Magic Hand

Abstract

To provide a magic hand capable of securing a large expansion length and capable of holding an object to be held in a desired expansion length.SOLUTION: This clamping device is provided with a telescopic mechanism part 2 having a tip side 3 and a base side 4, a clamping part 5 provided on the tip side 3 of the telescopic mechanism part 2 for clamping an object to be clamped, and an operation part 6 provided on the base side 4 of the telescopic mechanism part 2 for operating the clamping part 5, and the clamping part 5 is provided with a first clamping member 13 and a second clamping member 14 relatively separable from each other, and a driving part 15 for driving the first clamping member 13 and the second clamping member 14 to separate from each other.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a telescopic magic hand.

Background Art

[0002] Conventionally, various types of such magic hands have been proposed.

[0003] For example, Patent Document 1 discloses a magic hand including a cylindrical rod portion, an article gripping portion having a pair of gripping members rotatably attached to the tip of the rod portion, and a handle portion having a movable grip member provided at the rear end of the rod portion and movable in the axial direction.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the rod portion of this magic hand is composed of two pipes where the outer diameter of one is slightly smaller than the inner diameter of the other, and by fitting one pipe (inner cylinder) into the other pipe (outer cylinder), it is configured as a telescopic rod. Therefore, not only is the telescopic length restricted by the lengths of the two pipes, but there is also a problem that an article can only be gripped in the extended state.

[0006] The present invention has been made based on the above circumstances, and its object is to provide a magic hand capable of ensuring a large telescopic length and being able to grip an object to be clamped at a desired telescopic length.

Means for Solving the Problems

[0007] To solve the above problems, the magic hand according to the present invention comprises an extendable and retractable mechanism having a tip end and a handle end, a clamping part provided on the tip end of the extendable and retractable mechanism for clamping an object to be clamped, and an operating part provided on the handle end of the extendable and retractable mechanism for operating the clamping part, the clamping part comprises a first clamping member and a second clamping member that can move toward and toward each other, and a drive unit that drives the first clamping member and the second clamping member toward and toward each other, the drive unit comprising a separation spring member that biases the first clamping member and the second clamping member in the direction of separating them, and a separation spring member of An approach motor that brings the first clamping member and the second clamping member closer together against a biasing force. It includes a separation motor that drives the first clamping member and the second clamping member in a direction that separates them, For defection Spring The component is positioned to be held between the first clamping member and the second clamping member, and the operating section includes an approach power supply and an approach switch for driving the approach motor. This includes a power supply and switch for driving the detachment motor. It is characterized by having the following features. [Effects of the Invention]

[0008] The magic hand according to the present invention allows for a large extension length to be secured, and moreover, it can grip an object to be gripped at a desired extension length. [Brief explanation of the drawing]

[0009] The drawings illustrate specific embodiments of the present invention relating to this disclosure, including not only essential components of the invention but also optional and preferred embodiments. [Figure 1] A perspective view showing the folded state of a magic hand according to the first embodiment of the present invention. [Figure 2] A perspective view showing the deployed state of the same magic hand. [Figure 3] A plan view showing the folded state of the grabber tool. [Figure 4] A plan view showing the deployed state of the magic hand. [Figure 5] A perspective view showing the gripping part of the same robotic arm. [Figure 6] A cross-sectional view showing the latching mechanism of the same grabber tool. [Figure 7]Perspective view showing the folded state of the magic hand according to the second embodiment of the present invention. [Figure 8] Perspective view showing the deployed state of the magic hand. [Figure 9] Plan view showing the folded state of the magic hand. [Figure 10] Plan view showing the deployed state of the magic hand. [Figure 11] Perspective view showing the clamping part of the magic hand. [Figure 12] Perspective view showing the folded state of the magic hand according to the third embodiment of the present invention. [Figure 13] Perspective view showing the deployed state of the magic hand. [Figure 14] Plan view showing the folded state of the magic hand. [Figure 15] Plan view showing the deployed state of the magic hand. [Figure 16] Perspective view showing the clamping part of the magic hand. [Figure 17] Perspective view showing the folded state of the magic hand according to the fourth embodiment of the present invention. [Figure 18] Perspective view showing the deployed state of the magic hand. [Figure 19] Plan view showing the folded state of the magic hand. [Figure 20] Plan view showing the deployed state of the magic hand. [Figure 21] Perspective view showing the clamping part of the magic hand. [Figure 22] Perspective view showing the folded state of the magic hand according to the fifth embodiment of the present invention. [Figure 23] Perspective view showing the deployed state of the magic hand. [Figure 24] Plan view showing the folded and shortened state of the magic hand. [Figure 25] Plan view showing the deployed state of the magic hand.

