and the fixed plate 9.
It is fixed with a nut. Therefore, the lower cradle 3
The impact load applied to the spring 2 is absorbed or alleviated by the spring 2. Note that there is a slight gap between the fixed plate 9 and the lower holder 3, so the lower holder 3
Not only can it move up and down, but it can also swing to some extent in the front, back, left and right directions. Also, spring 2
The arrangement and spring constant may be appropriately set in consideration of the center of gravity or weight of the power slave 5. Furthermore, an upper pedestal 4 is mounted on the lower pedestal 3 via a ball bearing 12 and a roller 13. As shown in FIG. 4a, the ball bearings 12 are fitted onto vertical shafts that protrude downward in appropriate numbers from the periphery of the upper pedestal 4, and are in rolling contact with the outer circumferential surface of the lower pedestal 3. It's getting old. Also, Figures 3 and 4b
As shown in FIG. 1, a suitable number of recesses are formed on the upper surface of the lower pedestal 3, and a roller 13 having a horizontal axis is rotatably mounted in the recesses. Therefore, the upper pedestal 4 can smoothly rotate around the vertical axis direction with the rolling of the ball bearings 12 and rollers 13. Also, this upper cradle 4
Spring 15 as a second spring supporting in the rotational direction
is provided, and the rotation of the upper support stand 4 is controlled by the spring 15 from side to side.
It is now possible to regulate the angle to around 5°. That is, as shown in FIGS. 2 and 3, the spring holders 14 facing both ends of the upper holder 4 are fixed to the lower holder 3, and the spring holders 14 are fixed to both ends of the upper holder 4.
A spring 15 is interposed between each of them. Therefore, even if the upper pedestal 4 is rotated from side to side, it will return to its original position due to the action of the spring 15.
一方、パワースレーブ５を取り付ける取付金具
６が前記上受台４上に左右に固定されている。取
付金具６は上部に差し込み部を具えており、この
差し込み部は上向きに広がつたテーパ状となつて
いる。パワースレーブ５の取付タツプ穴には左右
にそれぞれ板状の取付金具１６が垂直に取り付け
られている。この取付金具１６は下部ほど薄くな
つたテーパ状のものである。従つてこのパワース
レーブ５の取付金具１６を上受台４の取付金具６
の差し込み部に差し込むことによりパワースレー
ブ５を着脱装置に自重固定することができる。 On the other hand, mounting brackets 6 for attaching the power slave 5 are fixed on the upper pedestal 4 on the left and right sides. The mounting bracket 6 has an insertion portion at the top, and this insertion portion has a tapered shape that widens upward. Plate-shaped mounting fittings 16 are vertically mounted on the left and right sides of the mounting tap holes of the power slave 5, respectively. The mounting bracket 16 has a tapered shape that becomes thinner toward the bottom. Therefore, the mounting bracket 16 of this power slave 5 is connected to the mounting bracket 6 of the upper holder 4.
By inserting the power slave 5 into the insertion portion of the power slave 5, the power slave 5 can be fixed to the attachment/detachment device under its own weight.
上記構成を有する本考案のパワーマニプレータ
着脱装置を使用して、パワースレーブ５を取り外
す場合は次の様に行う。まず、当該着脱装置をパ
ワースレーブ５の下方に移動させ、ストツパボル
ト１１にて固定する。移動装置１９に吊り下げら
れたパワースレーブ５の取付金具１６に対して上
受台４の取付金具６が所定の位置となるように、
下受台３を上下動させまたは上受台４を左右に回
動させる。この後、第５図に示すように移動装置
１９のレバー１７を回動して、パワースレーブ５
の係合部１８との係合を外し、パワースレーブを
降ろす。この時、パワースレーブ５の取付金具１
６と上受台４の取付金具６との角度ずれ及び位置
ずれがあつても、取付金具６の差し込み部及び取
付金具１６がテーパ状となつているため、これら
は容易に嵌まり込む。また、パワースレーブ５の
落下による衝撃は、ばね２による上下動とばね１
５による左右の回転に分散して吸収され、パワー
スレーブ５、上受台４、下受台３等の破損の虞が
小さい。このようにパワースレーブ５を当該着脱
装置に装着した後、当該着脱装置を所定場所の移
動させ、パワースレーブ５を交換しまたは保管す
る。 When removing the power slave 5 using the power manipulator attaching/detaching device of the present invention having the above configuration, the procedure is as follows. First, the attachment/detachment device is moved below the power slave 5 and fixed with the stopper bolt 11. so that the mounting bracket 6 of the upper pedestal 4 is in a predetermined position relative to the mounting bracket 16 of the power slave 5 suspended on the moving device 19.
The lower pedestal 3 is moved up and down, or the upper pedestal 4 is rotated left and right. After this, as shown in FIG. 5, rotate the lever 17 of the moving device 19 to move the power slave 5.
The power slave is disengaged from the engaging portion 18 and the power slave is lowered. At this time, power slave 5 mounting bracket 1
Even if there is an angular or positional misalignment between the mounting bracket 6 and the mounting bracket 6 of the upper holder 4, the insertion portion of the mounting bracket 6 and the mounting bracket 16 are tapered, so that they can be easily fitted together. In addition, the impact caused by the fall of the power slave 5 is caused by the vertical movement caused by the spring 2 and by the spring 1.
The power slave 5, the upper support 4, the lower support 3, etc. are less likely to be damaged. After the power slave 5 is attached to the attachment/detachment device in this manner, the attachment/detachment device is moved to a predetermined location, and the power slave 5 is replaced or stored.
このように、上記構成を有する本考案のパワー
マニプレータ着脱装置は次の様な効果を奏する。 As described above, the power manipulator attachment/detachment device of the present invention having the above-mentioned configuration has the following advantages.