Modes for Carrying Out the Invention

[0010] <First Embodiment> Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

[0011] In Figure 1, reference numeral 1 denotes a magic hand according to the first embodiment of the present invention.

[0012] As shown in Figures 2 to 4, this magic hand 1 is equipped with a retractable telescopic mechanism 2 formed in a pantograph-type (diamond-shaped) structure that can be freely extended and folded, and this telescopic mechanism 2 has a tip side 3 and a handle side 4 in the direction of extension and retraction.

[0013] Furthermore, the tip end 3 of the telescopic mechanism 2 is provided with a clamping section 5 for clamping objects such as articles, and the handle end 4 is provided with an operating section 6 for operating the clamping section 5.

[0014] The clamping portion 5 opens and closes in a direction along the telescopic surface (unfolded / folded surface) of the telescopic mechanism portion 2, and the operating portion 6 is configured to be operated in a direction along the telescopic surface (unfolded / folded surface) of the telescopic mechanism portion 2.

[0015] In other words, the telescopic mechanism 2 has a pair of tip-side links 7 on the tip side 3, a pair of handle-side links 8 on the handle side 4, and a plurality of pairs of intermediate links 9 arranged between these tip-side links 7 and handle-side links 8.

[0016] The front-end link 7 is formed to be approximately half the length of the intermediate link 9, while the rear-end link 8 is formed to be longer than the intermediate link 9.

[0017] Furthermore, a handle 10 is formed on each of the pair of hand-side links 8.

[0018] Furthermore, a support 11 is pivotally supported on each of the pair of end-side links 7.

[0019] As shown in Figure 5, a clamping portion 5 is attached to this support 11.

[0020] In other words, the clamping section 5 comprises a first clamping member 13 and a second clamping member 14 that can move toward and away from each other, and a drive unit 15 that drives these first clamping member 13 and second clamping member 14 toward and away from each other.

[0021] The first clamping member 13 has a handle end 4 fixed to the support 11, and a tip end 3 extending forward in the extension direction of the telescopic mechanism 2.

[0022] The second clamping member 14 has a pivotal support on the hand end 4 that can rotate on the support 11, and a configuration in which the tip end 3 can move toward and away from the first clamping member 13.

[0023] Furthermore, elastic members 12 are attached to the opposing sides of the first clamping member 13 and the second clamping member 14, respectively.

[0024] The support body 11 is attached to the tip-side link 7 such that the first clamping member 13 and the second clamping member 14 move toward and toward each other in a direction along the telescopic surface of the telescopic mechanism 2, thereby configuring the operating direction of the handle 10 and the direction of the first clamping member 13 and the second clamping member 14 to be the same.

[0025] Furthermore, the drive unit 15 includes a separation spring member 16 that biases the second clamping member 14 in a direction that separates it from the first clamping member 13, and an approach motor 17 that drives the second clamping member 14 in a direction that moves it toward the first clamping member 13 against the force of the separation spring member 16. The approach motor 17 is attached to the support 11, and its driving force is transmitted to the second clamping member 14 via a gear train 18.

[0026] The gear train 18 consists of a gear 72 attached to the rotating shaft 71 of the approach motor 17, a gear 73 that meshes with the gear 72, a gear 74 that rotates integrally with the gear 73, and a gear 75 that meshes with the gear 74 and rotates integrally with the second clamping member 14.

[0027] Furthermore, the operating unit 6 is provided with an approach power supply 19 and an approach switch 20 for driving the approach motor 17. When the approach switch 20 is turned on, the approach motor 17 drives the second clamping member 14 to rotate in a direction approaching the first clamping member 13. When the approach switch 20 is turned off, the biasing force of the separation spring member 16 causes the second clamping member 14 to rotate in a direction away from the first clamping member 13.

[0028] Furthermore, the approach motor 17 of the clamping section 5 and the approach switch 20 of the operating section 6 are electrically connected by wiring 21.

[0029] This wiring 21 is secured to a plurality of latching parts 22 provided on the telescopic mechanism 2, and is configured to be unfolded / folded in conjunction with the extension and retraction of the telescopic mechanism 2.

[0030] In other words, the tip-side link 7, the handle-side link 8, and the intermediate link 9 of the telescopic mechanism 2 are rotatably connected in a diamond shape by a plurality of pivot points 23.

[0031] These multiple pivot points 23 are arranged in a central row and on both outer rows, and a latching part 22 is rotatably attached to the pivot points 23 in the central row and one of the outer rows.

[0032] As shown in Figure 6, the latching portion 22 is provided with insertion holes 24, through which the wiring 21 is sequentially inserted.

[0033] With the above configuration, since the drive unit 15 of the clamping part 5 is provided at the tip side 3 of the pantograph-type telescopic mechanism part 2, not only can a large extension length be secured, but work can also be easily performed at the desired extension length. Furthermore, the wiring 21 is stretched across a latching part 22 attached to the pivot part 23 of the pantograph-type telescopic mechanism 2, so that it expands and contracts in accordance with the expansion and contraction of the telescopic mechanism 2, thereby preventing the wiring 21 from bending.

[0034] <Second Embodiment> Next, a second embodiment of the present invention will be described.

[0035] In this second embodiment, the same reference numerals are used for the same components as in the first embodiment described above, and their descriptions are omitted.

[0036] In this second embodiment, as shown in Figures 7 to 10, the clamping portion 5 is configured to move toward and away from the telescopic surface of the telescopic mechanism portion 2 in a manner perpendicular to the telescopic surface.

[0037] In other words, the clamping section 5 comprises a pair of first clamping members 31 and second clamping members 32 that are pivotally supported on the support 11 and are driven to move toward and toward each other by the drive unit 33.

[0038] Furthermore, the support 11 is attached to the tip-side link 7 such that the first clamping member 31 and the second clamping member 32 move toward and toward each other in a direction perpendicular to the telescopic surface of the telescopic mechanism 2, thereby configuring the operating direction of the handle 10 to be perpendicular to the direction of the first clamping member 31 and the second clamping member 32 moving toward and toward each other.

[0039] As shown in Figure 11, the drive unit 33 includes a gear train 34 that rotates the first clamping member 31 and the second clamping member 32 in opposite directions, a separation motor 35 that drives the first clamping member 31 and the second clamping member 32 in a direction that separates them via the gear train 34, and an approach motor 36 that drives the first clamping member 31 and the second clamping member 32 in a direction that brings them closer together via the gear train 34.

[0040] The gear train 34 consists of a gear 82 mounted on the rotating shaft 81 of the separation motor 35, a gear 83 that meshes with gear 82, a gear 84 that rotates integrally with gear 83, a gear 85 that meshes with gear 84 and rotates integrally with the first clamping member 31, a gear 87 mounted on the rotating shaft 86 of the approach motor 36, a gear 88 that meshes with gear 87, a gear 89 that rotates integrally with gear 88, and a gear 90 that meshes with gear 89 and rotates integrally with the second clamping member 32. Furthermore, gear 85 and gear 90 mesh, causing the first clamping member 31 and the second clamping member 32 to rotate in opposite directions.

[0041] Furthermore, the operating unit 6 is provided with a power supply 37 for moving the separation motor 35 and the approach motor 36, and a changeover switch 38. When the changeover switch 38 is set to the drive side of the separation motor 35, the first clamping member 31 and the second clamping member 32 rotate in the direction of separation via the gear train 34 due to the drive of the separation motor 35. When the changeover switch 38 is set to the drive side of the approach motor 36, the first clamping member 31 and the second clamping member 32 rotate in the direction of approach via the gear train 34 due to the drive of the approach motor 36.

[0042] Even with this configuration, the same effects as the first embodiment described above can be achieved. Moreover, since the clamping portion 5 is configured to move toward and away from the telescopic surface of the telescopic mechanism 2 in a direction perpendicular to the telescopic surface, by using the telescopic mechanism 2 so that its telescopic surface is in the vertical direction, the object to be clamped can be held without breaking even when the telescopic mechanism 2 is extended.

[0043] <Third Embodiment> Next, a third embodiment of the present invention will be described.

[0044] In this third embodiment, the same reference numerals are used for the same components as in the first embodiment described above, and their descriptions are omitted.