(イ) 下受台３が上下動でき、上受台４が回転自在
であるため、結局取付金具６は２つの自由度を
有することとなり、着脱の際における取付金具
６とパワースレーブ取付金具１６の位置合せ及
びパワースレーブ係合部１８と移動装置１９と
の位置合せが容易であり、また多少の傾きや角
度ずれがあつても着脱が可能である。(a) Since the lower holder 3 can move up and down and the upper holder 4 is rotatable, the mounting bracket 6 has two degrees of freedom. It is easy to align the power slave engaging portion 18 and the moving device 19, and the attachment and detachment are possible even if there is some inclination or angular deviation.
(ロ) 従来と異なり、着脱作業に熟練やその他の工
具が不要であり、その作業時間も短い。(b) Unlike conventional methods, no skill or other tools are required for the attachment/detachment work, and the work time is short.
(ハ) パワースレーブ５の装着時の衝撃をばね２，
１５により分散して吸収するので、パワーマニ
プレータシステムを破損する虞が小さい。(c) Spring 2,
15, the power manipulator system is less likely to be damaged.
(ニ) 車輪６が付いているので移動に多大な力が不
用である。(d) Since it is equipped with wheels 6, it does not require much force to move it.
以上、実施例に基づいて具体的に説明したよう
に本考案のパワーマニプレータ着脱装置は遠隔操
作にてパワースレーブを着脱保管することがで
き、しかも位置合せが容易でパワーマニプレータ
システムを破損する虞が小さい。 As described above in detail based on the embodiments, the power manipulator attaching/detaching device of the present invention allows the power slave to be attached/detached by remote control, and is easy to align, eliminating the risk of damaging the power manipulator system. small.
第１図〜第５図は本考案のパワーマニプレータ
着脱装置に係り、第１図はその全体概観図、第２
図はその平面図、第３図は第２図中のＡ部の拡大
図、第４図(a)は第３図中のＢ−Ｂ線断面図、第４
図ｂは下受台の断面図、第５図はマニプレータの
着脱機構の説明図である。
図面中、１はフレーム、２，１５はばね、３は
下受台、４は上受台、５はパワースレーブ、６，
１６は取付金具、７は車輪座、８は車輪、９は固
定板、１０はボルト、１１はストツパボルト、１
２はボールベアリング、１３はローラ、１４はば
ね受金、１７はレバー、１８は係合部、１９は移
動装置である。
Figures 1 to 5 relate to the power manipulator attachment/detachment device of the present invention; Figure 1 is an overall overview thereof, and Figure 2 is a
The figure is a plan view, Figure 3 is an enlarged view of section A in Figure 2, Figure 4(a) is a sectional view taken along line B-B in Figure 3,
FIG. b is a sectional view of the lower pedestal, and FIG. 5 is an explanatory diagram of the attachment/detachment mechanism of the manipulator. In the drawing, 1 is a frame, 2 and 15 are springs, 3 is a lower cradle, 4 is an upper cradle, 5 is a power slave, 6,
16 is a mounting bracket, 7 is a wheel seat, 8 is a wheel, 9 is a fixing plate, 10 is a bolt, 11 is a stopper bolt, 1
2 is a ball bearing, 13 is a roller, 14 is a spring receiver, 17 is a lever, 18 is an engaging portion, and 19 is a moving device.
Claims (1)
体の上面に上下動可能に下受台を設け、前記枠体
の上面と該下受台の下面とに亘り該下受台の上下
動を支える第一ばねを介装し、前記枠体の開口部
位に対応する辺が切欠かれた上受台を該枠体の上
面に直交する軸回りで回動可能に前記下受台の上
面に設け、該上受台の回動方向に付勢力を有して
該上受台の回動を規制する第二ばねを前記下受台
の上面と該上受台の下面とに亘り設け、パワース
レーブを取り付けるための取付金具を前記上受台
に設けたことを特徴とするパワーマニプレータ着
脱装置。 A moving mechanism is provided in a frame whose one side is open, and a lower holder is provided on the upper surface of the frame so as to be movable up and down, and the lower holder is moved between the upper surface of the frame and the lower surface of the lower holder. A first spring that supports vertical movement is interposed, and the upper cradle, which has a notched side corresponding to the opening portion of the frame body, is rotatable about an axis perpendicular to the upper surface of the frame body. A second spring is provided on the upper surface and has a biasing force in the rotational direction of the upper cradle to restrict the rotation of the upper cradle, and is provided across the upper surface of the lower cradle and the lower surface of the upper cradle. . A power manipulator attachment/detachment device, characterized in that a mounting bracket for attaching a power slave is provided on the upper pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5346083U JPS59160191U (en) | 1983-04-12 | 1983-04-12 | Power manipulator attachment/detachment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5346083U JPS59160191U (en) | 1983-04-12 | 1983-04-12 | Power manipulator attachment/detachment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59160191U JPS59160191U (en) | 1984-10-26 |
| JPS634625Y2 true JPS634625Y2 (en) | 1988-02-05 |
Family
ID=30183804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5346083U Granted JPS59160191U (en) | 1983-04-12 | 1983-04-12 | Power manipulator attachment/detachment device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59160191U (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5822291B2 (en) * | 1979-11-07 | 1983-05-07 | 株式会社 アマダ | Saw blade guide adjustment method and device for band saw machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5822291U (en) * | 1981-08-06 | 1983-02-10 | 株式会社明電舎 | Power manipulator replacement hand attachment/detachment device |
-
1983
- 1983-04-12 JP JP5346083U patent/JPS59160191U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5822291B2 (en) * | 1979-11-07 | 1983-05-07 | 株式会社 アマダ | Saw blade guide adjustment method and device for band saw machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59160191U (en) | 1984-10-26 |
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