[0045] In this third embodiment, as shown in Figures 12 to 15, the support 11 is attached to the tip-side link 7 such that the second clamping member 14 moves toward and toward the first clamping member 13 in a direction perpendicular to the extension and retraction surface of the extension and retraction mechanism 2, thereby configuring the operating direction of the handle 10 and the direction of the second clamping member 14 moving toward and toward each other to be perpendicular.

[0046] Furthermore, as shown in Figure 16, a drive unit 41 for driving the second clamping member 14 to move toward and away from the support 11 is attached to the support 11.

[0047] This drive unit 41 includes a separation motor 42 that drives the second clamping member 14 in a direction away from the first clamping member 13, and an approaching motor 43 that drives the second clamping member 14 in a direction closer to the first clamping member 13. The driving forces of these separation motors 42 and approaching motors 43 are transmitted to the second clamping member 14 via a gear train 44.

[0048] The gear train 44 consists of a gear 92 mounted on the rotating shaft 91 of the separation motor 42, a gear 93 that meshes with the gear 92, a gear 94 that rotates integrally with the gear 93, a gear 95 that meshes with the gear 94 and rotates integrally with the second clamping member 14, a gear 97 mounted on the rotating shaft 96 of the approach motor 43, a gear 98 that meshes with the gear 97, a gear 99 that rotates integrally with the gear 98, and a gear 100 that meshes with the gear 99 and the gear 95.

[0049] Furthermore, the operating unit 6 is provided with a separation power supply 45 and a separation switch 46 for driving the separation motor 42, and an approach power supply 47 and an approach switch 48 for driving the approach motor 43. When the separation switch 46 is turned on, the separation motor 42 drives the second clamping member 14 to rotate in a direction away from the first clamping member 13, and when the approach switch 48 is turned on, the approach motor 43 drives the second clamping member 14 to rotate in a direction approaching the first clamping member 13.

[0050] Even with this configuration, the same effects as in the first embodiment can be achieved.

[0051] <Fourth Embodiment> Next, a fourth embodiment of the present invention will be described.

[0052] In this fourth embodiment, the same reference numerals are used for the same components as in the first embodiment described above, and their descriptions are omitted.

[0053] In this fourth embodiment, as shown in Figures 17 to 21, the clamping portion 5 includes a chainsaw 51 and a pressing member 52.

[0054] The chainsaw 51 has a handle end 4 fixed to the support 11, and a tip end 3 extending forward in the extension direction of the telescopic mechanism 2.

[0055] Furthermore, the clamping member 52 has a handle-side 4 that is pivotally supported on the support 11 so as to be rotatable, and a tip-side 3 that can move toward and away from the chainsaw 51, allowing it to press down on objects to be clamped, such as high branches, against the chainsaw 51.

[0056] Furthermore, a drive unit 53 for opening and closing the retaining member 52 is attached to the support 11.

[0057] This drive unit 53 is equipped with a forward and reverse rotatable contact and release motor 54, and the driving force of this contact and release motor 54 is transmitted to the pressing member 52 via a gear train 55. The gear train 55 consists of a gear 102 attached to the rotating shaft 101 of the contact / separation motor 54, a gear 103 that meshes with the gear 102, a gear 104 that rotates integrally with the gear 103, and a gear 105 that meshes with the gear 104 and rotates integrally with the second clamping member 14.

[0058] Furthermore, the operating unit 6 is provided with a power supply 56 for connecting and disconnecting the motor 54 and a switch 57 for connecting and disconnecting the motor. Operating the switch 57 to rotate the motor 54 forward causes the retaining member 52 to move closer to the chainsaw 51, and rotating the motor 54 in the reverse direction causes the retaining member 52 to move away from the chainsaw 51. Furthermore, the control unit 6 is equipped with a power supply 58 for the chainsaw 51.

[0059] Even with this configuration, the same effects as the first embodiment can be achieved, and it is also possible to easily cut objects to be held, such as high branches.

[0060] <Fifth Embodiment> Next, a fifth embodiment of the present invention will be described.

[0061] In this fifth embodiment, the same reference numerals are used for the same components as in the first embodiment described above, and their descriptions are omitted.

[0062] In this fifth embodiment, as shown in Figures 22 to 25, a rod 61 extending in the extension direction of the telescopic mechanism 2 is fixed to the support 11.

[0063] Furthermore, the intermediate link 9 is provided with an engaging portion 62 that slidably engages with the rod 61.

[0064] This configuration restricts the orientation of the clamping portion 5 to always face the direction of expansion and contraction as the telescopic mechanism 2 expands and contracts.

[0065] With this configuration, it is possible to reliably prevent the clamping portion 5 from wobbling.

[0066] It goes without saying that the fifth embodiment may also be applied to the first to fourth embodiments.

[0067] The disclosure relating to the present invention described above can be summarized to at least the following:

[0068] In other words, the magic hand according to the present invention comprises an extendable and retractable mechanism having a tip end and a handle end, a clamping part provided on the tip end of the extendable and retractable mechanism for clamping an object to be clamped, and an operating part provided on the handle end of the extendable and retractable mechanism for operating the clamping part, wherein the clamping part comprises a first clamping member and a second clamping member that can move toward and toward each other, and a drive unit that drives these first and second clamping members toward and toward each other.

[0069] The above invention may include at least the following embodiments. These embodiments may be adopted separately or in combination with each other.

[0070] (1) The telescopic mechanism is preferably a pantograph-type structure that can be freely extended and folded.

[0071] (2) Preferably, the first clamping member is fixed to the telescopic mechanism, and the second clamping member is pivotally supported on the telescopic mechanism.

[0072] (3) The first clamping member and the second clamping member may be pivotally supported in the telescopic mechanism.

[0077] ( 4 The first clamping member may be configured as a chainsaw for cutting the member to be clamped, and the second clamping member may be configured to hold down the member to be clamped.

[0080] ( 5 Furthermore, the telescopic mechanism may be provided with wiring to electrically connect the drive unit and the operating unit, and the telescopic mechanism may be provided with a latching part that allows the wiring to be unfolded / folded in conjunction with the extension and retraction of the telescopic mechanism. [Explanation of symbols]

[0081] 1 Magic Hand 2 Telescopic mechanism section 3. Tip side 4. Handheld side 5 Clamping part 6 Control section 13. First clamping member 14. Second clamping member 15 Drive unit 16 Separation spring component 17 Approach Motor 19 Access power supply 20 Approach switch 21 Wiring 22 Latch part 31 First clamping member 32 Second clamping member 33 Drive unit 35 Detachment motor 36 Approach Motor 37 Power supply for contact / separation 38 Changeover switch 41 Drive unit 45 Power supply for defection 46 Detachment switch 47 Access power supply 48 Approach switch 51 Chainsaw

Claims

1. A retractable mechanism having a tip end and a handle end, A clamping portion is provided on the tip side of the telescopic mechanism for clamping an object to be clamped, The aforementioned telescopic mechanism is provided on the hand-side and comprises an operating part for operating the clamping part, The clamping portion comprises a first clamping member and a second clamping member that can move toward and away from each other, and a drive unit that drives the first clamping member and the second clamping member toward and away from each other. The drive unit comprises a separation spring member that biases the first clamping member and the second clamping member in a direction that separates them, an approach motor that brings the first clamping member and the second clamping member closer together against the biasing force of the separation spring member, and a separation motor that drives the first clamping member and the second clamping member in a direction that separates them. The separation spring member is arranged to be held between the first clamping member and the second clamping member. The operating unit includes an approach power supply and approach switch for driving the approach motor, and a departure power supply and departure switch for driving the departure motor. A magic hand characterized by its features.

2. The magic hand according to claim 1, characterized in that the telescopic mechanism has a pantograph-type structure that can be freely extended and folded.

3. The magic hand according to claim 1, characterized in that the first clamping member is fixed to the telescopic mechanism and the second clamping member is pivotally supported on the telescopic mechanism.

4. The magic hand according to claim 1, characterized in that the first clamping member and the second clamping member are pivotally supported in the telescopic mechanism.

5. The magic hand according to claim 1, characterized in that the first clamping member is made of a chainsaw for cutting the object to be clamped, and the second clamping member is configured to hold down the object to be clamped.

6. Furthermore, it includes wiring to electrically connect the drive unit and the operating unit, The telescopic mechanism is equipped with a fastening portion that allows the wiring to be extended and retracted in conjunction with the extension and retraction of the telescopic mechanism. The magic hand according to feature 2.

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